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Sample records for rao-blackwellized slam giorgio

  1. 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.

  2. 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

  3. 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.

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

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    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.

  5. 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.

  6. 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

  7. Validation of Underwater Sensor Package Using Feature Based SLAM

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    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.

  8. Slamming Arkansas Schools!

    Science.gov (United States)

    Scott, W. Clayton

    2010-01-01

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

  9. Multiple object tracking in molecular bioimaging by Rao-Blackwellized marginal particle filtering.

    Science.gov (United States)

    Smal, I; Meijering, E; Draegestein, K; Galjart, N; Grigoriev, I; Akhmanova, A; van Royen, M E; Houtsmuller, A B; Niessen, W

    2008-12-01

    Time-lapse fluorescence microscopy imaging has rapidly evolved in the past decade and has opened new avenues for studying intracellular processes in vivo. Such studies generate vast amounts of noisy image data that cannot be analyzed efficiently and reliably by means of manual processing. Many popular tracking techniques exist but often fail to yield satisfactory results in the case of high object densities, high noise levels, and complex motion patterns. Probabilistic tracking algorithms, based on Bayesian estimation, have recently been shown to offer several improvements over classical approaches, by better integration of spatial and temporal information, and the possibility to more effectively incorporate prior knowledge about object dynamics and image formation. In this paper, we extend our previous work in this area and propose an improved, fully automated particle filtering algorithm for the tracking of many subresolution objects in fluorescence microscopy image sequences. It involves a new track management procedure and allows the use of multiple dynamics models. The accuracy and reliability of the algorithm are further improved by applying marginalization concepts. Experiments on synthetic as well as real image data from three different biological applications clearly demonstrate the superiority of the algorithm compared to previous particle filtering solutions.

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

    Science.gov (United States)

    2006-06-01

    infinite particles [39]. As computational power increases, estimators based on particle filtering will only improve their characterization of the...levi- atio~ii of the kernel depenident on thle uiminber of particles samnpledl at that poin t aii(l th le (’iil~i-l cal covariance miatrix of the...potent ial to I ecoimie a powerful estimation techiniquie. As evbncd y tests wvithi Swiss Planger (lata, they prov’ide 104 s~it ilali I)etortla ii8CC 10o

  11. Epitaphs in Giorgio Vasari’s Lives

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    Maia Wellington Gahtan

    2011-12-01

    Full Text Available Many of Giorgio Vasari’s Lives conclude with epitaphs. Some are tomb inscriptions. Others were collected from literary contexts or commissioned by the author. Still others hover in a middle ground being the product of a popular ritual practice of attaching slips of paper with epitaphs written on them to the tomb. Vasari’s use of epitaphs in his biographies with particular emphasis on the social ritual that produced some of them are the subject of this study. Passed over in the secondary literature, epitaph rituals have implications not only for the historical assessment of the individual lives, but also are of broader importance for Vasari’s biographical projects of 1550 and 1568.

  12. Performing poetry slam

    DEFF Research Database (Denmark)

    Schweppenhäuser, Jakob; Pedersen, Birgitte Stougaard

    2017-01-01

    The article addresses poetry slam as an example of an oral turn captured in contemporary poetry practices that seems to extend the landscape of literary arts (Gioia, 2003). We investigate poetry slam as a phenomenon that mediates between at least two quite different (audio) language cultures...... 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...... – 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...

  13. 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...

  14. Performing poetry slam

    DEFF Research Database (Denmark)

    Pedersen, Birgitte Stougaard; Schweppenhäuser, Jakob

    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...

  15. Un cuerpo poético para Marosa Di Giorgio

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    Irina Garbatzky

    2008-09-01

    Full Text Available The paper attempts to account for Marosa Di Giorgioïs poetry as a writing which responds to body processes: growth, deformation and mutation, both in its "written" texts as in its utterances [recordings] and its staging [performances] as well

  16. 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

  17. A palavra esgarçada de Giorgio Caproni

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    Patricia Peterle

    2014-06-01

    Full Text Available L’esistenza come contraddizione, la perdita, il non-luogo, la storia come verità messa in scacco e la possibilità di lettura dai vestigi trovati negli scavi (della realtà e del linguaggio sono i temi centrali della poetica di Giorgio Caproni

  18. The Rao-Blackwellized marginal M-SMC filter for Bayesian multi-target tracking and labelling

    NARCIS (Netherlands)

    Aoki, E.H.; Boers, Y.; Svensson, L.; Mandal, Pranab K.; Bagchi, Arunabha

    In multi-target tracking (MTT), we are often interested not only in finding the position of the objects, but also allowing individual objects to be uniquely identified with the passage of time, by placing a label on each track. In some situations, however, observability conditions do not allow us to

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

    OpenAIRE

    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 o...

  20. Giorgio Agamben and Dante Alighieri - possible theoretical reflections

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    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.

  1. 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.

  2. 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

  3. ‘Co₂.’ Intervista a Giorgio Battistelli

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    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.

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

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    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.

  5. REGRA, VIDA, FORMA DE VIDA: INVESTIDA DE GIORGIO AGAMBEN

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    Daniel Arruda Nascimento

    2015-07-01

    Full Text Available Acompanhando a nova investida de Giorgio Agamben coma publicação de Altissima povertà: regole monastiche e forma divita, livro que inaugura a quarta e definitiva parte de seu projetofilosófico denominado genericamente de Homo sacer, tem opresente trabalho como linha mestra o exame da evolução da noçãode vida nua, pela interposição de um novo propósito conceitual:forma de vida. Trata-se de identificar um tipo de vida que se vinculatão estreitamente à sua forma que resulta inseparável dela. Trata-setambém de refletir, agora sobre o pano de fundo da tradição teóricade orientação franciscana, a relação entre vida e direito, penetrandoum pouco mais no ponto de intersecção entre o modelo jurídicoinstitucionale o modelo biopolítico do poder, aproximando-nos deassinaturas que permitam uma melhor visualização daspossibilidades quando se cuida de tornar inoperantes dispositivos dedomínio.

  6. The last myth of Giorgio De Chirico: neurological art.

    Science.gov (United States)

    Bogousslavsky, Julien

    2010-01-01

    Giorgio de Chirico is one of the most admired and at the same time most discredited painters of the 20th century. As the 'inventor' of metaphysical painting, he has been considered as a precursor of Surrealism, while his later works have been harshly criticized as representative of the painter's decay. The mystery and dream-like atmosphere irradiating from his works has led to speculations that de Chirico may have taken his inspiration from migraine attacks or complex partial seizures. However, a careful study of his life and his own writings suggests that while de Chirico probably suffered from recurrent malaria, he had neither migraines nor epilepsy. De Chirico also denied that dreams were a major source of his inspiration, but he insisted on his fertile inner imagery, which allowed him to put in a new, poetic, often conflictual perspective, places and objects, which he had actually seen (Hofgarten arcades, Italian piazzas, statues, antique ruins, etc.) in Athens, Munich, Florence, Turin, Ferrare, and other towns. De Chirico was accused of self-plagiarism because he commonly used his former themes in new works, sometimes in what may look like servile copies of his early paintings. This 'replay syndrome' is quite unique in modern art, which has been dominated by the obligation, dogma and cult of newness and renewal. At odds with most of his contemporaries, Andy Warhol suggested that de Chirico made such recurrent series because 'he liked it'. Indeed, as a lifelong admirer of Nietzsche, de Chirico may just have applied the philosopher's concept of the 'eternal return', in which one is supposed to live and accomplish tasks that one would want to repeat forever. In that way, de Chirico's work should not be considered as that of a genius who fell into decadence, but may appear as a continuous, organized process to which organic brain dysfunction never contributed. Copyright (c) 2010 S. Karger AG, Basel.

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

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    Muhammad Iqbal

    2016-02-01

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

  8. Distributed Monocular SLAM for Indoor Map Building

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    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.

  9. 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 ...

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

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    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.

  11. 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...... conditional waves are generated to induce short term extreme responses of 4500 MNm sagging and hogging vertical bending moment (VBM) amidships on a modern 9,400-TEU post-Panamax container ship and 3000 MNm (sag) on a Panamax container ship. The results of the strip theory are compared to the results of free...... 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...

  12. 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.

  13. Monocular Vision SLAM for Indoor Aerial Vehicles

    Directory of Open Access Journals (Sweden)

    Koray Çelik

    2013-01-01

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

  14. 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.

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

    Science.gov (United States)

    Yuan, Xin; Martínez-Ortega, José-Fernán; Fernández, José Antonio Sánchez; Eckert, Martina

    2017-01-01

    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. PMID:28531135

  16. 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.

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

    OpenAIRE

    Liana Cheney

    2016-01-01

    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 d...

  18. Bottom Slamming on Heaving Point Absorber Wave Energy Devices

    DEFF Research Database (Denmark)

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

    2010-01-01

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

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

    Science.gov (United States)

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

    2012-01-01

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

  20. EARLY LADINIAN RADIOLARIAN FAUNA FROM THE MONTE SAN GIORGIO (SOUTHERN ALPS, SWITZERLAND: SYSTEMATICS, BIOSTRATIGRAPHY AND PALEO(BIOGEOGRAPHIC IMPLICATIONS

    Directory of Open Access Journals (Sweden)

    RUDOLF STOCKAR

    2012-11-01

    Full Text Available A well-preserved radiolarian fauna was recovered from the lower part of the San Giorgio Dolomite (Monte San Giorgio, UNESCO WHL, Switzerland, belonging to the Eoprotrachyceras curionii Ammonoid Zone (earliest Ladinian. The depositional environment, consisting of an intraplatform basin with restricted circulation, seemingly resulted in an unusual radiolarian assemblage displaying neglegible percentages and very low diversity of Nassellaria. Seventy-three species have been identified and seven new species have been described: Eptingium danieli n. sp., Eptingium neriae n. sp., Parentactinosphaera eoladinica n. sp., Sepsagon ticinensis n. sp., Sepsagon ? valporinae n. sp., Novamuria wirzi n. sp. and Pessagnollum hexaspinosum n. sp. The taxonomic status of the recovered species has been reassessed and four new genera have been introduced: Bernoulliella gen. n., Eohexastylus gen. n., Ticinosphaera gen. n. and Lahmosphaera gen. n. The new radiolarian assemblages, the first so far described from the Monte San Giorgio, supplement further information to the taxa occurring in the uppermost Ladinocampe multiperforata Radiolarian Zone, as yet poorly defined, also confirming the absence of major changes in the radiolarian fauna across the Anisian/Ladinian boundary. The widespread co-occurrence of taxa doubtlessly testifies to the existence, in early Ladinian times, of open-marine connections between the basin of the Monte San Giorgio and the pelagic “Buchenstein” basins of the central and eastern South-Alpine domain and farther afield across the Tethys. 

  1. 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...

  2. Temporally Scalable Visual SLAM using a Reduced Pose Graph

    Science.gov (United States)

    2012-05-25

    RatSLAM system used panoramic video and odometry as perceptual stimulus. While their work does not try to produce Cartesian maps, they have demonstrated...estimation. In typical operation the visual odometry algorithm is run on a single thread at 30Hz (the camera framerate ) while the remaining components are... Video Stream Floor Tracking IMU Odometry Tracking thread Mapping thread Fig. 3. Architecture for the proposed visual SLAM system. On the left are the

  3. 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.

  4. Hydroelastic analysis of a rectangular plate subjected to slamming loads

    Science.gov (United States)

    Wang, Shan; Guedes Soares, C.

    2017-12-01

    A hydroelastic analysis of a rectangular plate subjected to slamming loads is presented. An analytical model based on Wagner theory is used for calculations of transient slamming load on the ship plate. A thin isotropic plate theory is considered for determining the vibration of a rectangular plate excited by an external slamming force. The forced vibration of the plate is calculated by the modal expansion method. Analytical results of the transient response of a rectangular plate induced by slamming loads are compared with numerical calculations from finite element method. The theoretical slamming pressure based on Wagner model is applied on the finite element model of a plate. Good agreement is obtained between the analytical and numerical results for the structural deflection of a rectangular plate due to slamming pressure. The effects of plate dimension and wave profile on the structural vibration are discussed as well. The results show that a low impact velocity and a small wetted radial length of wave yield negligible effects of hydroelasticity.

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

    Directory of Open Access Journals (Sweden)

    Hongjian Wang

    2013-01-01

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

  6. Hydroelastic analysis of a rectangular plate subjected to slamming loads

    Science.gov (United States)

    Wang, Shan; Guedes Soares, C.

    2017-10-01

    A hydroelastic analysis of a rectangular plate subjected to slamming loads is presented. An analytical model based on Wagner theory is used for calculations of transient slamming load on the ship plate. A thin isotropic plate theory is considered for determining the vibration of a rectangular plate excited by an external slamming force. The forced vibration of the plate is calculated by the modal expansion method. Analytical results of the transient response of a rectangular plate induced by slamming loads are compared with numerical calculations from finite element method. The theoretical slamming pressure based on Wagner model is applied on the finite element model of a plate. Good agreement is obtained between the analytical and numerical results for the structural deflection of a rectangular plate due to slamming pressure. The effects of plate dimension and wave profile on the structural vibration are discussed as well. The results show that a low impact velocity and a small wetted radial length of wave yield negligible effects of hydroelasticity.

  7. 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

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

    CSIR Research Space (South Africa)

    Pancham, A

    2012-11-01

    Full Text Available be not be included in the SLAM map as they may lead to localization errors and reduce map quality. Recent years, have seen the advancement of vision-based SLAM from static to dynamic environments, where SLAM coupled with Detection And Tracking of Moving Objects...

  9. La représentation de la femme dans les œuvres de Giorgio De Chirico

    OpenAIRE

    Verger, Anne

    2011-01-01

    Cet article analyse les deux catégories de femmes présentes dans l’œuvre de Giorgio De Chirico : la femme dépersonnalisée, anonyme, des œuvres de jeunesse et la femme évidente, reconnaissable, représentée par la mère et les deux épouses de l’artiste.

  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. 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.

  12. 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.

  13. 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.

  14. SLAM examination of solar cells and solar cell welds

    Science.gov (United States)

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

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

  15. 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.

  16. 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.

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

    Science.gov (United States)

    Pei, Fujun; Wu, Mei; Zhang, Simin

    2014-01-01

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

  18. 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.

  19. 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.

  20. 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

  1. 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...

  2. 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.

  3. 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.

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

    Science.gov (United States)

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

    2017-01-01

    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. PMID:28425946

  5. Giorgio Ambrosoli e il fallimento della Banca privata italiana di Michele Sindona. La Prima relazione del commissario liquidatore

    Directory of Open Access Journals (Sweden)

    Ottavio D'Addea

    2014-06-01

    Full Text Available At the end of the Sixties the banker Michele Sindona introduces in italian economy new tools to hide a comprehensive system based on the control of financial companies in tax havens in Europe. In 1972 he merged in Italy Banca Unione with Banca Privata Finanziaria in Banca Privata Italiana. In 1974, following Franklin National Bank failure too, also fails both the attempt of refinancing Finambro and Banca Privata Italiana. The liquidator of Banca Privata Italiana Giorgio Ambrosoli reconstructs the causes of failure reacting to crack bank to process for bankruptcy against Sindona in Italy and in the States.

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

    Directory of Open Access Journals (Sweden)

    Xiaorui Zhu

    2015-01-01

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

  7. Improving GOOGLE'S Cartographer 3d Mapping by Continuous-Time Slam

    Science.gov (United States)

    Nüchter, A.; Bleier, M.; Schauer, J.; Janotta, P.

    2017-02-01

    This paper shows how to use the result of Google's SLAM solution, called Cartographer, to bootstrap our continuous-time SLAM algorithm. The presented approach optimizes the consistency of the global point cloud, and thus improves on Google's results. We use the algorithms and data from Google as input for our continuous-time SLAM software. We also successfully applied our software to a similar backpack system which delivers consistent 3D point clouds even in absence of an IMU.

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

    OpenAIRE

    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 be used to overcome this drawback, however no fully suitable solutions are reported yet. This paper presents radar SLAM technology for indoor use and shows its operational applicability. Modern elec...

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

    Science.gov (United States)

    Walker, Grant M; Hickok, Gregory

    2016-04-01

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

  10. Clustered features for use in stereo vision SLAM

    CSIR Research Space (South Africa)

    Joubert, D

    2010-07-01

    Full Text Available Page 1 of 7 25th International Conference of CAD/CAM, Robotics & Factories of the Future Conference, 13-16 July 2010, Pretoria, South Africa CLUSTERED FEATURES FOR USE IN STEREO VISION SLAM Deon Joubert1 1 CSIR Pretoria, South Africa e... but it is computationally expensive and difficult to implement. New feature manipulation techniques are proposed which incorporate relational and positional information of the features into the extraction and data association steps. Keywords: Stereo Vision, Machine...

  11. 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

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

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    Jianjun Ni

    2014-01-01

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

  13. 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

  14. «Lascia ch’io ti ricordi». Stories, History and Memory in Giorgio Bassani

    Directory of Open Access Journals (Sweden)

    Silvia Datteroni

    2017-09-01

    Full Text Available Notions of memory, identity and responsibility of writing are of prime importance in any literary work as they are essential elements to construct a critical discourse able to lay the foundations for a more complex understanding of socio-cultural phenomena.Specifically, from ancient times, evoking the past hast been the core topic within relevant philosophical debates and has shaped different stylistic techniques according to literary creation processes.In the light of a brief philosophical overview, this work seeks to address the issue of memory applied to the Italian writer Giorgio Bassani’s work, whose artistic production belongs to a wider discussion on nonfiction writing with historicist foundations

  15. New holostean fishes (Actinopterygii: Neopterygii) from the Middle Triassic of the Monte San Giorgio (Canton Ticino, Switzerland).

    Science.gov (United States)

    López-Arbarello, Adriana; Bürgin, Toni; Furrer, Heinz; Stockar, Rudolf

    2016-01-01

    The new neopterygian genus Ticinolepis, including two new species T. longaeva and T. crassidens is described from Middle Triassic carbonate platform deposits of the Monte San Giorgio. The anatomy of this fish shows a mosaic of halecomorph and ginglymodian characters and, thus, the new taxon probably represents a basal holostean. During the latest Anisian to earliest Ladinian the two new species coexisted in the intraplatform basin represented by the uppermost Besano Formation, but only T. longaeva sp. nov. inhabited the more restricted basin represented by the Ladinian Meride Limestone (except for the Kalkschieferzone). The more widely distributed type species shows interesting patterns of intraspecific variation including ontogenetic changes and morphological variation over time. The second species presents anatomical features that strongly indicate a strictly durophagous diet. The different distribution of the species is interpreted as a result of habitat partitioning and different adaptability to palaeoenvironmental changes.

  16. 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.

  17. Human responses to wave slamming vibration on a polar supply and research vessel.

    Science.gov (United States)

    Omer, H; Bekker, A

    2018-02-01

    A polar supply and research vessel is pre-disposed to wave slamming which has caused complaints among crew and researchers regarding interference with sleep, equipment use and research activities. The present work undertook to survey passenger claims of sleep interference, disturbed motor tasks and equipment damage as a result of wave slamming during normal operations of this vessel. The hypothesis was investigated that whole-body vibration metrics from ISO 2631-1 are potentially suitable for the prediction of human slamming complaints. Full-scale acceleration measurements were performed and wave slamming events were subsequently identified from the human weighted acceleration time histories. A daily diary survey was also conducted to gather the human response. The vibration caused by wave slamming was found to be strongly correlated with sleep disturbances and activity interference. Sleep and equipment use were found to be the most affected parameters by slamming. Daily vibration dose values were determined by accumulating the vibration as a result of slamming over 24 h periods. This metric accounted for increased magnitudes and frequency of slamming incidents and proved to be the best metric to represent human responses to slamming vibration. The greatest percentage of activities affected by slamming related to sleep regardless of daily cumulative VDV magnitude. More than 50% of the recorded responses related to sleep when the daily cumulative VDV ranged between 8.0 m/s1.75-10.0 m/s1.75. The peak vertical vibration levels recorded on the vessel reach magnitudes which are associated with sleep disturbance in environments where acoustic noise is present. Copyright © 2017 Elsevier Ltd. All rights reserved.

  18. 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.

  19. MARTIAN SWARM EXPLORATION AND MAPPING USING LASER SLAM

    Directory of Open Access Journals (Sweden)

    S. Nowak

    2013-08-01

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

  20. 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")

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

    Directory of Open Access Journals (Sweden)

    Helen Gregory

    2008-10-01

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

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

    Science.gov (United States)

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

    2016-12-01

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

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

    Science.gov (United States)

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

    2015-11-01

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

  4. 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.

  5. Monocular Visual-Inertial SLAM: Continuous Preintegration and Reliable Initialization

    Science.gov (United States)

    Liu, Yi; Chen, Zhong; Zheng, Wenjuan; Wang, Hao; Liu, Jianguo

    2017-01-01

    In this paper, we propose a new visual-inertial Simultaneous Localization and Mapping (SLAM) algorithm. With the tightly coupled sensor fusion of a global shutter monocular camera and a low-cost Inertial Measurement Unit (IMU), this algorithm is able to achieve robust and real-time estimates of the sensor poses in unknown environment. To address the real-time visual-inertial fusion problem, we present a parallel framework with a novel IMU initialization method. Our algorithm also benefits from the novel IMU factor, the continuous preintegration method, the vision factor of directional error, the separability trick and the robust initialization criterion which can efficiently output reliable estimates in real-time on modern Central Processing Unit (CPU). Tremendous experiments also validate the proposed algorithm and prove it is comparable to the state-of-art method. PMID:29135966

  6. 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.

  7. Comparative analysis of ROS-based monocular SLAM methods for indoor navigation

    Science.gov (United States)

    Buyval, Alexander; Afanasyev, Ilya; Magid, Evgeni

    2017-03-01

    This paper presents a comparison of four most recent ROS-based monocular SLAM-related methods: ORB-SLAM, REMODE, LSD-SLAM, and DPPTAM, and analyzes their feasibility for a mobile robot application in indoor environment. We tested these methods using video data that was recorded from a conventional wide-angle full HD webcam with a rolling shutter. The camera was mounted on a human-operated prototype of an unmanned ground vehicle, which followed a closed-loop trajectory. Both feature-based methods (ORB-SLAM, REMODE) and direct SLAMrelated algorithms (LSD-SLAM, DPPTAM) demonstrated reasonably good results in detection of volumetric objects, corners, obstacles and other local features. However, we met difficulties with recovering typical for offices homogeneously colored walls, since all of these methods created empty spaces in a reconstructed sparse 3D scene. This may cause collisions of an autonomously guided robot with unfeatured walls and thus limits applicability of maps, which are obtained by the considered monocular SLAM-related methods for indoor robot navigation.

  8. 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.

  9. 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.

  10. 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

  11. 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.

  12. 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.

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

    Science.gov (United States)

    Davey, Neil S.; Godil, Haris

    2013-05-01

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

  14. 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.

  15. A VARIANT OF LSD-SLAM CAPABLE OF PROCESSING HIGH-SPEED LOW-FRAMERATE MONOCULAR DATASETS

    OpenAIRE

    Schmid, S; Fritsch, D.

    2017-01-01

    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.

  16. A VARIANT OF LSD-SLAM CAPABLE OF PROCESSING HIGH-SPEED LOW-FRAMERATE MONOCULAR DATASETS

    Directory of Open Access Journals (Sweden)

    S. Schmid

    2017-11-01

    Full Text Available 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.

  17. 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.

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

    Science.gov (United States)

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

    2011-01-01

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

  19. [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.

  20. An Efficient Index for Visual Search in Appearance-based SLAM

    OpenAIRE

    Hajebi, Kiana; Zhang, Hong

    2013-01-01

    Vector-quantization can be a computationally expensive step in visual bag-of-words (BoW) search when the vocabulary is large. A BoW-based appearance SLAM needs to tackle this problem for an efficient real-time operation. We propose an effective method to speed up the vector-quantization process in BoW-based visual SLAM. We employ a graph-based nearest neighbor search (GNNS) algorithm to this aim, and experimentally show that it can outperform the state-of-the-art. The graph-based search struc...

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

    Science.gov (United States)

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

    1981-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Shuhuan Wen

    2014-01-01

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

  3. 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.

  4. SLAM, a Mathematica interface for SUSY spectrum generators

    Science.gov (United States)

    Marquard, Peter; Zerf, Nikolai

    2014-03-01

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

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

    National Research Council Canada - National Science Library

    Pedro Dalla Bernardina Brocco

    2016-01-01

    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...

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

    Directory of Open Access Journals (Sweden)

    Nur Aqilah Othman

    2015-01-01

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

  7. An Indoor Wayfinding System Based on Geometric Features Aided Graph SLAM for the Visually Impaired.

    Science.gov (United States)

    Zhang, He; Ye, Cang

    2017-09-01

    This paper presents a 6-degree of freedom (DOF) pose estimation (PE) method and an indoor wayfinding system based on the method for the visually impaired. The PE method involves two-graph simultaneous localization and mapping (SLAM) processes to reduce the accumulative pose error of the device. In the first step, the floor plane is extracted from the 3-D camera's point cloud and added as a landmark node into the graph for 6-DOF SLAM to reduce roll, pitch, and Z errors. In the second step, the wall lines are extracted and incorporated into the graph for 3-DOF SLAM to reduce X , Y , and yaw errors. The method reduces the 6-DOF pose error and results in more accurate pose with less computational time than the state-of-the-art planar SLAM methods. Based on the PE method, a wayfinding system is developed for navigating a visually impaired person in an indoor environment. The system uses the estimated pose and floor plan to locate the device user in a building and guides the user by announcing the points of interest and navigational commands through a speech interface. Experimental results validate the effectiveness of the PE method and demonstrate that the system may substantially ease an indoor navigation task.

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

    Science.gov (United States)

    Mai, Yu-Ching; Lai, Ying-Chih

    2016-07-01

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

  9. 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

  10. Multiple Integrated Navigation Sensors for Improved Occupancy Grid FastSLAM

    Science.gov (United States)

    2011-03-01

    40 3.2.2 Feature Tracking & Stereopsis ...problematic for FV-SIFT. 3.2.2 Feature Tracking & Stereopsis . Camera egomotion is an older problem than SLAM, and researchers now seek to combine the...research. The implementation is based on stereopsis , the ability to approximate distances through stereo images. To take advantage of stereopsis , MINS

  11. 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

  12. 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.

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

    Science.gov (United States)

    Rosenberger, Robert

    2005-01-01

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

  14. A comparison between Smoothed-Particle Hydrodynamics and RANS Volume of Fluid method in modelling slamming

    Directory of Open Access Journals (Sweden)

    Marcus Sasson

    2016-04-01

    Full Text Available The oil and gas industry requires complex subsea infrastructure in order to develop offshore oil and gas fields. Upon installation, these components may encounter high slamming loads, stemming from impact with the water surface. This paper utilises two different numerical methods, the mesh-free Smoothed Particle Hydrodynamics (SPH approach and Reynolds Averaged Navier–Stokes (RANS Volume of Fluid (VOF method to quantify these loads on a free-falling object. The investigation is also interested in conducting a parameter study and determining the effect of varying simulation parameters on the prediction of slamming event kinematics and forces. The surface impact of a freefalling wedge was introduced as a case study and has been simulated using SPH and RANS, with the results being compared to an experimental investigation. It was found from the SPH simulations that particle resolution and the size of the SPH particle kernel are very important, whilst the diffusion term does not play an important role. The latter is due to the very transient nature of slamming events, which do not allow sufficient time for diffusion in the fluid domain. For the RANS simulations, motion of the wedge was achieved using the overset grid technique, whereby varying the discretising time step was found to have a pronounced impact on the accuracy of the captured slamming event. Through analysing the numerical data, one can observe that the RANS results correlate slightly better with the experimental data as opposed to that obtained from the SPH modelling. However, considering the robustness and quick set up of the SPH simulations, both of these two numerical approaches are considered to be promising tools for modelling more complicated slamming problems, including those potentially involving more intricate structures.

  15. 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 The Inclusive-exclusion of the Bare Life in the Biopolitical Model of Giorgio Agamben: Some Reflections on the Intersection between Democracy and Totalitarianism

    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.By taking distance from biopower and biopolitics proposed in the mid-seventies by Michel Foucault, the Italian philosopher Giorgio Agamben comes to a personal biopolitical conception of legal and philosophical slope rather than historical, based on inclusive-exclusion of biological life (bare life of the human being, as a primal substrate of western politics. The relevant aspect of Agamben’s thesis lies in the ability of the inclusive-exclusion of bare life, to show a certain level of indistinctness or contiguity between democracy and totalitarianism, in terms of their practices of management over the lives of individuals and populations, without for it, be unknown or disturb their antagonistic philosophical assumptions. This article aims to offer a critical approach to the implications that

  16. 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.

  17. 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

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

    Directory of Open Access Journals (Sweden)

    Heng Zhang

    2015-06-01

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

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

    Science.gov (United States)

    Zhang, Heng; Liu, Yanli; Tan, Jindong

    2015-06-19

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

  20. 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.

  1. 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.

  2. Utredning av orsaker till höga kopparhalter i Käppalaverkets slam

    OpenAIRE

    Eklund, Tomas

    2016-01-01

    Käppalaverket är ett avloppsreningsverk som är beläget på Lidingö. Avloppsreningsverket renar idag avloppsvatten från över en halv miljon människor. Varje år produceras det omkring 30 000 ton slam på Käppalaverket. Det näringsrika slammet används sedan som gödsel som sprids på åkermarken. Från 2007 fram till 2012 har kopparhalten stigit i det producerade slammet på Käppalaverket. Det har resulterat i att mängden koppar har överstigit det uppsatta gränsvärdet för att få sprida slam på åkermark...

  3. 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.

  4. IMPACT ASSESSMENT OF IMAGE FEATURE EXTRACTORS ON THE PERFORMANCE OF SLAM SYSTEMS

    Directory of Open Access Journals (Sweden)

    Taihú Pire

    2015-12-01

    Full Text Available This work evaluates an impact of image feature extractors on the performance of a visual SLAM method in terms of pose accuracy and computational requirements. In particular, the S-PTAM (Stereo Parallel Tracking and Mapping method is considered as the visual SLAM framework for which both the feature detector and feature descriptor are parametrized. The evaluation was performed with a standard dataset with ground-truth information and six feature detectors and four descriptors. The presented results indicate that the combination of the GFTT detector and the BRIEF descriptor provides the best trade-off between the localization precision and computational requirements among the evaluated combinations of the detectors and descriptors.

  5. 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.

  6. 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.

  7. «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

  8. 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

    2017-01-01

    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

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

    OpenAIRE

    González de Rueda Ramos, José Manuel

    2012-01-01

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

  10. 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.

  11. 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.

  12. Makedon Soyadlarına Yansıyan İslam Medeniyetinin Etkileri

    OpenAIRE

    Leontik, Marija

    2010-01-01

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

  13. 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.

  14. 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.

  15. 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.

  16. Generation of RGB-D data for SLAM using robotic framework V-REP

    Science.gov (United States)

    Gritsenko, Pavel S.; Gritsenko, Igor S.; Seidakhmet, Askar Zh.; Abduraimov, Azizbek E.

    2017-09-01

    In this article, we will present a methodology to debug RGB-D SLAM systems as well as to generate testing data. We have created a model of a laboratory with an area of 250 m2 (25 × 10) with set of objects of different type. V-REP Microsoft Kinect sensor simulation model was used as a basis for robot vision system. Motion path of the sensor model has multiple loops. We have written a program in V-Rep native language Lua to record data array from the Microsoft Kinect sensor model. The array includes both RGB and Depth streams with full resolution (640 × 480) for every 10 cm of the path. The simulated path has absolute accuracy, since it is a simulation, and is represented by an array of transformation matrices (4 × 4). The length of the data array is 1000 steps or 100 m. The path simulates frequently occurring cases in SLAM, including loops. It is worth noting that the path was modeled for a mobile robot and it is represented by a 2D path parallel to the floor at a height of 40 cm.

  17. 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)

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

    DEFF Research Database (Denmark)

    Jensen, Jørgen Juncher; Mansour, A. E.

    2003-01-01

    ABSTRACT: The effect of impulsive loads like slamming and green water on deck on the wave-induced bending mo-ment is estimated by a semi-analytical approach. The impulse loads leading to transient vibrations are described in terms of magnitude, phase lag relative to the wave-induced peak and decay...... rate. These loads can be due to bow flare slamming, bottom slamming or green water loads as they all can be characterised by a short duration relative to the wave cycle. The magnitude of the bow flare slamming loads is estimated using accurate results from wedge-shaped sections, Zhao and Faltinsen...... (1993) and for green water loads the results from Buchner (1995) and Wang et al .(1998) are applied. The phase lag relative to the wave-induced peak and the decay rate are derived mainly from published experimental results, Sikora, (1998). The results are given in closed-form expressions...

  19. Poetry SLAMS - Literacy Literacies of Reexistence in/to the Contemporary World

    Directory of Open Access Journals (Sweden)

    Cynthia Agra de Brito Neves

    2017-10-01

    Full Text Available A brand new phenomenon of oral and performative poetry known as slam is currently flourishing. It is a competition in which poets from the suburbs have their voices to be heard and remark everyday adversities in a socially engaged way. Addressing themes such as racism, violence, drugs, chauvinism, and sexism, those battles require a politicized audience, a listening and an active thinking. The slammers incorporate “voices from the margin” (HALL, 2003, “from the South” (MOITA LOPES, 2006, or “from the body” (DE CERTEAU, 1994. Moreover, by reciting authorial poems to a panel of five judges chosen among members of the audience, slammers became agents of a literacy of re-existence (SOUZA, 2011. The winner takes the books!

  20. A PIV-based method for estimating slamming loads during water entry of rigid bodies

    Science.gov (United States)

    Nila, A.; Vanlanduit, S.; Vepa, S.; Van Paepegem, W.

    2013-04-01

    Hydrodynamic impact of bodies onto the water surface is a problem of great importance in the design of off-shore and naval structures (wave energy converters, off-shore platforms, high-speed boats, etc). Classical measurement techniques, namely pressure sensors, present major drawbacks in the determination of impact loads because of their intrusive nature. In this paper, we propose a method to determine the impact loads on rigid bodies during water entry, based on high-speed particle image velocimetry. The method consists of two steps: firstly, an automated procedure is developed to determine the velocity field from high-speed images during water impact. Secondly, the unsteady pressure field is estimated from the velocity fields, using a Poisson-based solver. The method is validated on a rigid wedge slamming experiment and the results are compared with results from computational fluid dynamics simulations (performed with the software LS-Dyna) and from the literature.

  1. Klasik İslam Hukuk Teorisi ve Hadislerin Rolü

    OpenAIRE

    SCHACHT, Joseph; MACİT, Yüksel

    2012-01-01

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

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

    Science.gov (United States)

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

    2015-09-01

    The inhibitory IgG Fc receptor (FcγRIIB) deficiency and 129 strain-derived signaling lymphocyte activation molecules (129-SLAMs) are proposed to contribute to the lupus phenotype in FcγRIIB-deficient mice generated using 129 ES cells and backcrossed to C57BL/6 mice (B6.129.RIIBKO). In this study, we examine the individual contributions and the cellular mechanisms by which FcγRIIB deficiency and 129-derived SLAM family genes promote dysregulated spontaneous germinal center (Spt-GC) B cell and follicular helper T cell (Tfh) responses in B6.129.RIIBKO mice. We find that B6 mice congenic for the 129-derived SLAM locus (B6.129-SLAM) and B6 mice deficient in FcγRIIB (B6.RIIBKO) have increased Spt-GC B cell responses compared to B6 controls but significantly lower than B6.129.RIIBKO mice. These data indicate that both FcγRIIB deficiency and 129-SLAMs contribute to elevated Spt-GC B cell responses in B6.129.RIIBKO mice. However, only 129-SLAMs contribute significantly to augmented Tfh responses in B6.129.RIIBKO mice, and do so by a combination of T cell-dependent effects and enhanced B cell and DC-dependent antigen presentation to T cells. Elevated Spt-GC B cell responses in mice with FcγRIIB deficiency and polymorphic 129-SLAMs were associated with elevated metabolic activity, improved GC B cell survival and increased differentiation of naïve B cells into GC B cell phenotype. Our data suggest that the interplay between 129-SLAM expression on B cells, T cells and DCs is central to the alteration of the GC tolerance checkpoint, and that deficiency of FcγRIIB on B cells is necessary to augment Spt-GC responses, pathogenic autoantibodies, and lupus disease. Copyright © 2015 Elsevier Ltd. All rights reserved.

  3. 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.

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. Dichotomy in FcγRIIB deficiency and autoimmune-prone SLAM haplotype clarifies the roles of the Fc receptor in development of autoantibodies and glomerulonephritis.

    Science.gov (United States)

    Kanari, Yasuyoshi; Sugahara-Tobinai, Akiko; Takahashi, Haruka; Inui, Masanori; Nakamura, Akira; Hirose, Sachiko; Takai, Toshiyuki

    2014-10-24

    The significance of a unique inhibitory Fc receptor for IgG, FcγRIIB (RIIB), in the prevention of spontaneous production of autoantibodies remains controversial, due mainly to the fact that the RIIB locus is adjacent to the autoimmune-related SLAM locus harboring the genes coding for signaling lymphocyte activation molecules, making it difficult to isolate the effect of RIIB deletion from that of SLAM in gene-targeted mice. Our objective was to determine the influence of RIIB deletion on the spontaneous development of autoimmune diseases and to compare it with that of potentially pathogenic SLAM. We established two congenic C57BL/6 (B6) strains, one with the RIIB deletion and the other with SLAM, by backcrossing 129/SvJ-based RIIB-deficient mice into the B6 genetic background extensively. The RIIB deficiency indeed led to the production and/or accumulation of a small amount of anti-nuclear autoantibodies (ANAs) and to weak IgG immune-complex deposition in glomeruli without any obvious manifestation of lupus nephritis. In contrast, pathogenic SLAM in the B6 genetic background induced ANAs but no IgG immune-complex deposition in the kidneys. Naïve SLAM mice but not RIIB-deficient mice exhibited hyperplasia of splenic germinal centers. The present results clarify the roles of RIIB in preventing production and/or accumulation of a small amount of ANAs, and development of glomerulonephritis. The combined effects of RIIB deletion and pathogenic SLAM can lead to severe lupus nephritis in the B6 genetic background.

  10. Sources of nitrogen and phosphorus emissions to Irish rivers: estimates from the Source Load Apportionment Model (SLAM)

    Science.gov (United States)

    Mockler, Eva; Deakin, Jenny; Archbold, Marie; Daly, Donal; Bruen, Michael

    2017-04-01

    More than half of the river and lake water bodies in Europe are at less than good ecological status or potential, and diffuse pollution from agriculture remains a major, but not the only, cause of this poor performance. In Ireland, it is evident that agri-environmental policy and land management practices have, in many areas, reduced nutrient emissions to water, mitigating the potential impact on water quality. However, additional measures may be required in order to further decouple the relationship between agricultural productivity and emissions to water, which is of vital importance given the on-going agricultural intensification in Ireland. Catchment management can be greatly supported by modelling, which can reduce the resources required to analyse large amounts of information and can enable investigations and measures to be targeted. The Source Load Apportionment Model (SLAM) framework was developed to support catchment management in Ireland by characterising the contributions from various sources of phosphorus (P) and nitrogen (N) emissions to water. The SLAM integrates multiple national spatial datasets relating to nutrient emissions to surface water, including land use and physical characteristics of the sub-catchments to predict emissions from point (wastewater, industry discharges and septic tank systems) and diffuse sources (agriculture, forestry, peatlands, etc.). The annual nutrient emissions predicted by the SLAM were assessed against nutrient monitoring data for 16 major river catchments covering 50% of the area of Ireland. At national scale, results indicate that the total average annual emissions to surface water in Ireland are over 2,700 t yr-1 of P and 80,000 t yr-1 of N. The SLAM results include the proportional contributions from individual sources at a range of scales from sub-catchment to national, and show that the main sources of P are from wastewater and agriculture, with wide variations across the country related to local anthropogenic

  11. 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

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    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.

  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.

    2017-10-01

    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. 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.

  14. 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 keel to the free surface. The wedge was instrumented to record vertical position, acceleration, and pressure on the bottom surface. A pressure mapping system, capable of measuring several points over the area of the thin (0.1 mm) film sensor at sampling rates up to 20 kHz, is used and compared to surface-mounted pressure transducers (sampled at 10 kHz). A high speed 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.

  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. 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.

  17. 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.

  18. La « Casa di San Giorgio », une autorité de régulation dans les villes communales médiévales italiennes “Casa di San Giorgio”, an Authority of Governance in Medieval Italian Communal Towns

    Directory of Open Access Journals (Sweden)

    Luca Parisoli

    2009-04-01

    Full Text Available Les poussées à l’instabilité déterminées par la structure familiale et par clan de la société urbaine médiévale, et donc par ses codes de la vengeance, produit une conception particulière de la représentation politique. Je me concentre sur le cas de la Casa di San Giorgio, car son originalité est marquante. En effet, cette autorité de régulation gère tout simplement la totalité de la dette publique de Gênes à la place de l’assemblée politique élue et du gouvernement de cette ville. La Casa di San Giorgio se consacre au bien et au salut commun car elle ne représente pas l’âme la plus féodale et guerrière de la ville : l’intérêt commun est celui de l’accomplissement de la richesse capitaliste dans la ville de Gênes.The familiar structure by clan of urban medieval society, regulated by codes of revenge, gives a propensity to political instability, and offer a particular conception of political representation. I focus on the case of Casa di San Giorgio, a very original institution in Italian Middle Age. This authority of governance was responsible for the political economy of Genoa in lieu of the elective chamber and of the government. Casa di San Giorgio devoted itself to common good and survived, because it was independent from warrior and nobility elements of the town: the common interest was finally the realization of capitalist welfare in Genoa.

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

    Science.gov (United States)

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

    2017-02-01

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

  20. 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

  1. 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

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    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.

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

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    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.

  3. A fast slam approach to freehand 3-d ultrasound reconstruction for catheter ablation guidance in the left atrium.

    Science.gov (United States)

    Koolwal, Aditya B; Barbagli, Federico; Carlson, Christopher R; Liang, David H

    2011-12-01

    We present a method for real-time, freehand 3D ultrasound (3D-US) reconstruction of moving anatomy, with specific application towards guiding the catheter ablation procedure in the left atrium. Using an intracardiac echo (ICE) catheter with a pose (position/orientation) sensor mounted to its tip, we continually mosaic 2D-ICE images of a left atrium phantom model to form a 3D-US volume. Our mosaicing strategy employs a probabilistic framework based on simultaneous localization and mapping (SLAM), a technique commonly used in mobile robotics for creating maps of unexplored environments. The measured ICE catheter tip pose provides an initial estimate for compounding 2D-ICE image data into the 3D-US volume. However, we simultaneously consider the overlap-consistency shared between 2D-ICE images and the 3D-US volume, computing a "corrected" tip pose if need be to ensure spatially-consistent reconstruction. This allows us to compensate for anatomic movement and sensor drift that would otherwise cause motion artifacts in the 3D-US volume. Our approach incorporates 2D-ICE data immediately after acquisition, allowing us to continuously update the registration parameters linking sensor coordinates to 3D-US coordinates. This, in turn, enables real-time localization and display of sensorized therapeutic catheters within the 3D-US volume for facilitating procedural guidance. Copyright © 2011 World Federation for Ultrasound in Medicine & Biology. Published by Elsevier Inc. All rights reserved.

  4. illness as process in giorgio pressburger's writing

    African Journals Online (AJOL)

    User

    Erna, la garanzia d'un matrimonio che non le riservasse le stolide emozioni degli innamorati e degli amanti” (104). Her devout essence keeps her rational at the height of suffering: at Aaron's departure, she says “anche gli uccelli, quando spuntano loro le ali, se ne volano via dal nido. L'Eterno ha ordinato che fosse così.

  5. illness as process in giorgio pressburger's writing

    African Journals Online (AJOL)

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    counters the obsessiveness and narcissism of the doctor figure which spans four stories. The story, significantly entitled. “Scelte”, records moments of illumination, suspending its pathological dynamics in images of parabolic truth: Erna has inner vision, and this gives her the choice of her lifetime when she experiences the ...

  6. Primo Levi, Giorgio Pressburger e Israele

    NARCIS (Netherlands)

    Speelman, R.M.

    2014-01-01

    Primo Levi, ebreo non religioso, ha sentito ciò nonostante un forte legame emotivo con lo Stato di Israele, che ha cercato di difendere nella crisi degli anni ’60, ma poi ha criticato negli anni ’70 e maggiormente negli anni della campagna ‘Pace in Israele’ e anni successivi. Infatti, tra il 1982 e

  7. 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

  8. Use of a SLAM transfected Vero cell line to isolate and characterize marine mammal morbilliviruses using an experimental ferret model.

    Science.gov (United States)

    Nielsen, Ole; Smith, Greg; Weingartl, Hana; Lair, Stéphane; Measures, Lena

    2008-07-01

    Two ferrets (Mustela putorius furo) were experimentally infected with phocine distemper virus (PDV), from the 1988 seal epizootic in Europe, in order to determine whether the stable transfected Vero cell line (Vero.DogSLAMtag) expressing canine "signaling lymphocyte activation molecules" (SLAM; CD150) receptors, was more suitable for isolating and characterizing PDV when compared with Vero (American Type Culture Collection # C1008) and primary seal kidney (PSK) cells. Both ferrets displayed characteristic clinical signs of distemper, including fever and rash, 10 days postinoculation (dpi) and, due to increased morbidity, they were euthanized 12 dpi. Histologic lesions, suggestive of infection with morbilliviruses, were observed in tissues from both ferrets, and the tissues stained positive using immunohistochemistry. Isolation of PDV from isolated peripheral blood lymphocytes (PBLs), taken at 5 and 10 dpi, was achieved by cocultivation with Vero and PSK cells, following several passages. Cytopathic effects (CPE) were observed in Vero cell cultures at 29 dpi and in PSK cell cultures at 22 dpi. Phocine distemper virus was isolated from frozen infected ferret lung tissue within 48 hr, when isolation was attempted using the Vero.DogSLAMtag cell line. In addition, a reverse transcriptase polymerase chain reaction (RT-PCR) test was developed to detect a 114 base pair (bp) portion of the nucleocapsid gene found only in PDV. This RT-PCR methodology was used to confirm the identity of the virus subsequently isolated from the ferrets. Viral isolates from the infected ferrets, as well as cultures of virus originally isolated from a dolphin and a porpoise and maintained in Vero cells, also replicated faster and produced higher titers of virus when propagated in Vero.DogSLAMtag cells. These results indicate that Vero.DogSLAMtag cells offer a substantial improvement (including faster viral replication resulting in primary viral isolation in a shorter period of time, and higher

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

    Science.gov (United States)

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

    2015-10-16

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

  10. Analisa Operabilitas serta Evaluasi Aspek Slamming dan Greenwater pada Tugboat - Studi Kasus Towing FSO Arco Ardjuna dari Jurong Port menuju Ardjuna Marine Terminal

    Directory of Open Access Journals (Sweden)

    Rainhart Gabriel

    2017-01-01

    Full Text Available AHTS (Anchor Handling Tug Supply MP Premier adalah kapal penarik yang digunakan dalam operasi towing FSO Arco Ardjuna dari jurong port menuju ardjuna marine terminal. Penelitian ini menganalisa gerakan AHTS MP Premier saat operasi towing dalam ranah time domain, selain itu Penelitian ini meninjau kemungkinan terjadinya slamming dan greenwater dengan melakukan analisa respon spektra relatif vertikal haluan AHTS MP Premier berdasarkan RAO heave dan pitch. Aspek-aspek tersebut dibandingkan dengan kriteria seakeeping untuk mengetahui kemampuan AHTS dalam melakukan operasi towing. Semua analisa dilakukan dalam keadaan melaju dengan kecepatan 5 knot untuk sejumlah arah propagasi gelombang. Didapat Gerakan rata-rata roll terbesar 4,53 deg pada kondisi 85% fuel tank dengan arah gelombang 120°, nilai rata-rata pitch terbesar 3,42 deg pada kondisi 85% fuel tank dengan arah datang gelombang 180°, nilai signifikan percepatan heave terbesar 1,98 m/s2 pada kondisi 85% fuel tank dengan arah datang gelombang 180 dan nilai signifikan kecepatan heave terbesar 2,36 m/s pada kondisi 85% fuel tank dengan arah datang gelombang 180°. sedangkan probability slamming terbesar 0,01259 pada kondisi 85% fuel tank dengan arah datang gelombang 180° dan probability greenwater terbesar 0,01741 pada kondisi full load dengan heading 180°. Berdasarkan aspek tersebut didapat operabilitas AHTS MP Premier saat pross towing sebesar 98,99% dengan batas gelombang general criteria sebesar 4m.

  11. 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

  12. 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.

  13. Beyond the slammed door

    Directory of Open Access Journals (Sweden)

    Solace Sefakor Anku

    2015-02-01

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

  14. The RAND SLAM Program

    Science.gov (United States)

    2008-01-01

    sol.pc = 5; nxt.pc = 5; sta.pc = 5; mod.pc = 5; * Calculate requirements used in lookaheads just once * Creqs (l,cont,state,e) is requirement for...power of the transition matrix * first = first nstate with prob maxp (to disambiguate ties) * Creqs = requirement for nstate = first * requirement...for the look-ahead is sum of Creqs over the contingencies Alias (state,kstate); Parameter Ptrans(cont, state,nstate) Powers of transition matrix

  15. Visual Trajectory Based SLAM

    NARCIS (Netherlands)

    Esteban, I.

    2008-01-01

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

  16. Yusuf Ziya Yörükan'ın Hayatı, Eserleri ve İslam Tarihçiliği Life, Works And Islamic Historiography of Yusuf Ziya Yörükan

    Directory of Open Access Journals (Sweden)

    Zekeriya AKMAN

    2013-03-01

    görevinin yanı sıra akademik çalışmalarına da devam etmiştir. Daha sonra Üniversitelerde çalışmaya başlayan Yusuf Ziya Yörükan, İstanbul ve Ankara Üniversitelerinde İslam Dini tarihi, Mezhepler tarihi ve Felsefe hocası olarak görev yapmıştır. Hayatını kaybetmiş olduğu 5. 6. 1954 tarihine kadar hocalık görevine, akademik ve ilmi çalışmalarına devam etmiştir. Yusuf Ziya Yörükan, İslam düşüncesinin birçok alanı ile ilgilenmiştir. Felsefe, Kelam, Türk tarihi, İslam tarihi, Dinler tarihi, Mezhepler tarihi ve Hadis gibi alanlarda çok sayıda çalışmalar yapmış ve bu ilim dallarına dair soru ve iddialara cevaplar vermiştir. Çok sayıda kitap ve makaleler yazmıştır. Özellikle Alevilik, Bektaşilik ve Türklerin eski inançları ile ilgili çalışmaları ön plana çıkmıştır. Yusuf Ziya Yörükan, branşı İslam tarihi olmayan bir akademisyendir. Bazen yazmış olduğu bir kitabın içerisinde İslami ilimlerin birçok alanı ile ilgili bilgilere yer vermiştir. İslam Dini Tarihi ve Peygamberimiz isimli kitaplarında Hz. Peygamberin hayatını anlatmıştır. İslam tarihçilerinden farklı bir tarzda konuları ele alarak değerlendirmiştir. Kitaplarında, İslam tarihinde meydana gelmiş olayları anlatırken, bunlarla bağlantılı olabilecek dini ve hukuki konulara da yer vermiştir. Öğretici bir tarzda yazmış olduğu eserleri, okullarda ders kitabı olarak okutulmuşlardır. Bu makalede onun Hz. Muhammed’in hayatını anlatan kitaplarını tanıtmaya ve İslam tarihçiliğini değerlendirmeye çalıştık.

  17. 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.

  18. Theatrical game-play: Giorgio Manganelli's Otello: Ovvero cassio ...

    African Journals Online (AJOL)

    AJOL African Journals Online. HOW TO USE AJOL... for Researchers · for Librarians · for Authors · FAQ's · More about AJOL · AJOL's Partners · Terms and Conditions of Use · Contact AJOL · News. OTHER RESOURCES... for Researchers · for Journals · for Authors · for Policy Makers · about Open Access · Journal Quality.

  19. Divergence and Diversity: The Case of Giorgio Manganelli's ...

    African Journals Online (AJOL)

    estetica è sempre nell'ambito del gratuito, dell'alternativo e dell'arbitrario. In questi termini il testo manganelliano non è un prodotto unico e isolato che deriva dall'immaginazione letteraria ma piuttosto una parte essenziale di un testo infinito ...

  20. Arst / Giorgio Cosmacini ; tõlk. Heete Sahkai

    Index Scriptorium Estoniae

    Cosmacini, Giorgio

    2003-01-01

    Natuurfilosoofia ja arstiteaduse vahelistest küsimustest 18. saj. ja 19. saj. Euroopas. Browni teooria e. Brownism, mesmerism, frenoloogia ja saksa idealism ning teised romantismiajastu arstiteaduse filosoofilised teooriad terviklikust inimesekäsitlusest

  1. [When doors slam, fingers jam!].

    Science.gov (United States)

    Claudet, I; Toubal, K; Carnet, C; Rekhroukh, H; Zelmat, B; Debuisson, C; Cahuzac, J-P

    2007-08-01

    Epidemiological analysis in a universitary paediatric emergency unit of children admitted after accidental injuries resulting from fingers crushed in a door. Prospective, descriptive cohort study from September 6th, 2004 to July 1st, 2005 included all children admitted for finger injuries crushed in a non-automatic door. included accidents due to automatic doors, toy's or refrigerator doors, families who refused to participate to the study or families who had left the waiting area before medical examination. Collected data were patient and family characteristics, accident characteristics and its management. Three hundred and forty children affected by 427 digital lesions were included. The mean age was 5.5+/-3.8 years (range 4 months - 15.5 years). Male/female ratio was equal to 1.2: 1. Fifty-eight percent of patients belonged to families composed of 3 or more siblings. Ninety-three per cent of families came to hospital within the first 2 hours after the accident (mean delay 99+/-162 min, median range 54 minutes). Location of the accident was: domestic (62%, at home (64%)), at school (17%). Locations within the home were: the bedroom (33%), bathroom and toilets (21%). An adult was present in 75% of cases and responsible for the trauma in 25% of accidents, another child in 44%. The finger or fingers were trapped on the hinge side in 57% of patients. No specific safeguard devices were used by 94% of families. Among victims, 20% had several crushed digits; left and right hand were injured with an equal frequency. The commonest involved digits were: the middle finger (29%), the ring finger (23%). The nail plate was damaged in 60% of digital lesions, associated with a wound (50%), a distal phalanx fracture (P3) (12%). Six children had a partial or complete amputation of P3, 2 children a lesion of the extensor tendon, 1 child had a rupture of the external lateral ligament. Three percent of children required an admission to the paediatric orthopaedic surgery unit. Post-traumatic pain was mainly limited to the first 48 h (64%). Early complications included: 16 cases of infected injuries, 3 cases of pulpar necrosis. The total cost of hospital care was 71,500 euros, the average cost for hospitalised patient equal to 2100 euros and for ambulatory cases equal to 141 euros; the annual cost was estimated at 81,600 euros. Associated with potentially serious digital injuries, functional or inesthetic sequelae, this painful experience still remains too frequent in toddlers for a home accident that could be often prevented by the acquisition of specific protective doors devices and for a reasonable cost compared to the cost of hospital care.

  2. 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

  3. 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.

  4. 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

  5. İslam Ülkelerinde Bilim, ve Teknolojinin Gelişimi İçin Enformasyon İhtiyaçlarının Karşılanması

    Directory of Open Access Journals (Sweden)

    O. Tekin Aybaş

    1987-06-01

    Full Text Available Bilim ve teknoloji alanında yapılan çalışmalar günümüzde çok büyük aşa­malara ulaşmıştır. Bu konuda yatınm yapan ülkeler aynı ramanda endüstri­leşme alanında da ileri hamleler yaparak gelişmekte olan ülkeler üzerinde teknolojik ve ekonomik hegamonya kurmuşlardır. Yine aynı ülkeler, bilim­sel enformasyon üretimi konusunda da ilk birkaç sırayı paylaşmaktadırlar* Bilim ve teknolojinin ülkelerin kalkınmalarında oynadığı rol tüm ülkeler tarafından kabul edilmektedir. Yine kabul edilmektedir ki, bilimsel ve tek­nik enformasyon, bilimsel ve teknolojik alanlarda beklenen atılımlar için önemli temel öğelerden biridir. Gelişmiş ülkelerle İslam ülkeleri arasmda büyüyen enformasyon açığım yavaşlatmak ve durdurmak için bu konuda işbirliği yapmak zorunludur.

  6. Literature review of SLAM and DATMO

    CSIR Research Space (South Africa)

    Pancham, A

    2011-11-01

    Full Text Available ). Moving object detection and tracking would eliminate errors in maps, resulting in a reliable map that would enable the robot to localize itself in the environment and execute its tasks. This paper provides a literature review of the techniques and sensors...

  7. Probabilistic double guarantee kidnapping detection in SLAM.

    Science.gov (United States)

    Tian, Yang; Ma, Shugen

    2016-01-01

    For determining whether kidnapping has happened and which type of kidnapping it is while a robot performs autonomous tasks in an unknown environment, a double guarantee kidnapping detection (DGKD) method has been proposed. The good performance of DGKD in a relative small environment is shown. However, a limitation of DGKD is found in a large-scale environment by our recent work. In order to increase the adaptability of DGKD in a large-scale environment, an improved method called probabilistic double guarantee kidnapping detection is proposed in this paper to combine probability of features' positions and the robot's posture. Simulation results demonstrate the validity and accuracy of the proposed method.

  8. Vision Based SLAM in Dynamic Scenes

    Science.gov (United States)

    2012-12-20

    which make most of previous algorithms fail. This work was accepted for publication at the IEEE Transaction of Pattern Analysis and Machine Intelligence (TPAMI), with impact factor 5.9, #1 in all engineering and AI.

  9. Autonomous robot navigation: appearance based topological SLAM

    OpenAIRE

    Lui, Wen Lik Dennis

    2017-01-01

    The main focus of this research is to develop an autonomous robot capable of self-navigation in an unknown environment. The proposed system performs autonomous navigation primarily based on the following visually perceived information: 1) Range Estimation: A novel variable single/multi baseline omnidirectional stereovision system with an option to automatically select the baseline that is adjusted to the environment with the establishment of stereo correspondences and triangulation offloa...

  10. la condizione psicologica dell'io nelle opere di giorgio saviane

    African Journals Online (AJOL)

    User

    cosciente i livelli profondi della coscienza e dell'inconscio ── ossia la voce del Sé ── con quelle che sono le opportunità e le richieste dell'ambiente: in modo da poter diventare veramente il centro di un universo di esperienze nelle quali egli senta di esprimere un'identità coerente, di possedere il suo spirito e di essere ...

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

    DEFF Research Database (Denmark)

    Flohr, Mikkel

    2017-01-01

    the philosophical parameters of the entire project: the concepts and thinkers that his analysis revolves around are all presented in these few pages. Yet there is one strange anomaly: while all of the thinkers who figure in these pages (Plato, Aristotle, Michel Foucault, Hannah Arendt, Carl Schmitt, Walter Benjamin...

  12. La condizione psicologica dell'io nelle opere di Giorgio Saviane ...

    African Journals Online (AJOL)

    A journey which Saviane develops in three phases: in Il passo lungo as the individual discovery of the anima against the authoritarianism of the Ego; in Mare verticale as an ongoing historical process predisposed towards the liberation of a few from the zoological dimension of the herd; in Eutanasia di un amore as the ...

  13. Un’India di carta. Spazi fisici e Letteratura in un viaggio di Giorgio Manganelli

    Directory of Open Access Journals (Sweden)

    Marco Viscardi

    2011-11-01

    Full Text Available Manganelli’s India is still the enchanted country Western people have been dreaming of since the Middle Ages: a place where the monstrous meets the fantastic. This paper addresses the relationship between Manganelli’s literary notion and the description of his trip to India. If you compare his writing from Esperimento con l’India to his theoretical works, you will note that an amoral and nocturnal world corresponds to his principle of “literature as a lie”. While Manganelli’s voyage takes him to real places, he also travels, through words, into a kind of labyrinth made of landscapes, different characters, and monuments that are no longer real, but trapped in their allegorical transformation; for travelling across India is always a two-dimensional trip, a journey between the real and the imaginative worlds.

  14. la condizione psicologica dell'io nelle opere di giorgio saviane

    African Journals Online (AJOL)

    User

    9 (l'energia diffusiva e vitale dell'amore e il fascino della creatività) così bene individuabili invece nella figura del padre. Ma gli occorre un'esperienza forte, decisiva e liberatoria, che faccia morire il passato, esautorando dal suo spirito il superego castrante e tabuico che gli ha bloccato la giovinezza: Alberto allora si getta ...

  15. Parrhesia e forma-di-vita. Soggettivazione e desoggettivazione in Michel Foucault e Giorgio Agamben

    Directory of Open Access Journals (Sweden)

    Stefano Marchesoni

    2013-04-01

    Full Text Available Nei suoi libri recenti sotto il titolo principale "Homo sacer", Agamben si concentra sul concetto di forma-di-vita. Con questo articolo vorrei fornire una spiegazione del significato di questo concetto, sostenendo che le sue origini si possono far risalire alle "Vite degli uomini infami" di Foucault.

  16. Çeviri: İslam Ekonomisinin Arzuları ve Gerçekleri Arasındaki Uzaklaşma:Farklılığı Azaltmaya Yönelik Bir Politik Ekonomi Yaklaşımı (Divergence between aspirations and realities of Islamic economics: A political economy approach to bridging the divide

    Directory of Open Access Journals (Sweden)

    Uğur Uyğun

    2016-12-01

    Full Text Available Orjinal Metin: Nazim Zaman and Mehmet Asutay (2009, "Divergence between aspirations and realities of Islamic economics: A political economy approach to bridging the divide", IIUM Journal of Economics and Management 17, no. 1 (2009: 73-96 © 2009 by The International Islamic University Malaysia.İslam ekonomisi modern anlamda 1960’larda ortaya çıkmasına rağmen, şimdilerde ana akım neoklasik gelişmeye karşı İslami bir alternatif olarak temsil edilen tek tezahürün İslami banka ve finans endüstrisi (İBF olduğunu görüyoruz. İBF endüstrisindeki gelişmeler gösteriyor ki bu endüstri geleneksel finansa doğru yaklaşmıştır. Sonuçta, bu endüstri İslami ekonomik sistemin kurumsal ve politik arzularını yerine getirmekte başarısız olmuştur. Bu makale İslami ekonomik sistemin arzuları ile İBF endüstrisi arasındaki farklılaşmanın nasıl meydana geldiğini açıklamaya çalışmaktadır ve salt ekonomi ve fıkıh düşüncesinin ötesinde olan İslam’ın kavramsal bir gelişme modelini sunmaktadır. Bu makale temel aksiyomların aslında tamamen temel kurumsal uygulamalara dayandığını göstermek için politik ekonomi yaklaşımını önermektedir. Ayrıca bu amacı gerçekleştirmek için politik vizyon, istek ve liderliği de içeren ön koşulları açıklamaktadır.

  17. Active Visual SLAM with Exploration for Autonomous Underwater Navigation

    Science.gov (United States)

    2012-01-01

    cross-track image overlap for a ∼45◦ horizontal camera field of view (in water). Occasionally the vehicle was commanded to swim back toward the bow...Part 1. Rife, J., and S. Rock (2001), Visual tracking of jellyfish in situ, Proceedings of the Inter- national Conference on Image Processing, 1, 289–292

  18. Multi-Robot FastSLAM for Large Domains

    Science.gov (United States)

    2007-03-01

    networks. Informe Tecnico en elaboracion Departamento de Informatica, Estadısticay Telematica, 2003 26. Oscar Serrano, Jose Maria Canas, and...survey. Technical Report CMU-CS-02-111, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, February 2002. 39. N. Tomatis, I...localization and mapping. Technical Report UCB/CSD-02-1198, University of California, Berkeley, CA, 2002. 67. Kennard R. Laviers. A Thesis Submitted to

  19. Leading daily slammed for political bias / Aleksei Gunter

    Index Scriptorium Estoniae

    Gunter, Aleksei, 1979-

    2005-01-01

    Poliitikute väitel mõjutab ajalehe Postimees tegevust Reformierakond. Ajaleht Postimees süüdistab Hans H. Luike seotuses ajalehe mustamisega, et saavutada parem äriline positsioon. Meediaeksperdi Raul Rebase selgitus. Tabel: Eesti meediagrupid ; Päevalehtede tiraazh Jaanuaris 2005

  20. Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps

    OpenAIRE

    Blöchliger, Fabian; Fehr, Marius; Dymczyk, Marcin; Schneider, Thomas; Siegwart, Roland

    2017-01-01

    Visual robot navigation within large-scale, semistructured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many stateof-the-art navigation approaches only operate locally instead of gaining a more conceptual understanding of the planning objective. This limits the complexity of tasks a robot can accomplish and makes it harder to deal with uncertainties that are present in the contex...

  1. Winning in straight sets helps in Grand Slam tennis

    NARCIS (Netherlands)

    Goossens, Dries R.; Kempeneers, Jurgen; Koning, Ruud H.; Spieksma, Frits C. R.

    2015-01-01

    In this contribution, we study whether fatigue resulting from the previous match affects a player's chances of winning his (or her) next match in Grand Slum tennis. We measure relative fatigue levels of two opponents by looking at the difference in number of sets played in their previous match. We

  2. Point features extraction: towards slam for an autonomous underwater vehicle

    CSIR Research Space (South Africa)

    Matsebe, O

    2010-07-01

    Full Text Available For Structured Environments Using an Imaging Sonar, Phd Thesis, 2008, University of Girona [4] Ribas, D. 2005, Towards Simultaneous Localization & Mapping for an AUV using an Imaging Sonar, Masters Thesis, University of Girona Matsebe... Page 11 of 11 25th International Conference of CAD/CAM, Robotics & Factories of the Future Conference, 13-16 July 2010, Pretoria, South Africa [5] Williams, S., Dissanayake, G. & Whyte, H.D. Towards Terrain-Aided Navigation for Underwater...

  3. 3D Visual SLAM Based on Multiple Iterative Closest Point

    Directory of Open Access Journals (Sweden)

    Chunguang Li

    2015-01-01

    Full Text Available With the development of novel RGB-D visual sensors, data association has been a basic problem in 3D Visual Simultaneous Localization and Mapping (VSLAM. To solve the problem, a VSLAM algorithm based on Multiple Iterative Closest Point (MICP is presented. By using both RGB and depth information obtained from RGB-D camera, 3D models of indoor environment can be reconstructed, which provide extensive knowledge for mobile robots to accomplish tasks such as VSLAM and Human-Robot Interaction. Due to the limited views of RGB-D camera, additional information about the camera pose is needed. In this paper, the motion of the RGB-D camera is estimated by a motion capture system after a calibration process. Based on the estimated pose, the MICP algorithm is used to improve the alignment. A Kinect mobile robot which is running Robot Operating System and the motion capture system has been used for experiments. Experiment results show that not only the proposed VSLAM algorithm achieved good accuracy and reliability, but also the 3D map can be generated in real time.

  4. SLAM, a Mathematica interface for SUSY spectrum generators

    Energy Technology Data Exchange (ETDEWEB)

    Marquard, Peter [Deutsches Elektronen-Synchrotron (DESY), Zeuthen (Germany); Zerf, Nikolai [Alberta Univ., Edmonton, AB (Canada). Dept. of Physics

    2013-09-15

    We present and publish a Mathematica package, which can be used to automatically obtain any numerical MSSM input parameter from SUSY spectrum generators, which follow the SLHA standard, like SPheno, SOFTSUSY or Suspect. The package enables a very comfortable way of numerical evaluations within the MSSM using Mathematica. It implements easy to use predefined high scale and low scale scenarios like mSUGRA or m{sub h}{sup max} and if needed enables the user to directly specify the input required by the spectrum generators. In addition it supports an automatic saving and loading of SUSY spectra to and from a SQL data base, avoiding the rerun of a spectrum generator for a known spectrum.

  5. The Psychological Roots of Creativity in Messages Left by Leonardo da Vinci, Giorgio Vasari, and a Neanderthal Troglodyte

    Directory of Open Access Journals (Sweden)

    Antonio Cassella

    2016-08-01

    Full Text Available The perfect memory that informs our local autistic facet is insufficient to deal with the unforeseen change that challenges our nonlocal artistic facet. The loss of quantum nonlocality leads autistics to fail tests rooted in overcoming the less-than-perfect ambiguity that elicits our creativity. The psychological structure by which perfect memory and less-than-perfect creativity empower each other remains in darkness. This article broaches the hypothesis that Leonardo da Vinci envisioned the union of local perfection and nonlocal less-than-perfection, and that he hid his insight in the Adoration of the Magi. Leonardo’s knowledge - expressed here as the logos heuristic—guides a psychological interpretation of the smile of Mona Lisa; of the four avatars of the Vitruvian Man; of the recognition and location of Leonardo’s unknown painting Natività; of the exact location of his lost work, Battaglia di Anghiari; and of a 39,000-year-old abstract engraving in Gorham’s cave at Gibraltar. Logos can be used to single out local, nonlocal computing, and their alliance in pursuing a humanistic path to progress.

  6. 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...

  7. Rezension: Die Tode in Venedig/Morte a Venezia. Thomas Mann/Luchino Visconti: un confronto von Francesco Bono, Luigi Cimmino und Giorgio Pangaro (Hg.

    Directory of Open Access Journals (Sweden)

    Valerio Furneri

    2014-12-01

    Full Text Available Valerio Furneri rezensiert einen schönen, soeben in Italien erschienenen Band zum 'Tod in Venedig' bei Thomas Mann und Luchino Visconti, der erneut das interessante Forschungsfeld zwischen Kino und Literatur zum Gegenstand hat ...

  8. NATURALIZATION AND SEYHULISLAM YAHYA MAHALLÎLEŞME VE ŞEYHÜLİSLAM YAHYA

    Directory of Open Access Journals (Sweden)

    Hakan YEKBAŞ

    2009-08-01

    Full Text Available Local factors which are important source of our classical literature in terms of contents were used more characteristicly by some classic poets. One of these poets, Şeyhülislam Yahya, although he has an identity of Muslim preacher, employed the delight and entertainment of life with elegant Turkish of Istanbul. Above all in his ghazals, he is highly successful in expressing the coloured stage chosen in daily life by using elegant Turkish, idioms proverbs, and folk sayings. Understanding of this art is effective in his being one of the most important represantative of naturalization at XVII. century. Klasik edebiyatımızın dil ve muhteva bakımından önemli kaynaklarından olan mahallî unsurlar, bazı klasik şairlerimiz tarafından daha belirgin bir şekilde kullanılmıştır.. Bu şâirlerden biri olan Şeyhülislam Yahya, bir din adamı kimliğine sahip olmasına rağmen hayatın zevk ve eğlencelerini sade İstanbul Türkçesini kullanarak şiirlerinde işlemiştir. Özellikle gazellerinde kullandığı sade Türkçesi, deyimleri, atasözleri ve halk deyişleri vasıtasıyla günlük hayatın içinden seçtiği canlı sahneleri anlatmada çok başarılıdır. Bu sanat anlayışı, onun mahallîleşmenin XVII. yüzyıldaki en önemli temsilcilerinden biri olmasına neden olmuştur.

  9. MeshSLAM: Robust Localization and Large-Scale Mapping in Barren Terrain Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots need to know their location to map of their surroundings but without global positioning data they need a map to identify their surroundings and estimate their...

  10. İslam Hukukunun Diğer Hukuklarla İlişkisi

    OpenAIRE

    Demir, Doç.Dr. Abdullah

    2014-01-01

    Islamic Law, a divine justice system originated from the Religion of Islam which is the last divine religion, interrelates with other legal systems multifariously. Some of those legal systems are divine laws and the others are humanitarian laws. In this article, the relation between Islam and the other divine laws such as Judaism and Christianity law systems and Islam and humanitarian laws such as the Ignorance Era Law, Iranian Law and Roman Law were studied

  11. A non-rigid map fusion-based direct SLAM method for endoscopic capsule robots.

    Science.gov (United States)

    Turan, Mehmet; Almalioglu, Yasin; Araujo, Helder; Konukoglu, Ender; Sitti, Metin

    2017-01-01

    Since the development of capsule endoscopy technology, medical device companies and research groups have made significant progress to turn passive capsule endoscopes into robotic active capsule endoscopes. However, the use of robotic capsules in endoscopy still has some challenges. One such challenge is the precise localization of the actively controlled robot in real-time. In this paper, we propose a non-rigid map fusion based direct simultaneous localization and mapping method for endoscopic capsule robots. The proposed method achieves high accuracy for extensive evaluations of pose estimation and map reconstruction performed on a non-rigid, realistic surgical EsophagoGastroDuodenoscopy Simulator and outperforms state-of-the art methods.

  12. Slowing ash mortality: a potential strategy to slam emerald ash borer in outlier sites

    Science.gov (United States)

    Deborah G. McCullough; Nathan W. Siegert; John Bedford

    2009-01-01

    Several isolated outlier populations of emerald ash borer (Agrilus planipennis Fairmaire) were discovered in 2008 and additional outliers will likely be found as detection surveys and public outreach activities...

  13. Union slams measure requiring under 27 year-olds to work or study

    NARCIS (Netherlands)

    Grünell, M.

    2008-01-01

    Young people under the age of 27 years are no longer eligible for benefits, but must instead work, study or combine these two activities. The youth wing of the Dutch Trade Union Federation, FNV Jong, is highly critical of this measure and views it as a form of age discrimination. In financial terms,

  14. A Monocular SLAM Method to Estimate Relative Pose During Satellite Proximity Operations

    Science.gov (United States)

    2015-03-26

    Memory: 2.0 GB RAM Processor Cores: 4 System type: 64-bit 35 A Point Grey Research Flea 3 camera was used to acquire video sequences ana- lyzed in...Point Grey Research, Inc. Product Name: Flea 3 USB 3.0 Model: FL3-U3-13S2C/M-CS Megapixels: 1.3 Imaging Sensor: Sony IMX035 CMOS, 1/3” Max...threshold is assigned based on the rate of relative motion. Auto- mated initialization based on initial track point motion results in two pose estimates

  15. No small slam: increasing incidents of genitourinary injury from toilets and toilet seats.

    Science.gov (United States)

    Glass, Allison S; Bagga, Herman S; Tasian, Gregory E; McGeady, James B; McCulloch, Charles E; Blaschko, Sarah D; McAninch, Jack W; Breyer, Benjamin N

    2013-08-01

    To describe the epidemiology of genitourinary (GU) injury from toilets that present to USA Emergency rooms (ERs). The National Electronic Injury Surveillance System (NEISS) is a stratified probability sample of hospital ER visits for USA consumer product-related injuries. NEISS was used to estimate total toilet- and toilet seat-related GU injury for the years 2002-2010, as well as to describe demographics and injury characteristics. Analyses were performed using strata, primary sampling units and sample weights to accommodate the complex sample survey design. Data are reported as national estimates with 95% confidence intervals (CIs) provided. In all, 13 175 (95% CI 10 185-16 165) GU injuries related to toilets presented to ERs during 2002-2010. The most common mechanism involved crush from accidental fall of toilet seat, described in 9011 (68.4%, 95% CI 6907-11 115) cases. Most crush injuries were isolated to the penis (98.1%). Of crush injuries, 81.7% occurred in children aged 2-3 years and 99.3% occurred in the home. Crush injuries increased over the period 2002-2010 (P = 0.017) by ≈100 per year, ending with an estimated 1707 (95% CI 1011-2402) by 2010. Most patients who sustained toilet- and toilet seat-related GU injuries were treated in the ER and then discharged. While penile crush injury related to a toilet seat is an uncommon mechanism of urological injury in children, the number of incidents appears to be rising. These findings support educational efforts and interventions, such as exchange of heavy toilet seats with slow-close toilet seat technology. © 2013 BJU International.

  16. Opening Doors or Slamming Them Shut? Online Learning Practices and Students with Disabilities

    Directory of Open Access Journals (Sweden)

    Sheryl Burgstahler

    2015-12-01

    Full Text Available Online learning has the potential to open doors to education for everyone who has access to the technology required to participate. Or does it? When it comes to social inclusion in online learning, who are the “haves” and who are the “have-nots?” Some online learning practices erect barriers to individuals with disabilities—uncaptioned videos are not accessible to students who are deaf, content presented only within graphic images is not accessible to individuals who are blind, unorganized content cluttered on a page creates barriers to some students with learning disabilities and attention deficits, web pages that require the use of a mouse are inaccessible to those who cannot operate a mouse. This article explores the question, “What online learning practices make social inclusion possible for individuals with disabilities?” The author answers this question with lessons learned from her own teaching experiences as well as those presented in research and practice literature. She also shares overall characteristics of distance learning programs that promote the social inclusion of students with disabilities in their courses. The author points out how making courses welcoming to, accessible to, and usable by individuals with disabilities may promote the social inclusion of other students as well. She recommends further dissemination and future research regarding inclusive practices in online learning.

  17. Fast Fingerprint Database Maintenance for Indoor Positioning Based on UGV SLAM

    Directory of Open Access Journals (Sweden)

    Jian Tang

    2015-03-01

    Full Text Available Indoor positioning technology has become more and more important in the last two decades. Utilizing Received Signal Strength Indicator (RSSI fingerprints of Signals of OPportunity (SOP is a promising alternative navigation solution. However, as the RSSIs vary during operation due to their physical nature and are easily affected by the environmental change, one challenge of the indoor fingerprinting method is maintaining the RSSI fingerprint database in a timely and effective manner. In this paper, a solution for rapidly updating the fingerprint database is presented, based on a self-developed Unmanned Ground Vehicles (UGV platform NAVIS. Several SOP sensors were installed on NAVIS for collecting indoor fingerprint information, including a digital compass collecting magnetic field intensity, a light sensor collecting light intensity, and a smartphone which collects the access point number and RSSIs of the pre-installed WiFi network. The NAVIS platform generates a map of the indoor environment and collects the SOPs during processing of the mapping, and then the SOP fingerprint database is interpolated and updated in real time. Field tests were carried out to evaluate the effectiveness and efficiency of the proposed method. The results showed that the fingerprint databases can be quickly created and updated with a higher sampling frequency (5Hz and denser reference points compared with traditional methods, and the indoor map can be generated without prior information. Moreover, environmental changes could also be detected quickly for fingerprint indoor positioning.

  18. Fast fingerprint database maintenance for indoor positioning based on UGV SLAM.

    Science.gov (United States)

    Tang, Jian; Chen, Yuwei; Chen, Liang; Liu, Jingbin; Hyyppä, Juha; Kukko, Antero; Kaartinen, Harri; Hyyppä, Hannu; Chen, Ruizhi

    2015-03-04

    Indoor positioning technology has become more and more important in the last two decades. Utilizing Received Signal Strength Indicator (RSSI) fingerprints of Signals of OPportunity (SOP) is a promising alternative navigation solution. However, as the RSSIs vary during operation due to their physical nature and are easily affected by the environmental change, one challenge of the indoor fingerprinting method is maintaining the RSSI fingerprint database in a timely and effective manner. In this paper, a solution for rapidly updating the fingerprint database is presented, based on a self-developed Unmanned Ground Vehicles (UGV) platform NAVIS. Several SOP sensors were installed on NAVIS for collecting indoor fingerprint information, including a digital compass collecting magnetic field intensity, a light sensor collecting light intensity, and a smartphone which collects the access point number and RSSIs of the pre-installed WiFi network. The NAVIS platform generates a map of the indoor environment and collects the SOPs during processing of the mapping, and then the SOP fingerprint database is interpolated and updated in real time. Field tests were carried out to evaluate the effectiveness and efficiency of the proposed method. The results showed that the fingerprint databases can be quickly created and updated with a higher sampling frequency (5Hz) and denser reference points compared with traditional methods, and the indoor map can be generated without prior information. Moreover, environmental changes could also be detected quickly for fingerprint indoor positioning.

  19. Mazeikiu oil refiner slammed by anti-monopoly authorities, faces huge fines

    Index Scriptorium Estoniae

    2005-01-01

    Euroopa Konkurentsiamet leidis uurimise käigus, et Mazeikiu Nafta ja selle haru Mazeikiu Naftos Prekybos Namai võivad oma strateegia ja hindadega olla kuritarvitanud oma juhtpositsiooni Leedu, Läti ja Eesti turul, mõjutanud kütuse hinda ja diskrimineerinud teatud ettevõtteid kasutades erinevaid kitsendusi

  20. Non-linearity analysis of depth and angular indexes for optimal stereo SLAM.

    Science.gov (United States)

    Bergasa, Luis M; Alcantarilla, Pablo F; Schleicher, David

    2010-01-01

    In this article, we present a real-time 6DoF egomotion estimation system for indoor environments using a wide-angle stereo camera as the only sensor. The stereo camera is carried in hand by a person walking at normal walking speeds 3-5 km/h. We present the basis for a vision-based system that would assist the navigation of the visually impaired by either providing information about their current position and orientation or guiding them to their destination through different sensing modalities. Our sensor combines two different types of feature parametrization: inverse depth and 3D in order to provide orientation and depth information at the same time. Natural landmarks are extracted from the image and are stored as 3D or inverse depth points, depending on a depth threshold. This depth threshold is used for switching between both parametrizations and it is computed by means of a non-linearity analysis of the stereo sensor. Main steps of our system approach are presented as well as an analysis about the optimal way to calculate the depth threshold. At the moment each landmark is initialized, the normal of the patch surface is computed using the information of the stereo pair. In order to improve long-term tracking, a patch warping is done considering the normal vector information. Some experimental results under indoor environments and conclusions are presented.

  1. Non-Linearity Analysis of Depth and Angular Indexes for Optimal Stereo SLAM

    Directory of Open Access Journals (Sweden)

    David Schleicher

    2010-04-01

    Full Text Available In this article, we present a real-time 6DoF egomotion estimation system for indoor environments using a wide-angle stereo camera as the only sensor. The stereo camera is carried in hand by a person walking at normal walking speeds 3–5 km/h. We present the basis for a vision-based system that would assist the navigation of the visually impaired by either providing information about their current position and orientation or guiding them to their destination through different sensing modalities. Our sensor combines two different types of feature parametrization: inverse depth and 3D in order to provide orientation and depth information at the same time. Natural landmarks are extracted from the image and are stored as 3D or inverse depth points, depending on a depth threshold. This depth threshold is used for switching between both parametrizations and it is computed by means of a non-linearity analysis of the stereo sensor. Main steps of our system approach are presented as well as an analysis about the optimal way to calculate the depth threshold. At the moment each landmark is initialized, the normal of the patch surface is computed using the information of the stereo pair. In order to improve long-term tracking, a patch warping is done considering the normal vector information. Some experimental results under indoor environments and conclusions are presented.

  2. Combining Dense Structure from Motion and Visual SLAM in a Behavior-Based Robot Control Architecture

    Directory of Open Access Journals (Sweden)

    Geert De Cubber

    2010-03-01

    Full Text Available In this paper, we present a control architecture for an intelligent outdoor mobile robot. This enables the robot to navigate in a complex, natural outdoor environment, relying on only a single on-board camera as sensory input. This is achieved through a twofold analysis of the visual data stream: a dense structure from motion algorithm calculates a depth map of the environment and a visual simultaneous localization and mapping algorithm builds a map of the surroundings using image features. This information enables a behavior-based robot motion and path planner to navigate the robot through the environment. In this paper, we show the theoretical aspects of setting up this architecture.

  3. "My Grandfather Slammed the Door in Winston Churchill's Face!" Using Family History to Provoke Rigorous Enquiry

    Science.gov (United States)

    Barrett, Paul

    2011-01-01

    The idea of using "little stories" to illuminate the "big pictures" of the past was creatively explored in "Teaching History 107," which offered teachers a wealth of detailed vignettes with which to kindle young people's interest and illuminate major historical events. Paul Barrett builds on the ideas explored in that…

  4. Bridging computational approaches to speech production: The semantic-lexical-auditory-motor model (SLAM).

    Science.gov (United States)

    Walker, Grant M; Hickok, Gregory

    2016-04-01

    Speech production is studied from both psycholinguistic and motor-control perspectives, with little interaction between the approaches. We assessed the explanatory value of integrating psycholinguistic and motor-control concepts for theories of speech production. By augmenting a popular psycholinguistic model of lexical retrieval with a motor-control-inspired architecture, we created a new computational model to explain speech errors in the context of aphasia. Comparing the model fits to picture-naming data from 255 aphasic patients, we found that our new model improves fits for a theoretically predictable subtype of aphasia: conduction. We discovered that the improved fits for this group were a result of strong auditory-lexical feedback activation, combined with weaker auditory-motor feedforward activation, leading to increased competition from phonologically related neighbors during lexical selection. We discuss the implications of our findings with respect to other extant models of lexical retrieval.

  5. Nonlinear Bayesian Tracking Loops for Multipath Mitigation

    Directory of Open Access Journals (Sweden)

    Pau Closas

    2012-01-01

    Full Text Available This paper studies Bayesian filtering techniques applied to the design of advanced delay tracking loops in GNSS receivers with multipath mitigation capabilities. The analysis includes tradeoff among realistic propagation channel models and the use of a realistic simulation framework. After establishing the mathematical framework for the design and analysis of tracking loops in the context of GNSS receivers, we propose a filtering technique that implements Rao-Blackwellization of linear states and a particle filter for the nonlinear partition and compare it to traditional delay lock loop/phase lock loop-based schemes.

  6. Advances in Intelligent Signal Processing and Data Mining Theory and Applications

    CERN Document Server

    Mihaylova, Lyudmila; Jain, Lakhmi

    2013-01-01

    The book presents some of the most efficient statistical and deterministic methods for information processing and applications in order to extract targeted information and find hidden patterns. The techniques presented range from Bayesian approaches and their variations such as sequential Monte Carlo methods, Markov Chain Monte Carlo filters, Rao Blackwellization, to the biologically inspired paradigm of Neural Networks and decomposition techniques such as Empirical Mode Decomposition, Independent Component Analysis and Singular Spectrum Analysis.   The book is directed to the research students, professors, researchers and practitioners interested in exploring the advanced techniques in intelligent signal processing and data mining paradigms.  

  7. Gianfranco Folena, Vocabolario del veneziano di Carlo Goldoni, Redazione a cura di Daniela Sacco e Patrizia Borghesan. Regione del Veneto - Fondazione Giorgio Cini - lstituto di Enciclopedia ltaliana, Venezia 1993; pp. 718.

    Directory of Open Access Journals (Sweden)

    Mitja Skubic

    1995-12-01

    Full Text Available E' con profonda commozione che mi accingo a stendere una  breve recensione dell' opera postuma che porta il nome di Gianfranco Folena, scomparso prematuro nel 1992. Con l'italianistica di Ljubljana Folena ebbe rapporti amichevoli. A due riprese aveva fatto conferenze molto sentite e ci ha conquistati, oltre che con la sua dettagliata esposizione dei fatti e la perspicace analisi linguistica e filologica (ricordo ancora la conferenza sulla lingua nel Piovano Arlotto, anche con la sua affascinante pronuncia toscana. A me personalmente ha sempre elargito consigli (ebbi con lui un primo incon­ tro nel lontano 1952 a Firenze, lui, allora, assistente di Bruno Migliorini, e l'ultimo, solo telefonico, nel 1991 quando io, novello, incominciavo a produrre. Folena ha reso possibile la pubblicazione nelle riviste linguistiche italiane dei miei primi scritti e gliene sono sinceramente grato.

  8. Demonstration of the vacuum drying technique on sludge from the paper and pulp industry; Demonstration av vakuumtorktekniken paa skogsindustriellt slam

    Energy Technology Data Exchange (ETDEWEB)

    Eklund, Anders [AaF-Energikonsult AB, Stockholm (Sweden)

    2003-10-01

    Previous studies have indicated that a cost effective drying of sludge from the paper and pulp mills can be done by the use of vacuum at a lower water temperature. The purpose was to erect a pilot plant and test different types of sludge. Therefore, advantages and problems with this method could be determined. This work has planned and erected a complete pilot plant for continuous drying of sludge and the pilot plant occupies a hard surface of 10x10 meters. A drum type dryer is in the centre of the pilot plant and it has been modified for lower pressures. Other vital components are: handling of vapours, vacuum pump, hot water generation and materials handling of the sludge, both in wet and dry condition. First, tests where carried out to verify theories and previous laboratory studies. These test successfully confirmed that difficult sludge types could effectively be dried at lower temperatures by the use of vacuum. Then, tests where carried out on 9 different sludges from 7 different mills. Average sample weight was about 170 kg or 250 litres. All sludge samples could successfully be dried but with different levels of complexity. For an easier comprehension of the handling and drying, the different sludges were organised into three classes: sludge with a clear resemblance of clay, sludge with a resemblance of mud or earth and finally, sludge with a majority of fibres. Fibre type sludges were easy to dry to a high degree of dryness. However, they also dusted easily and thus, fibres easily carried over into the condensate. Earth type sludge was in wet condition difficult to handle. The drying was more time consuming and the sludge formed small round balls during the drying. These balls slowed the drying process but they were eventually gradually reduced and a higher degree of drying could continue. Clay type sludges formed already in the handling round balls and during drying these balls formed a hard dry outer layer, which contained moisture inside the balls. By the use of a small grinder these hard balls where crushed into a coarse powder and further drying could effectively take place. Finally, a cost calculation of a full-size plant is presented. However, our opinion is that the next step is to undertake specialised tests at the mills.

  9. Degradation rate of sludge/fly ash mixture used as landfill liner; Nedbrytningshastigheten foer taetskikt uppbyggda av slam och aska

    Energy Technology Data Exchange (ETDEWEB)

    Wikman, Karin; Berg, Magnus [AaF-Process AB, Stockholm (Sweden); Svensson, Malin; Ecke, Holger [Luleaa Univ. of Technology (Sweden)

    2005-10-01

    In order to be able to use mixtures of ash and sludge as landfill liner an important aspect is to demonstrate that the degradation of organic matter is slow enough. Therefore, the goal of this project has been to find out for how long a landfill liner material of sludge and ash will be stable and keep its function. The degradation of organic material in two different mixtures of sludge and ash has been studied in laboratory experiments. The rate of degradation was then estimated for barriers of sludge and ash, taking into account construction techniques (mixture, compaction, water content), climate conditions (freezing, drying) and biological processes (NaN{sub 3} additive). The effect of the degradation on the permeability has also been quantified. Organic material may disappear for the landfill liner material through 1) initial leaching of soluble organic material, 2) leaching of organic material after chemical reactions or 3) evaporation during biological degradation. Bacterial activity was not found in the sludge/ash mixtures during the experiments. Therefore, the organic material is probably reduced mainly though leaching according to 1) and 2). The leached amount of TOC (total organic carbon) was measured for all samples of sludge/ash in several experimental cycles. The leached amount of TOC was compared to the initial amount of TOC in the material. The results show a small initial reduction of organic material through leaching but the TOC content in the material is then stabilized. In relation to the total weight of the material the leaching of TOC was similar for the mixtures with 80 % ash and 20 % ash. However, this means that a larger amount of TOC was leached out from the mixtures with a high ash content since the initial amount of organic material was smaller. General conclusions about which ash-sludge ratio that is suitable for a landfill liner material could not be drawn from the experiments from a degradation point of view. If the initial permeability is low enough (<1x10{sup -9} m/s) the results indicate that the leaching of TOC will be of less importance for the function of the barrier layer. The hydraulic conductivity was independent of the change in TOC, i.e. even though the organic material was reduced through chemical degradation and leaching the permeability was not negatively affected. Instead, the permeability was reduced in time and affected mainly by the compaction grade. Therefore, it is important to compact the landfill liner material and to mix the ash and sludge to a homogeneous mixture. Drying of the material increased the hydraulic conductivity: the barrier layer should therefore be kept moist. Freezing through cycles did not affect the permeability. Calculations on the basis of results from experiments with columns with an initial hydraulic conductivity of <1x10{sup -9} m/s show that the leaching of TOC stops after 38 years (NSR-Oeresundskraft) and 14 years (Bromma-Maelarenergi). The combination of reduced percolation and more immobilized TOC is expected to lead to very low leaching rates for organic material after this time. On basis of this study it is recommended to change the landfill liner material at Filborna in Helsingborg from clay to ash/sludge on a test area. During such large-scale tests it is suitable to control changes in the material to verify the results from the experiments.

  10. Benchmark of 6D SLAM (6D Simultaneous Localisation and Mapping Algorithms with Robotic Mobile Mapping Systems

    Directory of Open Access Journals (Sweden)

    Bedkowski Janusz

    2017-09-01

    Full Text Available This work concerns the study of 6DSLAM algorithms with an application of robotic mobile mapping systems. The architecture of the 6DSLAM algorithm is designed for evaluation of different data registration strategies. The algorithm is composed of the iterative registration component, thus ICP (Iterative Closest Point, ICP (point to projection, ICP with semantic discrimination of points, LS3D (Least Square Surface Matching, NDT (Normal Distribution Transform can be chosen. Loop closing is based on LUM and LS3D. The main research goal was to investigate the semantic discrimination of measured points that improve the accuracy of final map especially in demanding scenarios such as multi-level maps (e.g., climbing stairs. The parallel programming based nearest neighborhood search implementation such as point to point, point to projection, semantic discrimination of points is used. The 6DSLAM framework is based on modified 3DTK and PCL open source libraries and parallel programming techniques using NVIDIA CUDA. The paper shows experiments that are demonstrating advantages of proposed approach in relation to practical applications. The major added value of presented research is the qualitative and quantitative evaluation based on realistic scenarios including ground truth data obtained by geodetic survey. The research novelty looking from mobile robotics is the evaluation of LS3D algorithm well known in geodesy.

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

    OpenAIRE

    Mehmet Atlar; Kwangcheol Seo; Roderick Sampson; Devrim Bulent Danisman

    2013-01-01

    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...

  12. 40 CFR Appendix A to Part 58 - Quality Assurance Requirements for SLAMS, SPMs and PSD Air Monitoring

    Science.gov (United States)

    2010-07-01

    ... the pollutants SO2, NO2, O3, CO, Pb, PM2.5, PM10 and PM10-2.5 submitted to EPA. This appendix also... obtain test concentrations for carbon monoxide (CO), sulfur dioxide (SO2), nitrogen oxide (NO), and... this section. 3.2.1One-Point Quality Control Check for SO2, NO2, O3, and CO. A one-point quality...

  13. Process for increased biogas production and energy efficient hygienisation of sludge; Process foer oekad biogasproduktion och energieffektiv hygienisering av slam

    Energy Technology Data Exchange (ETDEWEB)

    Rogstrand, Gustav; Olsson, Henrik; Andersson Chan, Anneli; Johansson, Niklas; Edstroem, Mats

    2012-07-01

    In Sweden there is a need to increase biogas production to meet the rising demand for biomethane as vehicle fuel but the amount of domestically available biomass to digest is limited. One way to help meet current and future demand for methane is to enhance the digestion of the substrates that are currently utilized. Vaexjoe municipality in southern Sweden is in the process of upgrading their facilities for biogas production at the Sundet waste water treatment plant. Their aim is to produce more biogas in order to meet the demand from an increasing methane-based local transit fleet. This is the backdrop to a joint project between JTI and Vaexjoe municipality where JTI's mobile pilot plant was used to study the possibility of extracting more biogas from the existing sewage sludge. In the future, Vaexjoe municipality also plans to co-digest source separated municipal organics with the sewage sludge, which will likely result in stricter demands in terms of hygienization of all utilized substrates. The goal of the project at hand was to demonstrate the possibility to produce more than enough additional biogas from existing sewage sludge to yield a net energy profit even with the added energy demand of ensuring the hygienic quality of the digestate through conventional pasteurization. Although the project was focused on the conditions at Sundet waste water treatment plant, the issues dealt with are general and the results are relevant to many waste water treatment plants in Sweden. The research, conducted between June 2011 and January 2012 were divided into two trials. The two trials, described schematically in Figure 1, represented two possible process configurations designed to reach the goal stated above. The key component of both process configurations is the addition of a post-digestion step to the existing single-step digestion process. In trial 1 the additional feature of dewatering between the two digestion steps served to reduce energy demand for pasteurization and increase the organic loading rate of the post-digester.

  14. Sludge in the pulp and paper industry in Sweden, part II[Combustion of]; Slam fraan skogsindustrin, fas II

    Energy Technology Data Exchange (ETDEWEB)

    Gyllenhammar, Marianne; Herstad Svaerd, Solvie; Kjoerk, Anders; Larsson, Sara; Wennberg, Olle [S.E.P. Scandinavian Energy Project AB, Goeteborg (Sweden); Aamand, Lars-Erik [Chalmers Univ. of Technology, Goeteborg (Sweden); Eskilsson, David [Swedish National Testing and Research Inst., Boraas (Sweden)

    2003-11-01

    During part II of this research program combustible sludge from the pulp and paper industry has been studied in detail. 560,000 tonnes of sludge per year (calculated as dry sludge) are produced in Sweden. The energy potential in the produced sludge is about 2 TWh/year. Today 1 TWh/year is produced in the pulp and paper mill's own boilers. This means that additional energy can be utilized from this material. An objective of this program has been to decide whether or not there are sludge types which are favourable respectively difficult to combust. By mixing different sludge types, or other waste products, emissions and/or problems during combustion can be minimized. These possibilities have been studied thoroughly in this program. A lot of sludge samples have been studied in laboratory scale at SP and in full-scale at Chalmers 12 MW CFB boiler. As a complement to the practical tests S.E.P. has done research regarding different aspects of sludge as a fuel; for example handling of sludge and regional drying. The results of 40 sintering tests at SP showed that the sintering temperature during combustion of sludge in a fluidised bed, with silica sand as bed material, varied between <850 deg C and >1100 deg C. The evaluation showed that the alkali content in the ash had the largest influence on the sintering temperature. Other factors were less important. During the tests at Chalmers eleven different sludge samples have been combusted together with wood pellets. Initially there were problems with the feeding to the boiler for some of the sludge samples. When the fuel feeding problems were solved the combustion took place without any problems. When sludge is co-combusted together with a 'clean' base fuel such as wood pellets the sulphur-, nitrogen- and chloride contents in the sludge have a large impact on the emissions. The normal way to reduce sulphur dioxide but also hydrogen chloride is to add lime in different positions into and after the boiler. In the pulp and paper industry there are waste products with high calcium content that could be used for the same purpose. During the tests at Chalmers four different waste products were tested and compared with limestone and slaked lime. All the tested waste products had a reducing effect on the emission of sulphur dioxide. Deinking sludge had the most reducing effect on the emission of SO{sub 2}. The deinking sludge even had a better effect than limestone added to the bed. Dust from an electric precipitator situated after the lime kiln had the best reducing effect (about 40 %) on the emission of hydrogen chloride of the tested waste products. Thus slaked lime was the most effective for the reduction of hydrogen chloride with a reduction of 90%.

  15. The Simulation of Wave Slam Impulses to Evaluate Shock Mitigation Seats For High-Speed Planing Craft

    Science.gov (United States)

    2013-05-17

    engineering [25].” Planing craft motions include all six degrees of freedom: three translational (i.e., heave, surge , sway ) and three rotational (i.e., pitch...Motion Rigid body motions of a craft are its absolute translations (heave, surge , and sway ) and rotations (pitch, roll, and yaw) in a seaway. It...critical damping coefficient

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

    Science.gov (United States)

    2016-06-30

    deflection (left) and bending moment (right) in a beam subjected to a moving load (Lv and Grenestedt [1-2]). Page 11 of 14 5 Wavelet Analysis This...final, technical, interim, memorandum , master ’s thesis , progress , quarterly, research , special , group study, etc. 3. DATES COVERED...between transverse bulkheads, keel and longeron) and deflections were measured using six L VDT’s, Figs. 3 and 10. The ratio between port and starboard

  17. The Use of Shock Isolation mounts in Small High-Speed Craft to Protect Equipment from Wave Slam Effects

    Science.gov (United States)

    2017-07-01

    including suggestions for reducing this burden to Department of Defense, Washington Headquarters Services , Directorate for Information Operations and... failure during high-speed operations in rough seas is discussed. 15. SUBJECT TERMS Shock mounts planing craft equipment data...shock isolation systems. An alternative method for minimizing the risk of equipment failure during high-speed operations in rough seas is discussed

  18. SlamZ: Slide activity on the Hikurangi margin, New Zealand - First results of the RV Sonne expedition SO247

    Science.gov (United States)

    Huhn, Katrin; Kukowski, Nina; Freudenthal, Tim; Crutchley, Gareth; Goepel, Andreas; Henrys, Stuart; Kasten, Sabine; Kaul, Norbert; Kuhlmann, Jannis; Mountjoy, Joshu; Orpin, Alan; Pape, Thomas; Schwarze, Cornelius; Totsche, Kai-Uwe; Torres, Marta; Villinger, Heiner

    2017-04-01

    Submarine landslides are important geologic hazards. Although they have been the focus of research for decades, there is still a clear lack in knowledge with respect to the interplay between tectonic movements, slope architecture and sediment physical properties of slope strata, as well as gas hydrate dissociation as controlling factors of slope stability or respectively slope failure processes. The main scientific goal of the Sonne expedition SO247 undertaken in spring 2016 was to gain a better understanding of the factors controlling slope destabilization, especially the interaction of tectonic steepening and gas hydrate transformation, at different tectonic settings along the Hikurangi subduction zone east of New Zealand's North Island. This active continental margin is characterized by various potential triggers for slope failure, e.g. (I) a wide range of tectonic movements which are associated with high seismicity, numerous active faults, sediment uplift and slope over-steepening, and (II) large gas hydrate deposits whose current upper stability limit in some places correlates with the breakoff points of slides. The target areas of SO247 were the frontal accretionary ridge at Rock Garden and the Tuaheni landslide complex (TLC) further north offshore Gisborne. Bathymetric as well as high-resolution seismic reflection and Parasound data were used to select suitable position for 53 gravity cores with a total length of 150 m which were recovered along systematic transects from the undisturbed slope sections to the slid masses in both working areas. In addition, six long sediment cores (three in both working areas) with a total length of approx. 470 m were drilled utilizing the MARUM Bremen drill rig MeBo200. These include a 105 m long continuous sediment core (core recovery > 95%) from an undisturbed slope section in the vicinity of the Tuaheni slide complex. This core represented the first long (i.e. longer than 50 m) sediment record from the Hikurangi margin. This drilling operation was paired with dense in-situ heat-flow measurements. Sedimentological, geotechnical, geophysical and geochemical analysis of the core material as well as sampled pore fluids and gases will enable a deeper insight into the slide kinematics, potential trigger mechanisms and timing of failure events. Furthermore, these data allow us to test hypotheses regarding the key role of sediment physical properties and/or gas hydrate dissociation and therewith the mechanics of submarine landslides; what are potential trigger mechanisms: uplift and over-steepening vs. sediment physical behaviour.

  19. 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.

  20. Using parallel computation to improve Independent Metropolis--Hastings based estimation

    CERN Document Server

    Jacob, Pierre; Smith, Murray H

    2010-01-01

    In this paper, we consider the implications of the fact that parallel raw-power can be exploited by a generic Metropolis--Hastings algorithm if the proposed values are independent. In particular, we present improvements to the independent Metropolis--Hastings algorithm that significantly decrease the variance of any estimator derived from the MCMC output, for a null computing cost since those improvements are based on a fixed number of target density evaluations. Furthermore, the techniques developed in this paper do not jeopardize the Markovian convergence properties of the algorithm, since they are based on the Rao--Blackwell principles of Gelfand and Smith (1990), already exploited in Casella and Robert (1996), Atchade and Perron (2005) and Douc and Robert (2010). We illustrate those improvement both on a toy normal example and on a classical probit regression model but insist on the fact that they are universally applicable.

  1. 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.

  2. Adaptive mobile tracking in unknown non-line-of-sight conditions with application to digital TV networks

    Science.gov (United States)

    Chen, Liang; Piché, Robert; Kuusniemi, Heidi; Chen, Ruizhi

    2014-12-01

    This paper studies the problem of tracking a mobile device in mixed line-of-sight (LOS) and non-line-of-sight (NLOS) conditions. NLOS error is assumed to be Gaussian with unknown mean and variance. An adaptive Rao-Blackwellized particle filter (RBPF) is proposed for mobile tracking in such scenarios. An extended Kalman filter is used to approximately estimate the mobile state, and the particle filter is applied to estimate the posterior distribution of sight conditions and the unknown static parameters, the distribution of which is updated by sufficient statistics. To improve the efficiency of the particle filtering, we use the approximate optimal proposal distribution for particle inference. Algorithm performance is investigated in the scenario of mobile tracking using signals of opportunity from digital TV (DTV) network. Simulation results show that the adaptive RBPF method is effective to infer the unknown NLOS parameter and can achieve good tracking accuracy using a small number of particles.

  3. Multitarget Tracking by Improved Particle Filter Based on Unscented Transform

    Directory of Open Access Journals (Sweden)

    Yazhao Wang

    2013-01-01

    Full Text Available This paper considers the problem of multitarget tracking in cluttered environment. To reduce the dependency on the noise priori knowledge, an improved particle filtering (PF data association approach is presented based on the filter (HF. This approach can achieve higher robustness in the condition that the measurement noise prior is unknown. Because of the limitations of the HF in nonlinear tracking, we first present the unscented filter (HUF by embedding the unscented transform (UT into the extended filter (HEF structure. Then the HUF is incorporated into the Rao-Blackwellized particle filter (RBPF framework to update the particles. Simulation results are provided to demonstrate the effectiveness of the proposed algorithms in linear and nonlinear multitarget tracking.

  4. 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.

  5. Firing of dried sludge from the pulp and paper industry in a pellet burner; Foerbraenning av torkat slam fraan skogsindustrin i pelletbraennare

    Energy Technology Data Exchange (ETDEWEB)

    Herstad Svaerd, S. [SEP Scandinavian Energy Project AB, Goeteborg (Sweden); Eskilsson, David [Swedish National Testing and Research Inst., Boraas (Sweden)

    2001-08-01

    Different types of sludge containing organic material are produced within the pulp and paper industry (fibre sludge, sludge from production of recycled fibres, de-inking sludge, chemical sludge, bio sludge etc). The newly introduced tax on waste deposition, 250 SEK/tonne wet material, has together with the coming law against disposal of different organic material raised the interest for minimising the sludge deposition. The moisture content of the sludge depends on the type of sludge and type of dewatering equipment used. The moisture content is however normally so high that a main part of the theoretical energy content is used for evaporating the water in the sludge. The sludge is successfully destroyed and the amount of sludge being disposed is reduced but there is very little net energy contribution from the sludge firing. An increased dry substance content would considerable reduce handling problems and problems connected with combustion of wet sludge. The energy yield would also increase and instead of destroying a wet waste material useful energy would be generated. One alternative for reducing the problems with wet sludge would therefore be to dry it to a suitable moisture content and then fire the dried sludge in a grate boiler, a fluidized bed boiler, a pulverised fuel boiler or in a pellet burner. In this project the alternative to dry the sludge and produce pellets with a moisture content of about 10 % is covered. The costs for upgrading wet sludge to dry pellets have been estimated in the report. Laboratory studies have also been carried with two different sludge samples to have a first indication of the results from firing sludge pellets in a pellet burner. The results from the project together with experiences from an earlier Vaermeforsk project shows that every sludge in principal is unique meaning that the composition depends on the production situation at the different specific plants. The ash content as well as the ash composition and the moisture content going into the sludge dryer varies from case to case. If one however looks at sludge from a more general point of view one will find that the ash and moisture free substance has more or less the same elementary composition, and thereby also effective heat value, as wood pellets. The experiences from the two sludge samples tested in the project showed that there were difficulties when trying to fire only sludge in the pellet burner. The difficulties were connected to the high ash content and for one of the sludge samples also to the low sinter temperature. Good combustion conditions could however be maintained when firing 10-20 % sludge pellets together with wood pellets. Higher nitrogen and sulphur content compared to wood resulted in increased emissions of SO{sub 2} and NO{sub x} for both of the sludge samples. A reasonable mixture between sludge and wood pellets based on these emission levels will be about 5 to 10 % if no flue gas cleaning is used. More sludge would mean that flue gas cleaning would be necessary both regarding to SO{sub 2} and NO{sub x} . Dried sludge should regarded as a very good fuel but one has to be prepared to handle: More ash; Risk for sinter problems; Risk for increased emissions of SO{sub 2} and NO{sub x} (and possibly HCl)

  6. Combustion of paper industry sewage sludge in existing boilers. Progress report 1; Tillfoersel av skogsindustriellt slam till eldstaeder. Delrapport etapp 1

    Energy Technology Data Exchange (ETDEWEB)

    Hoeglund, Christer; Lundborg, Rickard; Myringer, Aase

    2003-10-01

    The aim of this project is to find a feasible method for combustion of sewage sludge in existing boilers of the paper industry. Biological sludge is complicated to handle since it contains a lot of bound water. Problems arise at dehydration and subsequent treatment. Moreover, the trend is that the amount of biological sludge increases whereas the amount of easily dehydrated fibre sludge decreases. Today, mixed sludge is combusted at more then half of the paper and pulp mills in Sweden. In order to evaluate the existing problems and the characteristics of different sludge, five mills have been studied. Sludge from three of these mills has also been analysed with regards to content and combustion properties. The content of sludge from different mills varies greatly. If the ash content is high, some substances, especially the alkali metals can cause problems at combustion such as sintering and deposits in the boiler. The analysed sludge did not contain important amounts of substances that causes problems at combustion, nor any toxic substances, except from one mill that had relatively high content of mercury. The combustion tests proved that combustion and especially drying of sludge is made preferably when the sludge particles are small, on as big an area as possible. One feasible method to combust sludge from the forest industry is to dehydrate so called fibre sludge to the same dry substance content as bark, in order to introduce it with existing fuel feeding devises and combust it together with the other fuel on the grate in a grate boiler. Dehydrated biological sludge, with considerably higher moisture content than pure fibre sludge, is added with a burner devise above the bed. The sludge particles are dried (in the furnace) and combusted before they leave the furnace. In this way, wet sludge that plug the bed is avoided. The location of the sludge feeding device in the boiler is important and should be adjusted individually to each furnace. Simulations show that feeding of biological sludge with sludge burner/sprayer located relatively high in the furnace is possible with maintained good results of combustion. In the simulated standard case, it has proved suitable to place four sludge burners in pairs on the side walls. The burners give a maximal sludge amount of 660 kg per hour. The calculations show great differences in flow pattern in the boiler for sludge particles of different diameters. Particles with diameter 0,5 mm have a short depth of penetration and follow the flow field in the furnace. Particles with a diameter of 1,5 mm have considerably higher depth of penetration and are initially relatively unaffected by the flow field. The influence from the flow field of the furnace increases when the greater part of the moisture content of the particle is evaporated. Smaller particles than 0,5 mm prove to be too volatile and have difficulties to obtain sufficient penetration in the boiler. Larger particles than 1,5 mm prove to be too heavy and have too long drying time, which implies that they very likely will land on the bed before they are burned out. The optimal size distribution of the sludge is in the interval 0,5 - 1,5 mm. With this distribution, a good penetration of the sludge is reached together with acceptable times for combustion. The calculations show that only a few percent of the sludge particles of this size land on the grate. Combustion of sludge with a large part of wet biological sludge can cause problems with too low temperature to the superheaters. A proposed sludge burner is presented and discussed with suppliers of equipment and process engineers in the field. The proposal follow the basic idea to feed the sludge into the final combustion zone of the boiler so that the drying starts high up and the particles dry on the way down to the grate (the fuel bed) where the final combustion takes place. The mayor part of the sludge particles are burnt before they reach and land on the grate. The proposed model of this study is the base for continued experiments with sludge burners for biological sludge.

  7. (Almost) a slam dunk: Assessing the experiences and opinions of participants in a National Basketball Association (NBA)-funded dropout prevention program.

    Science.gov (United States)

    Geiger, Tray J; Amrein-Beardsley, Audrey

    2017-10-01

    Researchers conducted an evaluation of participants' perceptions of a dropout prevention program - the NBA High School program - involving a National Basketball Association (NBA) team, a high school located in downtown [City], and the College of Education (COE) at the local State University (SU). The program targeted "at-risk" high school students while utilizing student-teachers as tutors and mentors. Researchers utilized mixed methods to assess student, student-teacher, and high school teacher participants' experiences with and opinions of the program. Researchers found (1) students enjoyed the program, especially given the involvement of the student-teachers; (2) students believed the program helped improve their grades; (3) student-teachers enjoyed working with their students, although student-teachers found some of the expectations surrounding their positions and roles as tutors/mentors within the high school to be unclear and frustrating; (4) high school teachers felt significantly better about the program than the student-teachers; and (5) overall, all sets of respondents categorically supported the program and its benefits. Findings indicated that the involvement of mentors or role models matters to students, and clear and organized logistics, planning, and communication are integral for program success. Copyright © 2017 Elsevier Ltd. All rights reserved.

  8. SLAM: A multi-agency pilot project to SL.ow A.sh M.ortality caused by emerald ash borer in outlier sites

    Science.gov (United States)

    Therese M. Poland; Deborah G. McCullough

    2010-01-01

    Since its discovery in southeast Michigan in 2002, the emerald ash borer, Agrilus planipennis Fairmaire (Coleoptera: Buprestidae), has continued to spread and kill ash (Fraxinus) trees at an alarming rate. As of February 2010, EAB has killed tens of millions of ash trees in Michigan, at least 12 additional U.S. states, and the...

  9. İslam Hukuku Açısından Obeziteye Yol Açan Yeme İçme Hakkında Bazı Tesbitler

    Directory of Open Access Journals (Sweden)

    Halis Demir

    2015-06-01

    Full Text Available Beslenme; insanın temel ihtiyaçlarındandır. Beslenmenin temel un­suru gıda maddeleridir. Kâinattaki her şey insan için yaratılmıştır. Bazı maddelerin yenilmesi ve içilmesi yasaklanmıştır. Haram kılınan şeyler genel olarak insan sağlığına zararlıdır; helal olanlar ise faydalıdır. İnsan kulluk vazifesi için yaratılmıştır. Yeme içme başlı başına bir gaye değildir. İnsan helal olan şeyleri yeme içmede ölçülü davranılmalıdır. Zira insan sağlığını korumakla mükelleftir. Fazla yeme-içmenin neticelerinden birisi obezitedir. Doyduktan sonra yeme-içme hoş görülmemiştir. Obezite insa­nın iradesine de bağlıdır.

  10. Between the carrot and slamming the door. Teaching ad honorem at the UBA Entre el portazo y la zanahoria. La docencia por el honor en la UBA

    Directory of Open Access Journals (Sweden)

    Rodrigo Hobert

    2008-07-01

    Full Text Available Institutional and structural erosion of the largest Argentine national university has produced, among other things, space shortage, overcrowded classrooms, lack of materials, administrative chaos, lack of scholarships, irregular assignment of positions and research budgets, informal recruiting of teachers without payment, and finally the fall of its representative system, far away from classroom reality. The article analyzes ad honorem teaching at the University of Buenos Aires. More than a third of UBA teachers do not receive payment for their services. This work delves into the actors' perspectives in a context of difficult institutional and labor conditions.

    El desgaste institucional y estructural de la universidad nacional más grande de la Argentina se ha traducido, entre otros aspectos, en profundos niveles de decadencia edilicia, hacinamiento en las cursadas, falta de materiales didácticos, descontrol administrativo, escasez de concursos, discrecionalidad en los nombramientos docentes y en la asignación presupuestaria a proyectos de investigación, reclutamiento informal de docentes con bajos o inexistentes salarios, y la degradación de su sistema representativo, alejado de la realidad constitutiva de los claustros.

    En el presente trabajo es analizada la problemática de los docentes ad honorem, categoría docente en la cual se encuentran comprendidos más de un tercio de los docentes de la Universidad de Buenos Aires (UBA. Entre el portazo y la zanahoria intenta acercar la perspectiva de los actores en la especificidad de un contexto de marcado deterioro institucional y de las condiciones laborales en el campo académico.

  11. Depicting the Italo-Australian migrant experience down under ...

    African Journals Online (AJOL)

    Depicting the Italo-Australian migrant experience down under: Images of estrangement in the cinema of giorgio mangiamele. ... accurate reading of Australian cinema 'in terms of its multiple representations of the non-Anglo Celtic migrant'. Yet, in spite of Giorgio Mangiamele's innovative contribution and efforts and in spite ...

  12. Author Details

    African Journals Online (AJOL)

    Divergence and Diversity: The Case of Giorgio Manganelli's Rewritten Text Abstract · Vol 27, No 2 (2014) - Articles The return of the ghost: Gothic, dystopia and Isabella Santacroce's revolver (2006) Abstract · Vol 28, No 1 (2015) - Articles Theatrical game-play: Giorgio Manganelli's Otello: Ovvero cassio governa a cipro

  13. 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

  14. Studio delle forme chimiche e mineralogiche e della mobilità/biodisponibilità di metalli pesanti in suoli, piante (Pistacia lentiscus L.) e soluzioni del suolo del Bacino del Rio San Giorgio (Iglesias – Gonnesa, Sardegna sud - occidentale, Italia) finalizzato allo sviluppo di strategie di soil remediation

    OpenAIRE

    Concas, Sara

    2014-01-01

    This study was addressed to the environmental consequences that the intense extractive activity of lead and zinc has produced in the district around the towns of Iglesias and Gonnesa (southwestern Sardinia, Italy), with particular reference to the soil and to possible actions of phytoremediation. The research project, performed in cooperation with various national and international institutions, including ENEA, CNR and NTU (Nottingham Trent University), focuses the investigation o...

  15. Modeling the kinematics of an autonomous underwater vehicle for range-bearing Simultaneous Localization and Mapping

    CSIR Research Space (South Africa)

    Matsebe, O

    2008-12-01

    Full Text Available The “solution” of the Simultaneous Localisation and Mapping (SLAM) problem has been one of the notable successes of the robotics community. SLAM has been formulated and solved as a theoretical problem in a number of different forms. SLAM has also...

  16. 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.

  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. Tippdisainerite olümpiamängud / Ilona Martson

    Index Scriptorium Estoniae

    Martson, Ilona, 1970-

    2012-01-01

    Londoni 2012. aasta olümpiamängude rahvuskoondistele disainitud rõivakollektsioonidest. Inglismaa kollektsiooni disainis Stella McCartney, Itaalia kollektsiooni Giorgio Armani, USA kollektsiooni Ralph Lauren. Olümpiarõivaste ajaloost

  19. 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

  20. 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

  1. Värskelt pestud "Kevade"

    Index Scriptorium Estoniae

    2006-01-01

    Oskar Lutsu jutustuse järgi valminud mängufilm "Kevade" (1969) restaureeriti ja digitaliseeriti Soomes Digital Film Finland poolt, restauraator Giuseppe di Giorgio. Filmi näeb 13. aprillil kinos "Sõprus"

  2. Arno, Teele ja Toots naasevad kinolinale / Tiit Tuumalu

    Index Scriptorium Estoniae

    Tuumalu, Tiit, 1971-

    2006-01-01

    Oskar Lutsu jutustuse järgi valminud mängufilm "Kevade" (1969) restaureeriti ja digitaliseeriti Soomes Digital Film Finland poolt, restauraator Giuseppe di Giorgio. Lisatud nimekiri "Taastamise ootel" filmidest, mis "Eesti film 100" raames restaureerimist ootavad

  3. 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

  4. Italian Studies in Southern Africa/Studi d'Italianistica nell'Africa ...

    African Journals Online (AJOL)

    Book Review: Giorgio Bassani, Gli occhiali d'oro/The Gold-rimmed Spectacles translated by Jamie McKendrick · EMAIL FULL TEXT EMAIL FULL TEXT DOWNLOAD FULL TEXT DOWNLOAD FULL TEXT. W Snyman, 71-73 ...

  5. 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)

  6. Quarta generazione poetica italiana

    Directory of Open Access Journals (Sweden)

    Fabrizio Miliucci

    2016-09-01

    Full Text Available Recensione di: Luciano Anceschi, Piero Chiara, Luciano Erba, Gli anni di Quarta generazione, a cura di Serena Contini, prefazione di Giorgio Luzzi, Varese, Nuova editrice Magenta, 2014, 343 p., ISBN: 9788888903453, € 20,00.

  7. 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

  8. 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

  9. 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

  10. Lutshije dizainerõ muzhkoi odezhdõ 2004 goda / Zhanna Paulus

    Index Scriptorium Estoniae

    Paulus, Zhanna

    2005-01-01

    Meestemoe demonstratsioonid Milanos näitasid moetendentse 2005. aastaks. Meesterõivaste parimateks disaineriteks on moeasjatundajate arvates Helmut Lang, Ozwald Boateng, Miuccia Prada, Jean Paul Gaultier ja Giorgio Armani

  11. Autonomous Navigation Based on SEIF with Consistency Constraint for C-Ranger AUV

    Directory of Open Access Journals (Sweden)

    Yue Shen

    2015-01-01

    Full Text Available An autonomous underwater vehicle (AUV has to solve two essential problems in underwater environment, namely, localization and mapping. SLAM is one novel solution to estimate locations and maps simultaneously based on motion models and sensor measurements. Sparse extended information filter (SEIF is an effective algorithm to reduce storage and computational costs of large-scale maps in the SLAM problem. However, there exists the inconsistency in the SEIF since the rank of the observability matrix of linearized error-state model in SLAM system is higher than that of the nonlinear SLAM system. By analyzing the consistency of the SEIF-based SLAM from the perspective of observability, a SLAM based on SEIF with consistency constraint (SEIF-CC SLAM is developed to improve the estimator’s consistency. The proposed algorithm uses the first-ever available estimates to calculate SEIF Jacobians for each of the state variables, called the First Estimates Jacobian (FEJ. Then, the linearized error-state model can keep the same observability as the underlying nonlinear SLAM system. The capability of autonomous navigation with the proposed algorithm is validated through simulations experiments and sea trials for a C-Ranger AUV. Experimental results show that the proposed SEIF-CC SLAM algorithm yields more consistent and accurate estimates compared with the SEIF-based SLAM.

  12. THE LIFE OF HOCAZADE ES’AD EFENDI, A SHEIKHULISLAM, AUTHOR AND INTERPRETER, AND HIS WORKS MÜTERCİM VE MÜELLİF BİR ŞEYHÜLİSLAM: HOCAZADE ES’AD EFENDİ VE ESERLERİ

    Directory of Open Access Journals (Sweden)

    Mehmet ÖZDEMİR

    2011-06-01

    Full Text Available Hocazade Es’ad Mehmed Efendi was the youngest of the two sons whose father, Hoca Sadettin Efendi, was also a şeyhülislam.He held an important position such as the that of Şeyhülislam between 1615 and 1622, 1623 and 1625, when many important events took place in the history of the ottoman empire. In addition to his efficient position in state administration, he was also a literate scholar, making him and his works important. Es’ad Efendi was one of the first interpreters translating Sa’di’s book ‘Gülistân’ considered as an eastern classic into Turkish. Sadi is regarded as one of the three representatives, including Firdevsî and Hâfız. He also wrote Gülistân-ı Şemâil and Kaside-i Bürde Tahmisi in which he narrated the importance of Friday. In this study, the life of Es’ad Efendi, his personality and his works were analyzed Şeyhülislam Hoca Sa’dettin Efendi’nin -babaları gibi şeyhülislamlık makamında bulunan iki oğlundan biri olan- küçük oğlu Hocazâde Es’ad Efendi, Osmanlı tarihinde önemli olaylara sahne olan bir dönemde (1615-1622 ve 1623-1625 şeyhülislamlık gibi mühim bir makamı temsil etmiştir. Devlet idaresinde etkili konumumun yanında, eli kalem tutan bir müellif / aydın olarak önemli bir sima olması onu ve eserlerini mühim kılmaktadır. Es’ad Efendi, Firdevsî ve Hâfız ile birlikte İran edebiyatının üç büyük temsilcilerinden biri kabul edilen Sa’dî’nin şark klasikleri arasına girmiş eseri Gülistân’ı, Gül-i Handân adıyla Tükçe’ye tercüme eden ilk mütercimlerden biridir. Ayrıca Gülistân-ı Şemâil adıyla kaleme aldığı manzum şemâili, Kaside-i Bürde Tahmisi ve cuma gününün önemini ve faziletlerini anlattığı Fezâil-i Cuma adlı eserleri de vardır. Bu yazıda Es’ad Efendi’nin hayatı, şahsiyeti ve eserleri hakkında tanıtıcı bilgiler verilmeye çalışılacaktır.

  13. İlk Dönem İslam Siyâsî Tarihinde Hutbe Uygulaması The Practice Of Khutbah In The First Period Of Political Islam

    Directory of Open Access Journals (Sweden)

    Cahit KÜLEKÇİ

    2013-09-01

    Full Text Available They are symbols (different symbols that indicate the independent of states. These symbols may vary, depending on the traditions of their own states. For example that the symbols the money, written on money the president's name of the state, flag, border, capital, organization of the states. In addition to these elements, give thekhutbah is defined in the tradition of Muslim societies as a symbol ofindependence. Our study aims to show the application forms ofkhutbah which is one of the symbols of the independence of stateskhutbah, in the political history of Islam. The application of Khutbahdates back a great deal on the Islamic political history. The applicationof khutbah began the Prophet Muhammad's seventh generationgrandfather Ka'b b. Lueyy, but after his death have not been continued.Therefore, take a traditional of the application of khutbah has beentimely the Prophet Muhammad. Due to the conditions, the ProphetMuhammad can not give a khutbah in Mecca and this tradition startedimmediately after the exodus to Medina. After the death of The ProphetMuhammad, this tradition gained contiunity in the time of first fourcaliphs who managed te Muslim community. The common denominatorof khutbah’s given both the Prophet Muhammad as well as the first fourcaliphs seems to be in obedience. Also in general the first khutbah'smessages society and sometimes includes information about the head ofstate how to manage society. However, in the process of later, in parallelwith the growing geographic boundaries, to pass the name of thepresident began to be seen as a symbol of independence and authority,but to give the khutbah. Devletlerin müstakil olduklarını gösteren bir takım sembolleri (alâmât-ı fârika vardır. Bu semboller devletlerin kendi geleneklerine bağlı olarak değişirler. Örneğin, para bastırmak, paranın üzerine yönetimde bulunan devlet başkanın ismini yazmak, sancak sahibi olmak, sınır belirlemek, başkent edinmek, teşkilatlanmak bu sembollerdendir. Saydığımız unsurlara ilâveten hutbe vermek de Müslüman toplumların geleneği içinde bağımsızlık sembolü olarak tanımlanmıştır. Bu çalışmamız, devletlere ait bağımsızlık sembollerinden birisi olan hutbenin, İslâm siyâsî tarihindeki uygulanma biçimlerini göstermeyi hedeflemektedir. İslâm siyâsî tarihinde hutbe uygulamasının geçmişi bir hayli eskiye dayanmaktadır. Hz. Peygamber (AS’in yedinci nesilden dedesi olan Ka’b b. Lüeyy’le birlikte başladığını düşündüğümüz hutbe uygulaması, Ka’b b. Lüeyy’in ölümünden sonra devam ettirilmemiştir. Dolayısıyla hutbe uygulamasının geleneksel bir hal alması Hz. Peygamber (AS zamanında olmuştur. Şartlar gereği Mekke’de hutbe veremeyen Hz. Peygamber (AS, Medine’ye hicretinden hemen sonra bu geleneği başlatmıştır. Hz. Peygamber (AS’in vefatınını müteakip Müslüman toplumu idare eden dört halifenin verdiği ilk hutbeler ile de bu gelenek süreklilik kazanmıştır. Hem Hz. Peygamber (AS’in hem de dört halifenin verdiği hutbelerin ortak paydasının da itaat olduğu görülmektedir. Ayrıca ilk hutbeler genel olarak toplumu irşâd edici mesajlarla örülü iken, kimi zaman da devlet başkanının toplumu nasıl yöneteceğine dair bilgileri içermektedir. Fakat daha sonraki süreçte, büyüyen coğrâfî sınırlara paralel olarak devlet başkanının hutbe vermesi değil, hutbede adının geçmesi bağımsızlık ve otorite sembolü olarak değerlendirilmeye başlanmıştır.

  14. أحكام التسعير في الفقه الاسلامي: İSLAM FIKHINDA FİYATLANDIRMA

    OpenAIRE

    ARKAWİ, Hasip

    2015-01-01

    الملخصالأصل أن التسعير الجبري يحد من الحرية الاقتصادية التي كفلها الإسلام للأفراد في المجتمع؛ ذلك أن عقود المعاوضات مبنية على الرضا، ولا يكون التحجير على المكلف إلا استثناء حين التعارض بين مصلحتين: الفرد والمجتمع ـ فالواجب على الدولة أمام هذا التعارض التدخل لحماية مصالح العامة وحراستها من خلال الحد من حرية الأفراد إذا أضرت أو أساءت لبقية المجتمع.فإذا كان الأفراد في المجتمع الإسلامي ملتزمون بقواعد الشريعة وأسسها لا يتعرضون لمصالح المجتمع بأدنى حيف وجور فلا يخول الإمام بالتدخل في شؤونهم فيترك ل...

  15. İslam Dünyasının İlk Tıp Ansiklopedisi Firdevsü'l-Hikme ve Müellifi ?Ali b. Sehl Rabban Taberi: Hayatı ve Eserleri

    Directory of Open Access Journals (Sweden)

    Salim Aydüz

    2013-01-01

    Full Text Available As a physician, scientist and philosopher, ‘Alī b. Sahl Rabbān al-Ṭabarī was the son of Sahl Sahl Rabbān al-Ṭabarī. ‘Ali was born in the educated and intellectual Christian family. He wrote many books on philosophy, medicine and religious matters. Particularly, his Firdaws al-ḥikma is the first ever written medical encyclopaedia which incorporates all the branches of the medical sciences. This article demonstrates how important ‘Alī b. Sahl al-Ṭabarī’s contribution was significant in Muslim heritage in terms of philosophical, religious and medicinal works. A rich bibliography backs the arguments of the articles and provides a solid basis for further reading.

  16. The adaptor molecule signaling lymphocytic activation molecule (SLAM)-associated protein (SAP) is essential in mechanisms involving the Fyn tyrosine kinase for induction and progression of collagen-induced arthritis.

    Science.gov (United States)

    Zhong, Ming-Chao; Veillette, André

    2013-11-01

    Signaling lymphocytic activation molecule-associated protein (SAP) is an Src homology 2 domain-only adaptor involved in multiple immune cell functions. It has also been linked to immunodeficiencies and autoimmune diseases, such as systemic lupus erythematosus. Here, we examined the role and mechanism of action of SAP in autoimmunity using a mouse model of autoimmune arthritis, collagen-induced arthritis (CIA). We found that SAP was essential for development of CIA in response to collagen immunization. It was also required for production of collagen-specific antibodies, which play a key role in disease pathogenesis. These effects required SAP expression in T cells, not in B cells. In mice immunized with a high dose of collagen, the activity of SAP was nearly independent of its ability to bind the protein tyrosine kinase Fyn and correlated with the capacity of SAP to promote full differentiation of follicular T helper (TFH) cells. However, with a lower dose of collagen, the role of SAP was more dependent on Fyn binding, suggesting that additional mechanisms other than TFH cell differentiation were involved. Further studies suggested that this might be due to a role of the SAP-Fyn interaction in natural killer T cell development through the ability of SAP-Fyn to promote Vav-1 activation. We also found that removal of SAP expression during progression of CIA attenuated disease severity. However, it had no effect on disease when CIA was clinically established. Together, these results indicate that SAP plays an essential role in CIA because of Fyn-independent and Fyn-dependent effects on TFH cells and, possibly, other T cell types.

  17. Supplying of sludge from the paper- and pulp industry to furnaces. Step 3 - design before full-scale tests; Tillfoersel av skogsindustriellt slam till eldstaeder. Etapp 3 - Projektering infoer fullskalefoersoek

    Energy Technology Data Exchange (ETDEWEB)

    Eriksson, Lars; Njurell, Rolf; Eklund, Anders

    2003-07-01

    From the year 2005 it is no longer permitted to deposit organic waste in Sweden. The sludge which is generated in the Swedish pulp- and paper mills contains organic substance and is consequently included in the coming Swedish deposit prohibition. An alternative to deposit the sludge is combustion. In earlier stages 1 and 2 of this project, the combustion technique has been studied and full size tests of dewatering sludge have been performed. Within this stage 3 the design of a system, from sewage treatment to boiler has been studied and is presented in this report. The method can be described as a predesign study, which has been carried through for three Swedish mills - Froevi, Hallsta and Wargoen. The work has resulted in proposals for technical solutions and cost estimations for the complete systems. The two basic technical solutions are: Blowing of the dewatered bio-/fibersludge to the boiler with a blowing machine. Injection of biosludge with burners similar to oil burner lances. With the first technique the sludge is fed traditionally with a belt conveyer up to the boiler house and is then blown at a suitable place into the furnace freeboard. The other solution is to pump the sludge, with a small content of dry substance, to the boiler house for dewatering and injection in to the boiler. An alternative is to distribute the sludge through a 'blowtable' in the furnace back wall. Decisive for the technical choice is the available sludge quality and transportation distance. The complete investment and operational costs for the systems have been estimated. Looking at the alternatives to combustion and landfill they are: A separate drying system (This usually means a larger investment and the economic outcome must be analyzed from case to case); Production of building material; Alternative drying methods as Econova's (Sweden); Pellets production for use as fuel or sorbent; Combustion in the recovery boiler.

  18. Simultaneous Localization and Mapping in Multipath Environments: Mapping and Reusing of Virtual Transmitters

    OpenAIRE

    Gentner, Christian; Ma, Boxiao; Pöhlmann, Robert; Jost, Thomas; Dammann, Armin

    2016-01-01

    Channel-SLAM is an algorithm which uses multipath propagation for positioning and treats multipath components (MPCs) as line-of-sight (LoS) signals originated from virtual transmitters (VTs). To use the information of the MPCs, Channel-SLAM estimates the receiver position and the position of the VTs simultaneously using simultaneous localization and mapping (SLAM) and does not require any prior information such as room-layout or a database for fingerprinting. This paper investigates mapping, ...

  19. Outlier Detection in GNSS Pseudo-Range/Doppler Measurements for Robust Localization.

    Science.gov (United States)

    Zair, Salim; Le Hégarat-Mascle, Sylvie; Seignez, Emmanuel

    2016-04-22

    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.

  20. 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.

  1. Joint albedo estimation and pose tracking from video.

    Science.gov (United States)

    Taheri, Sima; Sankaranarayanan, Aswin C; Chellappa, Rama

    2013-07-01

    The albedo of a Lambertian object is a surface property that contributes to an object's appearance under changing illumination. As a signature independent of illumination, the albedo is useful for object recognition. Single image-based albedo estimation algorithms suffer due to shadows and non-Lambertian effects of the image. In this paper, we propose a sequential algorithm to estimate the albedo from a sequence of images of a known 3D object in varying poses and illumination conditions. We first show that by knowing/estimating the pose of the object at each frame of a sequence, the object's albedo can be efficiently estimated using a Kalman filter. We then extend this for the case of unknown pose by simultaneously tracking the pose as well as updating the albedo through a Rao-Blackwellized particle filter (RBPF). More specifically, the albedo is marginalized from the posterior distribution and estimated analytically using the Kalman filter, while the pose parameters are estimated using importance sampling and by minimizing the projection error of the face onto its spherical harmonic subspace, which results in an illumination-insensitive pose tracking algorithm. Illustrations and experiments are provided to validate the effectiveness of the approach using various synthetic and real sequences followed by applications to unconstrained, video-based face recognition.

  2. Sensitivity estimation for stochastic models of biochemical reaction networks in the presence of extrinsic variability

    Science.gov (United States)

    Ruess, Jakob; Koeppl, Heinz; Zechner, Christoph

    2017-03-01

    Determining the sensitivity of certain system states or outputs to variations in parameters facilitates our understanding of the inner working of that system and is an essential design tool for the de novo construction of robust systems. In cell biology, the output of interest is often the response of a certain reaction network to some input (e.g., stressors or nutrients) and one aims to quantify the sensitivity of this response in the presence of parameter heterogeneity. We argue that for such applications, parametric sensitivities in their standard form do not paint a complete picture of a system's robustness since one assumes that all cells in the population have the same parameters and are perturbed in the same way. Here, we consider stochastic reaction networks in which the parameters are randomly distributed over the population and propose a new sensitivity index that captures the robustness of system outputs upon changes in the characteristics of the parameter distribution, rather than the parameters themselves. Subsequently, we make use of Girsanov's likelihood ratio method to construct a Monte Carlo estimator of this sensitivity index. However, it turns out that this estimator has an exceedingly large variance. To overcome this problem, we propose a novel estimation algorithm that makes use of a marginalization of the path distribution of stochastic reaction networks and leads to Rao-Blackwellized estimators with reduced variance.

  3. A novel particle filter approach for indoor positioning by fusing WiFi and inertial sensors

    Directory of Open Access Journals (Sweden)

    Zhu Nan

    2015-12-01

    Full Text Available WiFi fingerprinting is the method of recording WiFi signal strength from access points (AP along with the positions at which they were recorded, and later matching those to new measurements for indoor positioning. Inertial positioning utilizes the accelerometer and gyroscopes for pedestrian positioning. However, both methods have their limitations, such as the WiFi fluctuations and the accumulative error of inertial sensors. Usually, the filtering method is used for integrating the two approaches to achieve better location accuracy. In the real environments, especially in the indoor field, the APs could be sparse and short range. To overcome the limitations, a novel particle filter approach based on Rao Blackwellized particle filter (RBPF is presented in this paper. The indoor environment is divided into several local maps, which are assumed to be independent of each other. The local areas are estimated by the local particle filter, whereas the global areas are combined by the global particle filter. The algorithm has been investigated by real field trials using a WiFi tablet on hand with an inertial sensor on foot. It could be concluded that the proposed method reduces the complexity of the positioning algorithm obviously, as well as offers a significant improvement in position accuracy compared to other conventional algorithms, allowing indoor positioning error below 1.2 m.

  4. Indoor positioning in wireless local area networks with online path-loss parameter estimation.

    Science.gov (United States)

    Bruno, Luigi; Addesso, Paolo; Restaino, Rocco

    2014-01-01

    Location based services are gathering an even wider interest also in indoor environments and urban canyons, where satellite systems like GPS are no longer accurate. A much addressed solution for estimating the user position exploits the received signal strengths (RSS) in wireless local area networks (WLANs), which are very common nowadays. However, the performances of RSS based location systems are still unsatisfactory for many applications, due to the difficult modeling of the propagation channel, whose features are affected by severe changes. In this paper we propose a localization algorithm which takes into account the nonstationarity of the working conditions by estimating and tracking the key parameters of RSS propagation. It is based on a Sequential Monte Carlo realization of the optimal Bayesian estimation scheme, whose functioning is improved by exploiting the Rao-Blackwellization rationale. Two key statistical models for RSS characterization are deeply analyzed, by presenting effective implementations of the proposed scheme and by assessing the positioning accuracy by extensive computer experiments. Many different working conditions are analyzed by simulated data and corroborated through the validation in a real world scenario.

  5. An Anchor-Based Pedestrian Navigation Approach Using Only Inertial Sensors

    Science.gov (United States)

    Gu, Yang; Song, Qian; Li, Yanghuan; Ma, Ming; Zhou, Zhimin

    2016-01-01

    In inertial-based pedestrian navigation, anchors can effectively compensate the positioning errors originating from deviations of Inertial Measurement Units (IMUs), by putting constraints on pedestrians’ motions. However, these anchors often need to be deployed beforehand, which can greatly increase system complexity, rendering it unsuitable for emergency response missions. In this paper, we propose an anchor-based pedestrian navigation approach without any additional sensors. The anchors are defined as the intersection points of perpendicular corridors and are considered characteristics of building structures. In contrast to these real anchors, virtual anchors are extracted from the pedestrian’s trajectory and are considered as observations of real anchors, which can accordingly be regarded as inferred building structure characteristics. Then a Rao-Blackwellized particle filter (RBPF) is used to solve the joint estimation of positions (trajectory) and maps (anchors) problem. Compared with other building structure-based methods, our method has two advantages. The assumption on building structure is minimum and valid in most cases. Even if the assumption does not stand, the method will not lead to positioning failure. Several real-scenario experiments are conducted to validate the effectiveness and robustness of the proposed method. PMID:26959031

  6. 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.

  7. 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, ...

  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. Gclust Server: 133398 [Gclust Server

    Lifescience Database Archive (English)

    Full Text Available Cluster Sequences Related Sequences(2) 1196 slam: slow as molasses CG9506-PA 1 1.00e-99 0.0 0.0 0.0 0.0...Sequence length 1196 Representative annotation slam: slow as molasses CG9506-PA Number of Sequences 1 Homologs

  10. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    pp 1385-1433. Where am I? Creating spatial awareness in unmanned ground robots using SLAM: A survey · Nitin Kumar Dhiman Dipti Deodhare Deepak Khemani · More Details Abstract Fulltext PDF. This paper presents a survey of Simultaneous Localization And Mapping (SLAM) algorithms for unmanned ground robots.

  11. Robotic Sensitive-Site Assessment

    Science.gov (United States)

    2015-09-04

    presents a causality dilemma (i.e., a chicken-or-the- egg problem), is called simultaneous localization and mapping (SLAM). Solving the SLAM problem has...sequential laser range scans, to compensate range returns for gait-induced pitch and roll (rotational movement), and to detect building floor transitions

  12. 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.

  13. 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.

  14. 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.

  15. NDE for heat engine ceramics

    Science.gov (United States)

    Klima, S. J.

    1984-01-01

    Radiographic, ultrasonic, and scanning laser acoustic microscopy (SLAM) techniques were used to characterize silicon nitride and silicon carbide MOR bars in various stages of fabrication. Conventional and microfocus x-ray techniques were found capable of detecting minute high density inclusions in as-received powders, green compacts, and fully densified specimens. Significant density gradients in sintered bars were observed by radiography, ultrasonic velocity, and SLAM. Ultrasonic attenuation was found sensitive to microstructural variations due to grain and void morphology and distribution. SLAM was also capable of detecting voids, inclusions, and cracks in finished test bars. It was determined that thermoacoustic microscopy techniques have promise for application to green and densified ceramics.

  16. Reseñas bibliográficas

    OpenAIRE

    Haba, E. P.

    2014-01-01

    Se presentan las siguientes reseñas bibliográficas:       Legaz y Lacambra, Luis: Filosofía del derecho (1979)/Reseñado por E. P. Haba.      Del Vecchio, Giorgio: Los principios generales del derecho (1979)/ Reseñado por E. P. Haba. 

  17. Rousseau and the Fable: Rethinking the Fabulous Nature of Educational Philosophy

    Science.gov (United States)

    Lewis, Tyson E.

    2012-01-01

    In this essay Tyson Lewis reevaluates Jean-Jacques Rousseau's assessment of the pedagogical value of fables in Emile's education using Giorgio Agamben's theory of poetic production and Thomas Keenan's theory of the inherent ambiguity of the fable. From this perspective, the "unreadable" nature of the fable that Rousseau exposed is not simply the…

  18. Dolphins Who Blow Bubbles: Anthropological Machines and Native Informants

    NARCIS (Netherlands)

    Lord, C.

    2011-01-01

    "Dolphins Who Blow Bubbles: Anthropological Machines and Native Informants" engages a reading between an Oscar winning and now ‘cult’ activist film The Cove (Louise Psihoyos 2009) and classical texts on the human-animal threshold. Giorgio Agamben’s The Open (2002) and Jacques Derrida’s "The Animal

  19. Shame and Silence | Janz | South African Journal of Philosophy

    African Journals Online (AJOL)

    Samantha Vice's proposal on how to live in 'this strange place' of contemporary South Africa, includes an appeal to the concepts of shame and silence. In this paper, I use Emmanuel Levinas and Giorgio Agamben to move the discussion of shame from a moral to an existential question. The issue is not about how one ...

  20. Commensal Bacteria Control Cancer Response to Therapy by Modulating the Tumor Microenvironment | Poster

    Science.gov (United States)

    Noriho Iida, Amiran Dzutsev, C. Andrew Stewart, Loretta Smith, Nicolas Bouladoux, Rebecca A. Weingarten, Daniel A. Molina, Rosalba Salcedo, Timothy Back, Sarah Cramer, Ren-Ming Dai, Hiu Kiu, Marco Cardone, Shruti Naik, Anil K. Patri, Ena Wang, Francesco M. Marincola, Karen M. Frank, Yasmine Belkaid, Giorgio Trinchieri, Romina S. Goldszmid Science 342(6161):967-970, 2013

  1. Topographies/topologies of the camp: Auschwitz as a spatial threshold

    NARCIS (Netherlands)

    Giaccaria, P.; Minca, C.

    2011-01-01

    This paper, largely inspired by Giorgio Agamben’s conceptualization of the camp, reflects on the relationship between the ‘topographical’ and the ‘topological’ in reference to Auschwitz–Birkenau and its spatialities. After having discussed the concept of soglia (threshold), we briefly introduce the

  2. Skin and the non-human human

    DEFF Research Database (Denmark)

    Rösing, Lilian Munk

    2013-01-01

    ) article 'Visualizing the mind: Looking at Titian's Flaying of Marsyas', addressing features of the painting not commented on by Hart, and supplementing Hart's (Kleinian) theoretical frame by involving Didier Anzieu's 'skin ego', Slavoj Zizek's concept of the 'non-human', Giorgio Agamben's term...

  3. 16 moeõppetundi itaalia stiilis / Nicole Picart, Richard Gianorio, Marie Varvoux

    Index Scriptorium Estoniae

    Picart, Nicole

    2007-01-01

    Itaalia moekunstnikud Gianfranco Ferre, Frida Giannini (Gucci), Graeme Black (Ferragamo), Angela Missioni (Missioni), Laura Lusuardi (Max Mara), Roberto Cavalli, Donatella Versace, Silvia Venturini (Fendi), Gaia Trussardi, Tomas Maier (Bottega Veneta), Dolce & Gabbana, Cristina Ortiz (Brioni), Rossella Jardini (Moschino), Alberta Ferretti, Giorgio Armani, Dean ja Dan Caten (Dsquared 2) iseloomustavad ideaalset naist, itaalia stiili, ajatut moodi ja kommenteerivad oma moekunstnikuks saamist. Lisatud fotod moekunstnikest

  4. The Loneliness of Two Long-distance Rationalists: Gellner and ...

    African Journals Online (AJOL)

    Questo articolo è un'indagine di quanto gli scritti del noto sociologo, antropologo, storico e filosofo Ernest Gellner (1925-1995) si prestino come strumento critico per i testi letterari in genere, e due testi di Giorgio Bassani (1916-2000) in particolare: Gli occhiali d'oro e Il giardino dei Finzi-Contini.

  5. "Translating" Mein Kampf: Arnon Grunberg's Profanations

    NARCIS (Netherlands)

    Bot, Michiel

    2017-01-01

    In this article, I borrow Giorgio Agamben's conception of profanation to analyze Dutch writer Arnon Grunberg's novel The Jewish Messiah (2004), whose grotesque plot includes a translation project of Mein Kampf into Yiddish. I read The Jewish Messiah as a profanation that seeks to counteract

  6. The Interstitial Self: On Literature and Agamben's Potentiality ...

    African Journals Online (AJOL)

    La medianità letteraria, che trova ampio riscontro in gran parte della letteratura moderna e contemporanea, viene qui affrontata e discussa attraverso il concetto di potenzialità e le modalità con cui questo concetto è stato interpretato in filosofia, con particolare riferimento al lavoro del filosofo italiano Giorgio Agamben.

  7. Legitimizing policies

    DEFF Research Database (Denmark)

    Jørgensen, Martin Bak

    2012-01-01

    , political and economic rights, of moral obligations, of sovereignty, and of equity, as well as of how to define target groups and legal and categorical statuses into the debates. Having a backdrop in the theoretical framework of Carol Bacchi, Anne Schneider and Helen Ingram and Giorgio Agamben, this article...

  8. Töönädala lühendamine võib kasu tuua / Lauri Linnamäe

    Index Scriptorium Estoniae

    Linnamäe, Lauri

    2009-01-01

    Padova ülikooli teadlase Giorgio Brunello uuringu andmetel ei aita tööaja lühendamine suurendada tööhõivet. Tööandjate Keskliidu tegevjuhi Tarmo Kriisi, Ametiühingute Keskliidu juhi Harri Taliga, IPA omaniku John Rossi ning Riigikogu liikme Eiki Nestori kommentaarid

  9. 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.

  10. HOMO ERECTUS, O FÓSSIL CIBERNÉTICO DE MARCELINO FREIRE

    Directory of Open Access Journals (Sweden)

    Geruza Zelnys de Almeida*

    2010-12-01

    Abordarei essas questões de acordo com os estudos de Paul Zumthor e Henri Meschonnic sobre oralidade, passando pelas impressões sobre a contemporaneidade em Giorgio Agamben e sobre o processo tradutório em Umberto Eco e Júlio Plaza. Palavras-chave: conto-poema, transcriação, videoarte, Marcelino Freire

  11. Through the lens of the east: A study of themes in travel literature ...

    African Journals Online (AJOL)

    Il saggio studia gli scritti di viaggio dedicati da Giorgio Manganelli all'oriente, in particolare il libro Cina e altri orienti (1974): più che per il loro valore documentario, le penetranti pagine manganelliane rivelano un costante gusto di affabulazione letteraria, giocato sulla falsariga di illustri modelli, dal Milione di Marco Polo alle ...

  12. UNESCO otsustab vanalinna saatuse kahe aasta pärast / Askur Alas

    Index Scriptorium Estoniae

    Alas, Askur, 1973-

    2006-01-01

    Tallinna külastanud UNESCO maailmapärandi komitee esindaja professor Giorgio Piccinato hoiatab linnavõime, et uute kõrghoonete ehitamine kesklinna ja Skoone bastioni erastamine võib kaasa tuua Tallinna vanalinna maailmapärandi nimistust väljaarvamise. Intervjuu Piccinatoga. Kommentaarid Jaan Tammelt, Indrek Toomelt, Yrjo Vanhanenilt

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

    Indian Academy of Sciences (India)

    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. Copernican Revolution in the Complex Plane - An Algebraic Way to Show the ...

  14. 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 ...

  15. Classroom

    Indian Academy of Sciences (India)

    “Classroom” is equally a forum for raising broader issues and sharing personal experiences and viewpoints on matters related to teaching and learning science. Giorgio Goldoni. Civic Planetarium. “Francesco Martino”. Modena, Italy. Rapidity: The Physical Meaning of the Hyperbolic Angle in. Special Relativity. Keywords.

  16. la grande guerra apocalisse della modernità: ungaretti e gadda

    African Journals Online (AJOL)

    User

    mitologia nello spazio della storia (Walter. Benjamin, Parigi capitale del XIX secolo). Verrebbe da domandargli se conosce molti che nell'immediato dopo guerra ... l'arte si pensa ad esempio alle illustrazioni di Dürer, le xilografie di Holbein, o, per fare esempi più vicini a noi, le illustrazioni che ne ha dato Giorgio De Chirico, ...

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

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 12; Issue 7. Rapidity: The Physical Meaning of the Hyperbolic Angle in Special Relativity. Giorgio Goldoni. Classroom Volume 12 Issue 7 July 2007 pp 86-91. Fulltext. Click here to view fulltext PDF. Permanent link:

  18. Philosophy---Aesthetics---Education: Reflections on Dance

    Science.gov (United States)

    Lewis, Tyson

    2007-01-01

    The Italian philosopher Giorgio Agamben is known for his interest in the problem of "biopower," arguing that political political and philosophical questions of the moment concern the connections between life and power. He is diametrically opposed to Alain Badiou, a leading French intellectual, for whom the central question concerns not so much…

  19. Remembering the Singing of Silenced Voices: Brundibár and Problems of Pedagogy

    Science.gov (United States)

    Dobbs, Teryl L.

    2013-01-01

    In this essay I explore problems of pedagogy related to Hans Krása's "Brundibár" by drawing heavily upon the thinking of two divergent theoretical perspectives regarding Holocaust testimony as advanced by Giorgio Agamben (2002) and Shoshana Felman (1992). I theorize that lodged within a space of difficult knowledge coalesced through…

  20. Bandlysningens Arkitektur

    DEFF Research Database (Denmark)

    Östman, Lars

    2008-01-01

    Artiklen vil introducere Giorgio Agamben og Paul Virilio via en tematisering af begrebet om en undtagelse som paradigme for forståelsen af det biopolitiske. Undersøgelsen drejer sig om forholdet mellem byen og dens udenfor, mellem retten og undtagelsestilstanden og hvordan dette forhold har...

  1. Uudised : Kitarrifestival Viljandis. Al Gore'i "Ebamugav tõde" ooperiks

    Index Scriptorium Estoniae

    2008-01-01

    23.-27. septembrini Viljandis toimuvast Eesti esimesest improvisatsioonilise kitarri festivalist. Milaano ooperiteatri La Scala esindajad andsid teada, et itaalia heliloojalt Giorgio Battistellilt on tellitud USA endise asepresidendi Al Gore'i keskkonnateemalisel Oscariga pärjatud filmil rajanev ooper (valmiva teosega on plaanis avada La Scala 2011. aasta hooaeg)

  2. "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

  3. Nota a «Paradosso 2012/2. Forme della vita e statuti del vivente», AA.VV. (25/07/2013. Due parole su evoluzione sincronica, diacronica, flussi di energia e big crunch epistemologico

    Directory of Open Access Journals (Sweden)

    Franco Rebuffo

    2014-03-01

    Full Text Available Nota di Franco Rebuffo del 25/07/13 in risposta alla nota di Giorgio Forti del 09/07/2013 riguardante il numero di «Paradosso 2012/2. Forme della vita e statuti del vivente» a cura di Florinda Cambria.

  4. Overview of the 2015 Workshop on Speech, Language and Audio in Multimedia

    NARCIS (Netherlands)

    Gravier, Guillaume; Jones, Gareth J.F.; Larson, Martha; Ordelman, Roeland J.F.

    2015-01-01

    The Workshop on Speech, Language and Audio in Multimedia (SLAM) positions itself at at the crossroad of multiple scientific fields - music and audio processing, speech processing, natural language processing and multimedia - to discuss and stimulate research results, projects, datasets and

  5. The Importance of Pressure Sampling Frequency in Models for Determination of Critical Wave Loadings on Monolithic Structures

    DEFF Research Database (Denmark)

    Burcharth, Hans F.; Andersen, Thomas Lykke; Meinert, Palle

    2008-01-01

    Wave induced pressures on model scale monolithic structures like caissons and concrete superstructures on rubble mound breakwaters show very peaky variations, even in cases without impacts from slamming waves....

  6. Review

    African Journals Online (AJOL)

    In this review, I shall attempt to convince readers that improving your knowledge of bird sounds ... images of mine within this book include the Hartlaub's Turaco Tauraco hartlaubi (p. ... head and slams her book down as the memory arrives.

  7. Hurricane Hugo Poster (September 21, 1989)

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Hurricane Hugo poster. Multi-spectral image from NOAA-11 captures Hurricane Hugo slamming into South Carolina coast on September 21, 1989. Poster size is 36"x36".

  8. 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

  9. MRXT: The Multi-Robot eXploration Tool

    OpenAIRE

    Arturo Gil; Miguel Juliá; Óscar Reinoso

    2015-01-01

    This paper presents the multi-robot eXploration tool (MRXT) [Freely available at http://arvc.umh.es/mrxt], a new mobile robotics simulation tool whose aim is to experiment and understand some well-known multi-robot exploration algorithms. The application is designed to test and compare different multi-robot exploration algorithms as well as SLAM techniques. The application includes a wide range of exploration algorithms that differ in their level of coordination and integration with the SLAM ...

  10. 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

  11. Decoupled Mapping and Localization for Augmented Reality on a Mobile Phone

    OpenAIRE

    Martin, Pierre; Marchand, Eric; Houlier, Pascal; Marchal, Isabelle

    2014-01-01

    International audience; Using Simultaneous Localization And Mapping (SLAM) methods become more and more common in Augmented Reality (AR). To achieve real-time requirement and to cope with scale factor and the lack of absolute positioning issue, we propose to decouple the localization and the mapping step. We explain the benefits of this approach and how a SLAM strategy can still be used in a way that is meaningful for the end user.

  12. Review of Hull Structural Monitoring Systems for Navy Ships

    Science.gov (United States)

    2013-05-01

    cases of uniaxial strain, the dummy gauge is attached perpendicularly to the active gauge. The dummy gauge is connected in a Wheatstone bridge ...interface (GUI) on the bridge . A more typical configuration with four long-base strain gauges (LBSGs) is however illustrated in Figure 2. In this...in the bow to measure slamming incidents, bow emergence and slamming pressures. On larger vessels where the deckhouse and bridge are located aft

  13. Ash and sludge covering of mine waste. Benefits and/or risks using ash and sludge for covering of mine waste; Askor och roetslam som taeckskikt foer gruvavfall. Foerdelar och/eller risker med att anvaenda aska och slam som taeckskikt foer gruvavfall

    Energy Technology Data Exchange (ETDEWEB)

    Baeckstroem, Mattias; Johansson, Inger [Oerebro Univ. (Sweden). Man-Technology-Environment Research Centre

    2004-01-01

    One of the main sources for metal pollution in Sweden is mine waste. One way to decrease the leaching of metals from mine waste areas is covering which decreases the formation of acid drainage. There is a shortage of appropriate materials to use for covering, and excavation of till and clay from the environment might cause damages on the landscape. Previous studies have demonstrated that sludge and ashes are suitable materials for covering of waste deposits. When covering mine waste with ash and sludge various positive effects would arise, since the production of drainage water decreases as well as the pH increases due to the high buffer-capacity of the ash. In Ervalla outside Oerebro an area with mine waste has been covered with ash and sludge. This area gives a unique possibility to study benefits and/or risks with the covering of mine waste with ash and sludge. This report is a summary of the first phase of the project and the focus has been on characterisation of the material that has been used for covering. Also a monitoring program for the area has started. Preliminary findings indicate that that the covering decreases the leaching of some metals whereas the leaching of some metals increases. A decrease in the concentration of iron, nickel, cobalt and lead was observed and an increase was observed for arsenic, barium, chromium and copper.

  14. Ash and sludge covering of mine waste - Final report. Benefits and/or risks using ash and sludge for covering of weathered mine waste; Aska och roetslam som taet- och taeckskikt foer vittrat gruvavfall - Slutrapport. Foerdelar och/eller risker med att anvaenda aska och slam som taet- och taeckskikt foer vittrat gruvavfall

    Energy Technology Data Exchange (ETDEWEB)

    Baeckstroem, Mattias; Karlsson, Ulrika [Oerebro Univ. (Sweden). Man-Technology-Environment Research Centre

    2006-02-15

    One of the main sources for metal pollution in Sweden is mine waste. One way to decrease the leaching of metals from mine waste areas are covering which decreases the volume of acid drainage. There is a shortage of appropriate materials to use for covering and excavation of till and clay from the environment might cause damages on the landscape. Previous studies have demonstrated that sludge and ashes are suitable materials for covering of waste deposits. When covering mine waste with ash and sludge various positive effects would arise, since the production of drainage water decreases as well as the pH increases due to the high buffer capacity of the ash. In Ervalla outside Oerebro an area with mine waste (tailings) has been covered with ash and sludge. This area gives a unique possibility to study benefits and/or risks with the covering of mine waste with ash and sludge. Unfortunately, the covering was not, from the start, carried out in a way that made it possible to evaluate the data. For instance, data about the surface and groundwater quality prior to the covering is lacking. Sulphidic minerals are also very common in the area, giving rise to acidic groundwater from other parts of the area, which haven't been remediated. This report is a final report where all phases are presented (phase 1 and 2). Focus in phase 1 has been on characterization of the material that has been used for covering and initiation of a monitoring program. In phase 2 focus has been on evaluation of monitoring data and the pros and cons of the deposit regarding the environment. Preliminary findings indicate that that the covering increases the leaching of some metals whereas the leaching of some metals decreases. An increase was observed for pH, calcium, potassium, sodium, arsenic, barium, chromium and copper. A decrease in the concentration of iron, nickel, cobalt, lead and zinc was observed. Other benefits with the remediation is also discussed (increased plant growth and an area for storing timber). From the results an approach towards future covering of weathered mine waste with ash and sludge is presented.

  15. 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.

  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. Applied estimation for hybrid dynamical systems using perceptional information

    Science.gov (United States)

    Plotnik, Aaron M.

    observation, complementing the information available from more traditional sensors. State tracking is achieved using a new form of Rao-Blackwellized particle filter called the mode-observed Gaussian Particle Filter. Performance is demonstrated using data from simulation and data collected on actual specimens in the ocean. The framework for estimation using both traditional and perceptional information is easily extensible to other stochastic hybrid systems with mode-related perceptional observations available.

  18. O paradoxo da lei

    OpenAIRE

    Ribeiro, Karla Pinhel

    2007-01-01

    Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro de Filosofia e Ciências Humanas. Programa de Pós-Graduação em Filosofia A tese principal da dissertação sobre a questão o que é ser humana é contemplada através dos conceitos de biopolítica, estado de exceção e vida nua na história da filosofia política e jurídica de Giorgio Agamben e à formulação da questão sobre o que é o homem na contemporaneidade, sobretudo, no pensamento da filosofia política e jurídica de Giorgio...

  19. 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, "...

  20. 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.

  1. The parental bonding in families of adolescents with anorexia: attachment representations between parents and offspring

    OpenAIRE

    Balottin, Laura; Mannarini, Stefania; Rossi, Maura; Rossi, Giorgio; Balottin, Umberto

    2017-01-01

    Laura Balottin,1 Stefania Mannarini,1 Maura Rossi,2 Giorgio Rossi,3 Umberto Balottin2,4 1Interdepartmental Center for Family Research, Department of Philosophy, Sociology, Education, and Applied Psychology, Section of Applied Psychology, University of Padova, Padova, 2Child Neuropsychiatry Unit, C Mondino National Neurological Institute, Pavia, 3Child Neuropsychiatry Unit, Department of Experimental Medicine, University of Insubria, Varese, 4Child Neuropsychiatry Unit, Department of Brain an...

  2. Bibliografia

    OpenAIRE

    2016-01-01

    Agamben 1996 Giorgio Agamben, Mezzi senza fine, Bollati Boringhieri, Torino. Atkinson 2015 Anthony B. Atkinson, What Can be Done?, Harvard University Press, Harvard. Austen 1995 Jane Austen, Orgoglio e pregiudizio [1813], BUR, Milano. Balzac 1994 Honoré de Balzac, Papà Goriot [1842], in La commedia umana [1841], Mondadori Milano. Barthes 2002 Roland Barthes, Elementi di semiologia [1964], Einaudi, Torino 2002. 1991 Roland Barthes, L’avventura semiologica [1966-1985], Einaudi, Tori...

  3. Tsallis and Kaniadakis Entropic Measures in Polytropic, Logarithmic and Exponential Functions

    OpenAIRE

    Sparavigna, Amelia Carolina

    2015-01-01

    International audience; Among nonextensive statistical approaches, those proposed by Constantino Tsallis and Giorgio Kaniadakis had been involved in the study of several physical phenomena. Here, we will discuss the case of the polytropic solutions of self-gravitating fluid spheres used in astrophysics as approximate stellar models. We will see how, in this problem, Tsallis and Kaniadakis entropic measures are related. After, following the same approach, we will find the links between general...

  4. Agamben and the Politics of Human Rights: Statelessness, Images, Violence

    OpenAIRE

    Newman, Saul; Lechte, John

    2013-01-01

    Human rights today have become the meta-narrative of globalisation. However, the most casual glance reveals a world in which human rights are violated on an unprecedented scale, often by the very sovereign states who claim to promote them. This is no coincidence, according to Giorgio Agamben, who argues that despite the claims of NGOs, international legal scholars, global ethicists and governments, human rights today do not protect us from the excesses of state power, but, on the contrary, ar...

  5. Visit of Spanish Government delegation

    CERN Multimedia

    CERN PhotoLab

    1982-01-01

    A Spanish Government delegation visited CERN before Spain rejoined CERN as a Member State(in 1983). Delegates interested in advanced technologies visited the ISR workshop clean room, where Romeo Perin explained fabrication and properties of stainless steel, titanium and inconel components of vacuum chambers for experiments at the ISR. Left to right: Technical Director Giorgio Brianti, the Spanish Minister of Industry and Energy Mr.Ignacio Bayon Marine , Romeo Perin, a delegate and Director-General Herwig Schopper. See also 8202369.

  6. International Laser Radar Conference (16th) held at the Massachusetts Institute of Technology, Cambridge, Massachusetts on 20-24 July 1992. Part 1

    Science.gov (United States)

    1993-07-24

    Aspendale, Victoria North York Ontario AUSTRALIA M3J 1P3 CANADA Professor Giorgio Fiocco Dr. Wolfgang Renger Dipto di Fisica DLR Institut fir Physik...der Citta Universitaria Atmosphare Pizzale Aldo Moro #2 D-8031 Oberplaffenhofen 00185-Roma GERMANY ITALY Dr. Pierre H. Flamant Dr. Leopoldo Stefanutti...Adriani, Gian Paolo Gobbi and Sante Centurioni Istituto Fisica dell’Atmosfera, CNR, C.P. 27, Frascati, Italy The Pinatubo eruptions of June 1991

  7. Nuclear Weapons and NATO, Analytical Survey of Literature

    Science.gov (United States)

    1975-06-01

    at the military camp of Bourg- Leopold , 100 km from Brussels and 30 km from the Dutch border, a one day panorama of allied infantry weapons, viewed...ui.interruptedly since 1945, and three of their leaders (the late Premier Aleide De Gasper 1, and former Premiers Amintore Fanfani and Aldo Moro) have...Giorgio - senior party leader LAMA, Luciano - Secretary-General of the Italian General Confederation of Labor (CGIL) TORTORELLA, Aldo - Editor of

  8. Nysius cymoides (Spinola on Chenopodium quinoa Willd. cultivated in Italy

    Directory of Open Access Journals (Sweden)

    S. Bocchi

    2016-12-01

    Full Text Available Quinoa (Chenopodium quinoa Willd. (Family: Amaranthaceae – APG classification is an Andean grain recently introduced on the European market and cultivated in experimental fields. In one of these experimental fields, in San Giorgio Piacentino (Italy, a heavy bug infestation was observed. The species was identified as Nysius cymoides (Spinola (Heteroptera Lygaeidae, a polyphagous species known as a pest of different crops. It occurs in the Mediterranean area from the sea level to the alpine meadows.

  9. Uudised : Loits. Kontsert. Moodne ooper. DVD

    Index Scriptorium Estoniae

    2005-01-01

    Briti ekstreem-metal-ajakiri Terrorizer arvustas oma jaanuarinumbris Eesti bändi Loits albumit "Vere kutse kohustab". Eksperimentaalse house-muusika produtsent ja DJ, pianist ja helilooja Matthew Herbert ja bigbänd annab kontserdi Tallinnas ürituse "Jazz'n Motion" raames. 30. jaan. esietendub Antverpeni Flandria Ooperis itaalia helilooja Giorgio Battistelli kahevaatuseline moodne ooper "Richard III" (lavastaja Robert Carsen). 31. jaan. ilmub poplaulja Marc Almondi uus DVD "Sin Songs, Torch and Romance Live from the Almeida"

  10. 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... of plankton growth efficiency and respiration are important factors that determine the fate of primary production. Recently, hetero- trophy has been reported from euphotic layers of the sub- tropical Northeast Atlantic (Duarte et al. 2001; Hoppe et al. 2002...

  11. Browse Author Index

    African Journals Online (AJOL)

    Items 51 - 100 of 156 ... 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. B. Bennun, Leon A · Bennun, Leon A · Benson, PC · Bensusan, Keith · Bento, Carlos M · Beresford, Pamela · Beresford, Pamela · Berry, HH · Berry, PSM · Berthold, Peter · Bertrand, Joris A.M. · Bildstein, Keith · Bildstein, Keith L · Binelli, Giorgio

  12. Self-management and psychological-sexological interventions in patients with endometriosis: strategies, outcomes, and integration into clinical care

    OpenAIRE

    Buggio, Laura; Barbara, Giussy; Facchin, Federica; Frattaruolo, Maria Pina; Aimi, Giorgio; Berlanda, Nicola

    2017-01-01

    Laura Buggio,1,2 Giussy Barbara,3 Federica Facchin,4 Maria Pina Frattaruolo,1,2 Giorgio Aimi,2 Nicola Berlanda2 1Department of Clinical Sciences and Community Health, Università degli Studi di Milano, 2Departmental Operating Unit of Surgical Gynecology and Endometriosis, Fondazione Istituto di Ricovero e Cura a Carattere Scientifico Ca’ Granda Ospedale Maggiore Policlinico, 3Department of Obstetrics and Gynecology and Service for Sexual and Domestic Violence (SVSeD), Fon...

  13. Complexity

    Indian Academy of Sciences (India)

    Rahul Pandit

    2008-10-31

    Oct 31, 2008 ... ”The more complex a thing is, the more you can talk about it.” - attributed to Giorgio Parisi. ▻ ”C'est magnifique, mais ce n'est pas de la science.” (It is magnificent, but not all of it is science.) - attributed ... Earliest examples: theoretical computer science, algorithmic complexity, etc. ▻ Rapid progress after the ...

  14. Introduction: Towards an Ethics of Gesture

    OpenAIRE

    Ruprecht, Lucia

    2017-01-01

    The introduction to this special section of Performance Philosophy takes Giorgio Agamben’s remarks about the mediality and potentiality of gesture as a starting point to rethink gesture’s nexus with ethics. Shifting the emphasis from philosophical reflection to corporeal practice, it defines gestural ethics as an acting-otherwise which comes into being in the particularities of singular gestural practice, its forms, kinetic qualities, temporal displacements and calls for response. Gestural ac...

  15. Field theory, disorder and simulations

    CERN Document Server

    Parisi, Giorgio

    1992-01-01

    This volume is a collection of lectures and selected papers by Giorgio Parisi on the subjects of Field Theory (perturbative expansions, nonperturbative phenomena and phase transitions), Disordered Systems (mainly spin glasses) and Computer Simulations (lattice gauge theories).The basic problems discussed in the Field Theory section concern the interplay between perturbation theory and nonperturbative phenomena which are present when one deals with infrared or ultraviolet divergences or with nonconvergent perturbative expansions. The section on Disordered Systems contains a complete discussion

  16. 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.

  17. 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.

  18. A NEW SPECIMEN OF NOTHOSAURUS FROM THE LATEST ANISIAN (MIDDLE TRIASSIC BESANO FORMATION (GRENZBITUMENZONE OF ITALY

    Directory of Open Access Journals (Sweden)

    SILVIO RENESTO

    2010-07-01

    Full Text Available A nearly complete but disarticulated skeleton of a small sized nothosaur is described. The specimen was collected in 2003 from an outcrop of the Besano Formation (Grenzbitumenzone of Swiss authors of latest Anisian (Middle Triassic age, in the Monte San Giorgio Area, northern Italy. The osteology of the postcranial skeleton supports the assignment to the genus Nothosaurus, and also excludes its belonging to Nothosaurus giganteus/Paranothosaurus amsleri already known from coeval localities of the Besano Formation in the Swiss part of the Monte San Giorgio area. Despite the lack of most of the skull, which contains diagnostic characters at the species level for Nothosaurus, the few preserved cranial elements suggest similarities with N. juvenilis which skull, and only known part, is also of comparable size. This specimen is particularly significant because it improves the knowledge of the osteology of N. juvenilis and because the second Nothosaurus species, smaller than N. giganteus/P. amsleri, suggests coexistence of sympatric species characterized by size and, probably, trophic differentiation within the genus Nothosaurus in the Monte San Giorgio area as occurred in the coeval Germanic Basin. 

  19. Robust feature tracking for endoscopic pose estimation and structure recovery

    Science.gov (United States)

    Speidel, S.; Krappe, S.; Röhl, S.; Bodenstedt, S.; Müller-Stich, B.; Dillmann, R.

    2013-03-01

    Minimally invasive surgery is a highly complex medical discipline with several difficulties for the surgeon. To alleviate these difficulties, augmented reality can be used for intraoperative assistance. For visualization, the endoscope pose must be known which can be acquired with a SLAM (Simultaneous Localization and Mapping) approach using the endoscopic images. In this paper we focus on feature tracking for SLAM in minimally invasive surgery. Robust feature tracking and minimization of false correspondences is crucial for localizing the endoscope. As sensory input we use a stereo endoscope and evaluate different feature types in a developed SLAM framework. The accuracy of the endoscope pose estimation is validated with synthetic and ex vivo data. Furthermore we test the approach with in vivo image sequences from da Vinci interventions.

  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. Environmental Assessment of Sewage Sludge Management – Focusing on Sludge Treatment Reed Bed Systems

    OpenAIRE

    Larsen, Julie Dam; Scheutz, Charlotte; Nielsen, Steen

    2017-01-01

    Spildevandsslam er restproduktet dannet ved rensning af spildevand fra husstande. Siden implementeringen af strengere krav til rensning af spildevand i den Europæiske Union i 2005 er produktionen af slam steget markant, hvilket øger efterspørgslen for mere effektiv behandling og genanvendelse af slam.I Danmark er en af de mest anvendte genanvendelsesstrategier for spildevandsslam ud-bringning på landbrugsjord, da dette giver mulighed for at recirkulere næringsstoffer og mikroelementer, og der...

  3. 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.

  4. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Sadhana. Nitin Kumar Dhiman. Articles written in Sadhana. Volume 40 Issue 5 August 2015 pp 1385-1433. Where am I? Creating spatial awareness in unmanned ground robots using SLAM: A survey · Nitin Kumar Dhiman Dipti Deodhare Deepak Khemani · More Details Abstract Fulltext PDF. This paper ...

  5. 40 CFR 58.15 - Annual air monitoring data certification.

    Science.gov (United States)

    2010-07-01

    ... Administrator (through the appropriate Regional Office) an annual summary report of all the ambient air quality data collected at all SLAMS and at SPM stations using FRM, FEM, or ARMs. The annual report(s) shall be submitted for data collected from January 1 to December 31 of the previous year. The annual summary report(s...

  6. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Sadhana. Dipti Deodhare. Articles written in Sadhana. Volume 40 Issue 5 August 2015 pp 1385-1433. Where am I? Creating spatial awareness in unmanned ground robots using SLAM: A survey · Nitin Kumar Dhiman Dipti Deodhare Deepak Khemani · More Details Abstract Fulltext PDF. This paper ...

  7. 76 FR 15974 - Office of Research and Development; Ambient Air Monitoring Reference and Equivalent Methods...

    Science.gov (United States)

    2011-03-22

    ...-195, ``Grimm Technologies, Inc. Model EDM 180 PM 2.5 Monitor,'' light scattering continuous ambient... consider the special nature of this method when introducing it into a SLAMS PM2.5 monitoring network. The... designation of four new equivalent methods for monitoring ambient air quality. SUMMARY: Notice is hereby given...

  8. Let's Put Demography Back into Economics: Population Pyramids in Excel

    Science.gov (United States)

    Barreto, Humberto

    2018-01-01

    The economics curriculum today does not emphasize the study of population. This needs to change immediately because we are in the midst of another demographic sea change, slamming on the brakes right after a rapid acceleration during the last half of the twentieth century. Instead of glibly tossing a dependency ratio onto a slide, this article…

  9. Genetic variant of canine distemper virus from clinical cases in ...

    African Journals Online (AJOL)

    CDV was isolated in Vero cells expressing canine signalling lymphocyte activation molecule (Vero.DogSLAM) from peripheral blood mononuclear cells and spleen of clinically diseased, previously vaccinated South African dogs. Direct fluorescence antibody test and electronmicroscopy were used to confirm the isolation ...

  10. IPJP 12(2) - Evidence.indb - African Journals Online

    African Journals Online (AJOL)

    denise

    places emphasis on things, I think his poem is really a phenomenology of reading. It can be read as a very effective ... The books in the beginning of this poem are living breathing entities, but they are also contexts and ..... Lisa when she slams her head into the door frame. This moment marks the beginning of a new kind of.

  11. Mere lyd!

    DEFF Research Database (Denmark)

    Schweppenhäuser, Jakob

    2014-01-01

    for, orienterer sig i stigende grad mod lyden. Fænomener som spoken word, poetry slam, digtoplæsningsarrangementet, digt-cd’en, lydbogen og musik & poesi-genren vinder fortsat frem – mens sange, viser, rap m.m. ingenlunde er blevet mindre populære udtryksformer over de seneste årtier. Der er mere lyd...

  12. Lyre, lyrik, lyrics

    DEFF Research Database (Denmark)

    Schweppenhäuser, Jakob

    2015-01-01

    Når den akademiske tale falder på genren ‘lyrik’ er det i dag oftest underforstået, at det drejer sig om den skriftlige lyrik: den lydlige fylder ikke meget i det litteraturvidenskabelige landskab. Det gør den imidlertid uden for universiteterne – digtoplæsning, poetry slam, rap, salme-, vise- og...

  13. Microcomputer simulation of a cloathing distribution centre

    Directory of Open Access Journals (Sweden)

    R.B.M. Douglas

    2003-12-01

    Full Text Available A computerised simulation model of the Distribution Centre of a sizeable clothing company is developed. This article reviews the model constructed, and the estimation of its parameters, introducing the simulation language SLAM II as a modelling framework. The flexibility of the computer model and its usefulness as a decision support tool, are highlighted.

  14. Popmuusika / Valner Valme

    Index Scriptorium Estoniae

    Valme, Valner, 1970-

    2006-01-01

    Uutest heliplaatidest Keane "Under The Iron Sea", DJ Krush "Stepping Stones", Richard Dorfmeister vs Madrid De Los Austrias "Grand Slam", The Zutons "Tired Of Hanging Around", Radio 4 "Enimies Like This", mark Knopfler & Emmylou Harris "All The roadrunning", Joe Satriani "Super Colossal", "17 Pictures", Urban Delights "Revolution"

  15. Advanced Design and Optimization of High Performance Combatant Craft: Material Testing and Computational Tools

    Science.gov (United States)

    2012-05-31

    Downs‐ Honey , R., Edinge, S., & Battley, M. (2005). Slam Testing of Sandwich Panels. International SAMPE Symposium and Exhibition, SAMPE 05: New...EPOVIA™ RF1001L-00 has a usage life of 6 months from date of shipment from CCP when stored at 73°F or below in a closed, factory -sealed, opaque

  16. Towards a pedagogical model for science education: bridging educational contexts through a blended learning approach

    NARCIS (Netherlands)

    Bidarra, Jose; Rusman, Ellen

    2017-01-01

    This paper proposes a design framework to support science education through blended learning, based on a participatory and interactive approach supported by ICT-based tools, called Science Learning Activities Model (SLAM). The development of this design framework started as a response to complex

  17. The Evolution of the Cruise Missile

    Science.gov (United States)

    1985-09-01

    Systems Company patented a system called TERCOM* as part of the " fingerprint " guidance for Chance Vought’s strategic attack missile called SLAM...Force Base, New York. USAF selected it because of its location relative to Soviet targets and initial TERCOM nmapping restrictions. The unit received

  18. CRISPR-Mediated Triple Knockout of SLAMF1, SLAMF5 and SLAMF6 Supports Positive Signaling Roles in NKT Cell Development.

    Directory of Open Access Journals (Sweden)

    Bonnie Huang

    Full Text Available The SLAM family receptors contribute to diverse aspects of lymphocyte biology and signal via the small adaptor molecule SAP. Mutations affecting SAP lead to X-linked lymphoproliferative syndrome Type 1, a severe immunodysregulation characterized by fulminant mononucleosis, dysgammaglobulinemia, and lymphoproliferation/lymphomas. Patients and mice having mutations affecting SAP also lack germinal centers due to a defect in T:B cell interactions and are devoid of invariant NKT (iNKT cells. However, which and how SLAM family members contribute to these phenotypes remains uncertain. Three SLAM family members: SLAMF1, SLAMF5 and SLAMF6, are highly expressed on T follicular helper cells and germinal center B cells. SLAMF1 and SLAMF6 are also implicated in iNKT development. Although individual receptor knockout mice have limited iNKT and germinal center phenotypes compared to SAP knockout mice, the generation of multi-receptor knockout mice has been challenging, due to the genomic linkage of the genes encoding SLAM family members. Here, we used Cas9/CRISPR-based mutagenesis to generate mutations simultaneously in Slamf1, Slamf5 and Slamf6. Genetic disruption of all three receptors in triple-knockout mice (TKO did not grossly affect conventional T or B cell development and led to mild defects in germinal center formation post-immunization. However, the TKO worsened defects in iNKT cells development seen in SLAMF6 single gene-targeted mice, supporting data on positive signaling and potential redundancy between these receptors.

  19. Considering species richness and rarity when selecting optimal survey traps: comparison of semiochecmial baited flight intercept traps for Cerambycidae in eastern North America

    Science.gov (United States)

    Kevin J. Dodds; Jeremy D. Allison; Daniel R. Miller; Ryan P. Hanavan; Jon. Sweeney

    2015-01-01

    1.) We compared standard multiple-funnel, modified multiple-funnel, intercept panel and canopy malaise (SLAM) traps with top and bottom collecting cups for their effectiveness (species richness, rarity, abundance) at capturing Cerambycidae in eastern North America. 2.) Experiments were conducted in New York, Louisiana, Massachusetts and Georgia in 2011 and 2012. A...

  20. The expression of SLAMF7 levels in malignant B cells: a novel ...

    African Journals Online (AJOL)

    Signalling lymphocyte activation molecule (SLAM) F7 is found on the surface of some immune cells including B-lymphocytes. Its activation leads to the proliferation or differentiation of immune cells. The objectives of the study were to measure SLAMF7 expression levels on B-CLL cells, and to upregulate the expression of ...

  1. Astrophysics on the Lab Bench

    Science.gov (United States)

    Hughes, Stephen W.

    2010-01-01

    In this article some basic laboratory bench experiments are described that are useful for teaching high school students some of the basic principles of stellar astrophysics. For example, in one experiment, students slam a plastic water-filled bottle down onto a bench, ejecting water towards the ceiling, illustrating the physics associated with a…

  2. Optimal placement of range-only beacons for mobile robot localisation

    CSIR Research Space (South Africa)

    Burke, Michael G

    2011-11-01

    Full Text Available related to landmark detection and association. The use of beacons providing range-only estimates using time-of-flight measurements is one such approach. Here, range measurements are used in trilateration or range-only SLAM algorithms to provide an accurate...

  3. A Pedagogical Model for Science Education through Blended Learning

    NARCIS (Netherlands)

    Bidarra, José; Rusman, Ellen

    2015-01-01

    This paper proposes a framework to support science education through blended learning, based on a participatory and interactive approach supported by ICT-based tools, called Science Learning Activities Model (SLAM). The study constitutes a work in progress and started as a response to complex

  4. Localization in orchards using Extended Kalman Filter for sensor-fusion - A FroboMind component

    DEFF Research Database (Denmark)

    Christiansen, Martin Peter; Jensen, Kjeld; Ellekilde, Lars-Peter

    Using the detected trees seen in gure 4(b) a localised SLAM map of the surroundings area, can be created an used to determine the localisation of the tractor. This kind of sensor-fusion is used, to keep the amount of prior information about outlay of the orchard to a minimum, so it can be used in...

  5. An adaptive Multiplicative Extened Kalman Filter for Attitude Estimation of Marine Satellite Tracking Antenna

    DEFF Research Database (Denmark)

    Wang, Yunlong; Soltani, Mohsen; Hussain, Dil muhammed Akbar

    2016-01-01

    , an adaptive Multiplicative Extended Kalman Filter (MEKF) for attitude estimation of Marine Satellite Tracking Antenna (MSTA) is presented with the measurement noise covariance matrix adjusted according to the norm of accelerometer measurements, which can significantly reduce the slamming influence from waves...

  6. Automated Data Processing/Simulation Requirements of the Marine Corps Tactical Systems Support Activity

    Science.gov (United States)

    1982-10-01

    1 RECIPIENT’S CATALOG NUMBER S. TYRE OF REPORT ft PERlOO COVERED Master’s Thesis October 1982 • • PERFORMING ORG. REPORT NUMBER I. CONTRACT OR GRANT...A. Alan B. , "Applications of SLAM", Annual AIIE Conference Transactions, Volume 14, Number 1, DecemEer 19H7" Pritsker S Associates, Inc. , "A

  7. Editorial

    OpenAIRE

    , Editörden

    2014-01-01

    Dr. Murat KUL () Physical Education and Sport College, Bartin University, TURKEY Dr. Mustafa HİZMETLİ () Faculty of Letters, Bartin University, TURKEY Dr. Nadim ALWATTAR, Prof. () Physical Education and Sport College, University of Mosul, IRAQ Dr. Sirajul İslam MOLLA ()

  8. The Ice Hockey Injury: A Case Study in Physiology

    Science.gov (United States)

    Stephens, Phil

    2004-01-01

    A high school hockey team is playing the last of three games in one day. The game gets rough, and the star player is slammed against the boards. Injured, he is escorted off the ice. This case follows his health as it deteriorates over the next several hours. Students are presented with the hockey player's symptoms, and they use their knowledge of…

  9. Biochemical and Genetic Evidence for a SAP-PKC-θ Interaction Contributing to IL-4 Regulation

    Science.gov (United States)

    Cannons, Jennifer L.; Wu, Julie Z.; Gomez-Rodriguez, Julio; Zhang, Jinyi; Dong, Baoxia; Liu, Yin; Shaw, Stephen; Siminovitch, Katherine A.; Schwartzberg, Pamela L.

    2012-01-01

    SAP, an adaptor molecule that recruits Fyn to the SLAM-family of immunomodulatory receptors, is mutated in X-linked lymphoproliferative disease. CD4+ T cells from SAP-deficient mice have defective TCR-induced IL-4 production and impaired T cell-mediated help for germinal center formation; however, the downstream intermediates contributing to these defects remain unclear. We previously found that SAP-deficient CD4+ T cells exhibit decreased PKC-θ recruitment upon TCR stimulation. We demonstrate here using GST-pulldowns and co-immunoprecipitation studies that SAP constitutively associates with PKC-θ in T cells. SAP-PKC-θ interactions required R78 of SAP, a residue previously implicated in Fyn recruitment, yet SAP’s interactions with PKC-θ occurred independent of phosphotyrosine binding and Fyn. Overexpression of SAP in T cells increased and sustained PKC-θ recruitment to the immune synapse and elevated IL-4 production in response to TCR plus SLAM-mediated stimulation. Moreover, PKC-θ, like SAP, was required for SLAM-mediated increases in IL-4 production and conversely, membrane-targeted PKC-θ mutants rescued IL-4 expression in SAP−/− CD4+ T cells, providing genetic evidence that PKC-θ is a critical component of SLAM/SAP-mediated pathways that influence TCR-driven IL-4 production. PMID:20668219

  10. Gone with the Wind? Integrity and Hurricane Katrina

    Science.gov (United States)

    Lucas, Frances; Katz, Brit

    2011-01-01

    Hurricane Katrina slammed into 80 miles of Mississippi shoreline on August 29, 2005. It was the nation's worst natural disaster, a perfect storm. One hundred sixty miles-per-hour winds sent 55-foot-tall waves and a 30-foot wall of water across the shore and miles inland. It displaced 400,000 residents along the coast of the Mississippi, and…

  11. Sadhana | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    Home; Journals; Sadhana. Deepak Khemani. Articles written in Sadhana. Volume 40 Issue 5 August 2015 pp 1385-1433. Where am I? Creating spatial awareness in unmanned ground robots using SLAM: A survey · Nitin Kumar Dhiman Dipti Deodhare Deepak Khemani · More Details Abstract Fulltext PDF. This paper ...

  12. 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.

  13. Dense 3D Map Construction for Indoor Search and Rescue

    DEFF Research Database (Denmark)

    Ellekilde, Lars-Peter; Huang, Shoudong; Miró, Jaime Valls

    2007-01-01

    The main contribution of this paper is a new simultaneous localization and mapping  SLAM algorithm for building dense three-dimensional maps using information ac- quired from a range imager and a conventional camera, for robotic search and rescue in unstructured indoor environments. A key challenge...

  14. Illuminating Encounters with "Emotional" Students: How to Respond in an Educative Way

    Science.gov (United States)

    West, Amanda

    2014-01-01

    When educators label as "emotional" the girl crying in the bathroom or the boy who just slammed his locker shut, they risk assuming that only overt displays qualify as emotional and therefore necessitate attention. The fact is that whether a student outwardly displays emotion or not, he or she is emotional, and the teacher has a…

  15. 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.

  16. CRISPR-Mediated Slamf1Δ/Δ Slamf5Δ/Δ Slamf6Δ/Δ Triple Gene Disruption Reveals NKT Cell Defects but Not T Follicular Helper Cell Defects.

    Directory of Open Access Journals (Sweden)

    Joyce K Hu

    Full Text Available SAP (SH2D1A is required intrinsically in CD4 T cells to generate germinal center responses and long-term humoral immunity. SAP binds to SLAM family receptors, including SLAM, CD84, and Ly108 to enhance cytokine secretion and sustained T cell:B cell adhesion, which both improve T follicular helper (Tfh cell aid to germinal center (GC B cells. To understand the overlapping roles of multiple SLAM family receptors in germinal center responses, Slamf1Δ/Δ Slamf5Δ/Δ Slamf6Δ/Δ triple gene disruption (Slamf1,5,6Δ/Δ mice were generated using CRISPR-Cas9 gene editing to eliminate expression of SLAM (CD150, CD84, and Ly108, respectively. Gene targeting was highly efficient, with 6 of 6 alleles disrupted in 14 of 23 pups and the majority of alleles disrupted in the remaining pups. NKT cell differentiation in Slamf1,5,6Δ/Δ mice was defective, but not completely absent. The remaining NKT cells exhibited substantially increased 2B4 (SLAMF4 expression. Surprisingly, there were no overt defects in germinal center responses to acute viral infections or protein immunizations in Slamf1,5,6Δ/Δ mice, unlike Sh2d1a-/- mice. Similarly, in the context of a competitive environment, SLAM family receptor expressing GC Tfh cell, GC B cell, and plasma cell responses exhibited no advantages over Slamf1,5,6Δ/Δ cells.

  17. Systemic lupus erythematosus in three ethnic groups: I. The effects of HLA class II, C4, and CR1 alleles, socioeconomic factors, and ethnicity at disease onset. LUMINA Study Group. Lupus in minority populations, nature versus nurture.

    Science.gov (United States)

    Reveille, J D; Moulds, J M; Ahn, C; Friedman, A W; Baethge, B; Roseman, J; Straaton, K V; Alarcón, G S

    1998-07-01

    To study the relative impact of immunogenetic versus socioeconomic factors on systemic lupus erythematosus (SLE) at disease onset/presentation. Medical records regarding SLE onset/ presentation were abstracted on 229 SLE patients who were enrolled in a prospective lupus outcome study. Patients were grouped in equivalent proportions of Caucasians, African Americans, and Hispanics. HLA-DRB1, DQA1, and DQB1 oligotyping, as well as C4 and CR1 allotyping, were carried out by standard methods. In addition to these genetic factors, data on ethnicity, age at SLE onset, monthly income, level of education, and home ownership were entered into stepwise logistic or stepwise multiple linear regression models as independent variables, and each specific clinical feature (neurologic, renal, and cardiovascular disease due to SLE), as well as the total Systemic Lupus Activity Measure (SLAM) score and physician's global assessment of disease activity at disease onset, were entered as dependent variables. HLA-DRB1*0301 (DR3), DRB1*1503 (DR2), and DRB1*08 (DR8) alleles were more frequently found in Caucasians, African Americans, and Hispanics, respectively. Hispanics were more likely to have cardiac and renal disease, as well as a higher physician's global assessment of disease activity. African Americans were more likely to have neurologic disease, renal disease, and a higher SLAM score. Those with less education had a higher SLAM score. Patients with HLA-DRB1*01 had less renal disease and a lower SLAM score. Those with C4A*3 alleles had a higher SLAM score and a higher physician's global assessment of disease activity. Both genetic and socioeconomic determinants, as well as other factors associated with Hispanic and African-American ethnicity, affect the presentation of SLE.

  18. Gadda filólogo expresionista, el dialecto y la traducción

    Directory of Open Access Journals (Sweden)

    Marta Tutone

    2017-12-01

    Full Text Available Se propone una reflexión sobre la escritura del escritor italiano Carlo Emilio Gadda a través de la forma en que el autor incorpora a sus textos las expresiones del dialecto milanés. Asimismo, se delinea el camino que hemos elegido para llevar a cabo una posible traducción al castellano de esos nudos dialectales. Concretamente, se hará referencia al relato San Giorgio in casa Brocchi y al último de los Disegni milanesi que componen L’Adalgisa y al que la obra debe su título.

  19. Tradução comentada da obra "Vida de Michelangelo Buonarroti", escrita por Ascanio Condivi

    OpenAIRE

    Marina Jorge Berriel

    2008-01-01

    Resumo: É a realização de uma tradução comentada da obra La Vita di Michelangelo Buonarroti, escrita por Ascanio Condivi, referência na historiografia da arte clássica. No desenvolvimento desta tradução, a comparação de determinados aspectos da obra de Condivi com Vita di Michelangelo Buonarroti, de Giorgio Vasari e, secundariamente, com as biografias posteriores. Análise da função que algumas questões desempenham neste universo. Em especial a forma com a qual as crenças astrológicas e religi...

  20. Deborah Cadbury, Princes at War: The British Royal Family’s Private Battle in the Second World War

    OpenAIRE

    Baldoli, Claudia; Petrella, Luigi

    2017-01-01

    Le vicende della famiglia reale inglese durante la Seconda guerra mondiale sono al centro del libro di Deborah Cadbury, scrittrice di storia pluripremiata e per trent’anni producer della BBC. Il suo lavoro parte dalla crisi che condusse nel 1936 all’abdicazione di Edoardo VIII, che rinunciò al trono per sposare Wallis Simpson, e si snoda negli anni della crescente minaccia nazista in Europa. Il fratello minore Albert, che divenne re con il nome di Giorgio VI, pur afflitto dalla balbuzie e da ...

  1. Algunas consideraciones sobre el fundamento de la ley

    OpenAIRE

    Cerruti, Pedro

    2007-01-01

    El presente ensayo parte de una articulación de aportes conceptuales provenientes de campos disciplinares diversos, tales como el psicoanálisis, el derecho y la filosofía política, y busca interrogar la estructura del ordenamiento jurídico y las aporías que la pregunta con respecto al fundamento de la Ley generan. Tomando como pivote la obra del filósofo italiano Giorgio Agamben, se pondrán en relación los aportes de juristas como Hans Kelsen y Carl Schmitt con la reflexiones de Sigmund Freud...

  2. Diseño industrial e ingeniería gandhiana: modelo de diseño y desarrollo local basado en productos masivos de bajo costo

    OpenAIRE

    Amendolaggine, Guido; Del Giorgio Solfa, Federico

    2016-01-01

    Este trabajo se propone ilustrar la labor investigativa desarrollada por el becario D.I. Guido Amendolaggine y su director Prof. Mg. Federico Del Giorgio Solfa, en el marco de una Beca de Estudio de la Comisión de Investigaciones Científicas de la Provincia de Buenos Aires. En este proyecto, se analizan las posibilidades de aplicación de los principios fundamentales de la "ingeniería gandhiana” a las necesidades del diseño y desarrollo de productos a nivel local. Además se busca analizar los ...

  3. El proceso de diseño y desarrollo de nuevos productos y su relación con el marketing

    OpenAIRE

    Sierra, María Sol

    2012-01-01

    Este trabajo, corresponde a la etapa inicial del proyecto de investigación: “El proceso de diseño y desarrollo de nuevos productos y su relación con el marketing”, que se realiza en el marco de la Beca de Estudio de la Comisión de Investigaciones Científicas de la Provincia de Buenos Aires, bajo la dirección del Prof. Mg. Federico Del Giorgio Solfa y Prof. D.I. Federico Ernesto Lagunas. En las distintas escalas empresariales, coexisten metodologías diversas para el diseño y desarrollo de nuev...

  4. Long Runs and Epochal Turns

    Directory of Open Access Journals (Sweden)

    Giancarlo Alfano

    2017-01-01

    Full Text Available Continuità o discontinuità? Nelle ricostruzioni storiografiche ci si muove rintracciando delle costanti morfologiche e delle fratture funzionali o estetiche. La storia della scrittura umorista vede senza dubbio in Laurence Sterne la chiave di volta di una trasformazione epocale, che però va intesa – a parere di chi scrive – su un duplice sfondo: la lunga continuità di forme e procedure della sociabilità conversevole; il progressivo emergere del concetto moderno di soggettività. Il libro discusso da Giorgio Forni e Riccardo Donati prova a muoversi rispettando queste tre esigenze.

  5. Interpretación agambeniana de la represión estatal a la niñez. Argentina, 1966-1976

    Directory of Open Access Journals (Sweden)

    Viviana Masciadri

    2014-06-01

    Full Text Available A partir de los paradigmas referidos por Giorgio Agamben, se analiza el significado de lo que se conoce como la espiral de violencia que expuso a los niños y adolescentes a la violencia divina o pura que ofrecía como parte del sacrificio la sangre subversiva. Modelo en miniatura que se propuso, además de aplicar la prueba piloto para eliminar al elemento subversivo, desvirtuar el papel de la política mediante el uso de recursos legales combinados con el uso ilegal de la violencia y de sus herramientas, que no excluyeron la misiva psicológica.

  6. Interpretación agambeniana de la represión estatal a la niñez. Argentina, 1966-1976

    Directory of Open Access Journals (Sweden)

    Viviana Masciadri

    2014-01-01

    Full Text Available A partir de los paradigmas referidos por Giorgio Agamben, se analiza el significado de lo que se conoce como la espiral de violencia que expuso a los niños y adolescentes a la violencia divina o pura que ofrecía como parte del sacrificio la sangre subversiva. Modelo en miniatura que se propuso, además de aplicar la prueba piloto para eliminar al elemento subversivo, desvirtuar el papel de la política mediante el uso de recursos legales combinados con el uso ilegal de la violencia y de sus herramientas, que no excluyeron la misiva psicológica.

  7. HISTORIES OF INFAMY: FROM BORGES TO FOUCAULT

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    Kelvin Falcão Klein

    2010-07-01

    Full Text Available Starting from the writings of Michel Foucault, Giorgio Agamben and Jorge Luis Borges, especially those dedicated to the theme of infamy, this essay investigates the course of this significant, infamy, both in criticism and in fiction, focusing especially on the political connotations of the term . The hypothesis is that the infamy appears in the texts as a vantage point for the observation of cracks in the building of contemporary cultural archive, as it undermines the possibility of a triumphalist discourse of history. In the instance of infamy history is always plural.

  8. Deconstrucción y biopolítica. El problema de la ley y la violencia en Derrida y Agamben

    OpenAIRE

    Guillermo Damián Pereyra Tissera

    2011-01-01

    En este artículo, el autor analiza el modo como Jacques Derrida y Giorgio Agamben entienden la relación entre la justicia, el derecho y la violencia y explora las razones de los desacuerdos que mantiene cada enfoque -deconstrucción y biopolítica, respectivamente- en la comprensión de los conceptos antes mencionados. Sin desconocer las diferencias, propone, además, que el desacuerdo entre deconstrucción y biopolítica no impide encontrar puntos de contacto entre dos autores que abordan el probl...

  9. Office and Agamben's Genealogy of Economy and Government

    DEFF Research Database (Denmark)

    Dean, Mitchell

    2017-01-01

    This paper locates Giorgio Agamben’s book Opus Dei in his larger Homo Sacer project and particularly a series of genealogical and archaeological studies within it. It argues for a disenchanted and dispersed reading of Agamben’s approach to office as a resource for concerns that are germane...... to cultural and political sociology and that are irreducible to Heideggerian metaphysics. This reading foregrounds methodological questions of genealogy and archaeology (and hence Agamben’s relation to Foucault), religious liturgy and political practice, and the theory of the priesthood as a paradigm...

  10. Refugees, nationalism, and political membership

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    Signe Larsen

    2012-09-01

    Full Text Available This essay aims to understand how refugees present a problem for liberal nation-states. The point of departure is Arendt’s The Origins of Totalitarianism where she argues that the continual existence of refugees within liberal nation-states threatens to break down the principle of equality before the law thereby enabling the rise of police-states and totalitarianism. In light of this diagnosis, three of Arendt’s philosophical heirs—Giorgio Agamben, Seyla Benhabib and Peg Birmingham—argue that it is necessary to think political membership in different and broader terms than national citizenship if we are to avoid a new rise of totalitarianism.

  11. ResistÃncias à biopolÃtica na educaÃÃo: arte ativista na exceÃÃo brasileira.

    OpenAIRE

    Alexandre de Albuquerque MourÃo

    2013-01-01

    A partir do contexto de uma realidade BiopolÃtica, articulada com as doutrinas neoliberais, apontadas por Michel Foucault, procuraremos, em um primeiro momento, relacionar esse poder sobre as espÃcies e as populaÃÃes, com os conceitos de Estado de ExceÃÃo e Homo Sacer desenvolvidos por Giorgio Agamben. à dizer, situaremos de que maneira os temas referentes à exceÃÃo brasileira â a influÃncia da Ditadura Militar na democracia â se articulam com a educaÃÃo. Nesse sentido, essa...

  12. The State as Practice and Prism

    DEFF Research Database (Denmark)

    Hein Jessen, Mathias; Mariegaard, Nicolai Von Eggers

    Michel Foucault’s lecture series Security, Territory, Population (1977-78) and The Birth of Biopolitics (1978-79) were dedicated to writing a ‘history of governmentality’. The notion of governmentality has subsequently become very popular in investigating contemporary forms of government beyond...... the (sovereign, nation) state. However, few take account for nor analyse the specific context in which Foucault developed it; as a way to investigate the emergence of the modern state without assuming the given entity and universal of the state. One notable exception is Giorgio Agamben’s The Kingdom...

  13. A time like no other: Russian politics after the end of history

    OpenAIRE

    Prozorov, Sergei

    2006-01-01

    The paper ventures a reading of Russian postcommunist politics from the perspective of the messianic turn in continental political philosophy, specifically Giorgio Agamben’s conception of the ‘end of history’. Taking its point of departure from a retrospective construction in the Russian political discourse of the 1990s as a period of ‘timelessness’, the paper argues that postcommunism may indeed be viewed as a paradoxical ‘time out of time’, a rupture in the ordinary temporality that entirel...

  14. Whose crazy investment in sex?

    Science.gov (United States)

    Mandlis, Lane R

    2011-01-01

    By probing the processes of exclusion of transsexuals from the political sphere, this article offers contributions to social and political theory through an examination of the processes of exclusion from the category "human." This article considers how the erasure of investment in their own embodied sex constructs a platform from which to blame others for sex/gender variance, as well as to justify that blaming. Bringing together Giorgio Agamben, Georges Bataille, Judith Butler, and Nikolas Rose with transphobia, medicalization in psychiatry, law, and ethopolitics, this article questions whose investment in sexed embodiment counts and why that investment might be seen as "crazy."

  15. Lo siniestro del enigma.

    OpenAIRE

    Victoria Eugenia Diaz.

    1999-01-01

    En "El nacimiento de la filosofía griega", Giorgio Colli nos muestra una faceta tenebrosa del enigma. El dios Apolo, de naturaleza ilimitada, insondable, caprichosa, plantea al hombre enigmas que lo enfrentan con el sufrimiento y con la muerte. Allí, Edipo se confronta con enigmas enviados por el dios en los que se pone en juego su propia existencia. Tiempo después, en el transcurrir del siglo XX, reaparece una nueva forma de este dios arbitrario y arrogante: el desaparecedor de personas, ese...

  16. Between seeing and being seen: notes on the visibility of man and animal in Cinema and Literature

    Directory of Open Access Journals (Sweden)

    Carolina Anglada de Rezende

    2015-03-01

    Full Text Available This article aims to establish intersections between the film Ex isto, made by Cao Guimarães, and the literary work that motivates it, Catatau, by Paulo Leminski, with the discussion of the positions occupied by the man and the animal. In order to emphasize the implications of a critical reversal brought by exposure of man, that is scrutinized and becomes image, and animal, which is positioned as the holder of the looking, we turn to the thought of George Didi-Huberman, Giorgio Agamben and Michel Foucault.

  17. Metaphysical Modest Proposals Manganelli dealing with Satire

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    Arianna Marelli

    2016-11-01

    Full Text Available The article analyses Giorgio Manganelli's conception of «metaphysical satire», both in his theoretical writings (for which the most important model is Jonathan Swift, as in some concrete fictional samples. In particular, among the (posthumous edited materials of his laboratory (in his poems, as in the draft of a narrative treatise, a theme results pervasive: the satire of divinity. Here the mocking of an unbelieved – yet still feared – deity expresses itself in a specific figure: the cannibal god, whose ferocity, underneath the mask of the grotesque, reveals all the violence the author feels in the unbearable human destiny.

  18. The space, the solitude and the simulacrum: the metaphysicals trajectories in the Italian’s narrative in the 20th century

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    Andrea Santurbano

    2009-08-01

    Full Text Available This paper discusses, through the analysis of works of authors which Gadda, Savinio, Bontempelli, Buzzati and Morselli, an anti-realistic tendency, though multiform in its stylistic and thematic success, which can be identified in the Italian literature of the twentieth century. In a comparative perspective, in dialogue with the avant-garde art, and more specifically, with the metaphysical paintings of Giorgio de Chirico, seeks to reflect on some aspects of these narratives as spatial and symbolic elements, to the threshold of the genus (or mode fantastic metaforize and constitute a condition of existential concern.

  19. O estatuto político da amizade: A Alma do Osso, de Cao Guimarães

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    Rafael de Almeida

    2013-06-01

    Full Text Available A partir do conceito de amizade proposto por Giorgio Agamben, este ensaio reflete, em uma interface entre estética e política, acerca das relações de poder presentes em A Alma do Osso (Cao Guimarães, 2004. O maior relevo é dado ao modo que o cineasta partilha, por meio do filme, sua existência com o ermitão Dominguinhos da Pedra, bem como as reverberações que isso garante à forma do documentário.

  20. WINDOW BLOW OUT (1976) ACONTECIMIENTO, CORTE, SUBSTRACCIÓN Y PROFANACIÓN

    OpenAIRE

    Guerra Miranda, Luis René

    2013-01-01

    Window Blow Out (1976), acontecimiento, corte, substracción y profanación, tiene por objeto evidenciar la necesidad de agenciamiento de marcos de inteligibilidad exógenos al contexto del Arte, en este caso conceptos sustraídos de los edificios filosóficos de Alain Badiou y Giorgio Agamben, para operar una posibilidad de visibilidad en obras que, dadas sus características, su condicionalidad intersticial, conceptualmente nómadas, inestables e instituyentes, permanecen invisibilizadas pa...

  1. The Sardinian Literary Spring: An Overview. A New Perspective on Italian Literature

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    Michele Broccia

    2014-03-01

    Full Text Available This article aims at presenting today’s Sardinian literary scene and how some novelists (Sergio Atzeni, Giulio Angioni, Salvatore Mannuzzu, Salvatore Niffoi, Marcello Fois, Giorgio Todde, Milena Agus, Francesco Abate, Flavio Soriga and Michela Murgia, during the last few decades, drawing their narrative subjects directly from the regional and local culture, are contributing to a new development in Italian literature. These authors’ novels often contain references to Sardinian linguistic, social, anthropological and historical facts. Their success has led literary critics to talk about a Sardinian Literary Spring or Sardinian Nouvelle Vague, i.e. a literary phenomenon, which is the expression of a deep-rooted Sardinian identity.

  2. Some remarks on PM2.5

    Directory of Open Access Journals (Sweden)

    A. Piano

    2003-06-01

    Full Text Available Since 1970, the General Physics Department of «Università degli Studi di Torino» has carried out a project research, on inorganic solid particulate matter. The special issue of Annals of Geophysics, published for Professor Giorgio Fiocco?s 70th birthday, gives us the possibility to make some important remarks on this topic, focusing on PM2.5. This has been possible using all the old and new experimental data of the measures made by the authors of this paper since 1970.

  3. Quand l’écriture c’est un tableau : La maison imaginaire chiriquienne

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    Murielle Martin

    2008-04-01

    Full Text Available Dans cet article, il est question du peintre Giorgio de Chirico qui ne travaille pas seulement une surface à peindre mais « construit » des « lieux imaginaires » où tout évolue selon le parcours de recherche du texte narratif d'Hebdomeros. Il semble alors intéressant de croiser l'approche de la réalisation picturale de La Tour Rouge (1913 comme résultat littéraire et pictural de la Maison imaginaire de l'artiste.

  4. Dove sta andando l'analisi musicale? Riflessioni sul VII EuroMac

    Directory of Open Access Journals (Sweden)

    Mario Baroni

    2014-01-01

    Full Text Available Come tutti i lettori della Rivista ormai sapranno, si è svolto a Roma dal 29 settembre al 2 ottobre di quest’anno, presso il Conservatorio di S. Cecilia, il settimo convegno europeo di analisi musicale (VII European Music Analysis Conference ossia VII EuroMac. Nel convegno, organizzato dal GATM e diretto da Giorgio Sanguinetti, sono state presentate 197 relazioni e svolti otto laboratori. Tutti i materiali sono stati riassunti in un volume (Programme and Abstract Book, Iter Edizioni di Subiaco curato da Egidio Pozzi e Antonio Cascelli.

  5. Otras voces, otros cánones

    Directory of Open Access Journals (Sweden)

    José Amícola

    2005-11-01

    Full Text Available The present article pretends to bring up the discussion on canon debates concerning women writer's role in specific selections; a discussion yet unexplained. In the River Plate area, women writers lack importance in the generalized canon (manifested in university syllabuses since their literature does not seem to describe big national themes. The history of Argentinean literature has exclusively given importance to masculine names, but is it possible to think of a River Plate literature where women have an equal presence to that of their male peers? The works of Griselda Gambaro and Marosa di Giorgio are taken as examples, since their singularity offers an entrance passport in their own right.

  6. Monumento e sombra na Brasília de Marcel Gautherot

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    Heloisa Espada

    2012-07-01

    Full Text Available Em Brasília, a objetividade e a clareza das fotografias de Marcel Gautherot, quando combinadas à presença marcante de sombras densas e perspectivas agudas, as tornam semelhantes, do ponto de vista formal, às obras iniciais do pintor italiano Giorgio de Chirico. Partindo dessa comparação, o artigo coteja a perspectiva do fotógrafo com os propósitos de Lucio Costa e Oscar Niemeyer, e com interpretações literárias e críticas que descrevem Brasília como uma paisagem "metafísica" e "surrealista".The objectivity and clarity of Marcel Gautherot's photographs of Brasília, combined to the remarkable presence of thick shadows and sharp perspectives, bring them close, from a formal point of view, to the early works of the Italian painter Giorgio de Chirico. The article measures up Gautherot's artistic perspective against the intentions of architects Lucio Costa and Oscar Niemeyer and the literary and critical interpretations that describe the city as a "methaphysical" and "surrealist" landscape.

  7. Per una integrazione del Codice diplomatico padovano. Documenti dal  Fondo Veneto I dell’Archivio Segreto Vaticano (1166-1183

    Directory of Open Access Journals (Sweden)

    Attilio Stella

    2013-01-01

    Full Text Available This paper consists in a critical edition of 23 documents (1166-1183, stored in Fondo Veneto I within the Secret Vatican Archive, amongst the papers of the church of S. Giorgio in Braida of Verona, published here as an integration of Andrea Gloria’s Codice diplomatico padovano (1877-1881. Counting on more than 1900 documents and covering a chronology from 6th century to 1183, the Codice is nowadays the most complete collection concerning Padua and its territory in the Middle Ages. Fondo Veneto is a documentary resource including pre-1668 documentation of more than 40 ecclesiastical bodies located in the Serenissima Republic territory. Originally stored in Venice, this corpus was transferred to Vatican City in 1836. This paper’s introduction, besides offering a brief historical contextualization of these 23 documents, passes through different themes, such as the edition of the Codice, the historical and archivistic circumstances of Fondo Veneto and S. Giorgio in Braida, the notarial praxis and the role of notaries in rural areas.

  8. A biopolítica da população e a experimentação com seres humanos The bio-power of population and experiments with human beings

    Directory of Open Access Journals (Sweden)

    Sandra Caponi

    2004-06-01

    Full Text Available A partir do conceito foucaultiano de biopolítica da população, das considerações de Giorgio Agamben (2002 sobre a vida nua e estado de exceção, assim como das teses de Hannah Arendt relativas à condição humana, analisamos dois estudos experimentais com seres humanos realizados em inícios e fins do século 20. Inicialmente nos referimos às experimentações realizadas na Índia entre 1894 e 1899 para determinar o papel do Anophelesna transmissão da malária. Por fim, analisamos um estudo de transmissão vertical de HIV recentemente realizado na África com mulheres grávidas portadoras do vírus.Taking as starting points the Foucault's concept of bio-power of population, the Giorgio Agamben's considerations about nude life and the Hannah Arendt's comprehension of human condition, we analyze experiments with human beings that were made in the beginning and in the end of twenty century. Initially, we discuss the experiments that were made in India, between 1894 and 1899, for determinate the Anopheles role in the transmission of malaria. Finally, we analyze the way by which recently, in Africa, were conducted researches over pregnant women infected by the HIV.

  9. De Chirico il greco, Martini l’etrusco, Sironi il latino, le identità anacronistiche del contemporaneo / De Chirico “the Greek”, Martini “the Etruscan”, Sironi “the Latin”. The anachronistic identities of contemporary art

    Directory of Open Access Journals (Sweden)

    Michela Scolaro

    2013-06-01

    Full Text Available Il contributo analizza alcuni aspetti del rapporto tra l’archeologia e l’arte contemporanea, nel complesso periodo del cosiddetto “Ritorno all’ordine”, tra il primo e il secondo conflitto bellico. Attraverso le straordinarie figure di tre protagonisti di quell’età contrastata – Giorgio De Chirico, Arturo Martini, Mario Sironi – l’indagine mira a evidenziare come la ricerca per definire l’identità, personale e collettiva, nei termini contemporanei resi urgenti dalla storia, abbia trovato nel dialogo con quella che era stata l’antica antiquaria, allora rifondata in moderna disciplina archeologica, un inedito luogo di arrivo.   The article analyzes some aspects of the relationship between archeology and contemporary art, in the  complex period of the so-called “return to order”, between the first and the second world war. Through the extraordinary figures of three protagonists of that contrasted age – Giorgio De Chirico, Arturo Martini, Mario Sironi – the study aims to highlight how research to establish personal and collective identity, in contemporary terms, made urgent by history, have found in the dialogue with what had been the old antiquarian, then refounded in the modern discipline of archeology, an unexpected point  of arrival.

  10. ELECTIONS TO THE SENIOR STAFF ADVISORY COMMITTEE 2003 ("THE NINE")

    CERN Multimedia

    2003-01-01

    The votes for the above-mentioned elections were counted in public on Monday 16 June 2003 at 5 p.m. THE RESULTS ARE AS FOLLOWS: Voting roll501 Envelopes returned by deadline 302 (60.3 %) Invalid votes 6 Blank 2 Valid votes 294 ELECTORAL GROUP 2 Name Div Votes BORDRY Frederick AB 152 JEANNERET Jean-Bernard AB 57 MARQUINA Miguel Angel IT 61 MEYER Thomas Christian EP 60 MORPURGO Giulio IT 43 MULLER Hans EP 40 PASSARDI Giorgio AT 77 PREGERNIG Ludwig IT 35 RINOLFI Louis AB 63 SAINT-VITEUX Jean-Marc AS 53 SWOBODA Detlef EST 37 SZONCSO Fritz TIS 71 THE FOLLOWING THREE PERSONS ARE ELECTED: Frederick BORDRY / AB Giorgio PASSARDI / AT Fritz SZONCSO / TIS Their mandates are for three years. The Committee now consists of these newly-elected members together with P. Bloch, H. Dijkstra, S. Foffano, R. Garoby, C. Pettenati and F. Ranjard. R. Rayson/HR - Polling Officer Tel. 72808

  11. Estudi de receptors leucocitaris de la família del CD150. Identificació i caracterització dels lligands de CD84 i CD229

    OpenAIRE

    Romero Ros, Xavier

    2005-01-01

    La família del CD150 es troba constituïda per nou proteïnes expressades en la superficie dels leucòcits implicades en l'activació dels limfòcits i que pertanyen a la superfamília de les immunoglobulines. Els receptors CD84, CD150 (SLAM), CD229 (Ly9), CD244 (2B4), NTB-A i CS1 s'associen amb els adaptadors SAP (SLAM-associated protein) i EAT-2. L'adaptador SAP és una proteïna intracel·lular que es troba mutada en malalts amb el síndrome d'immunodeficiència lligat al cromosoma X (XLP).Aquest est...

  12. CFD as a seakeeping tool for ship design

    Directory of Open Access Journals (Sweden)

    Sungeun Peter Kim

    2011-03-01

    Full Text Available Seakeeping analysis has progressed from the linear frequency-domain 2D strip method to the nonlinear time-domain 3D panel method. Nevertheless, the violent free surface flows such as slamming and green water on deck are beyond the scope of traditional panel methods based on potential theory. Recently, Computational Fluid Dynamics (CFD has become an attractive numerical tool that can effectively deal with the violent free surface flows. ABS, as a classification society, is putting forth a significant amount of effort to implement the CFD technology to the advanced strength assessment of modern commercial ships and high-speed naval craft. The main objective of this study is to validate the CFD technology as a seakeeping tool for ship design considering fully nonlinear three-dimensional slamming and green water on deck. The structural loads on a large container carrier were successfully calculated from the CFD analysis and validated with segmented model test measurements.

  13. MRXT: The Multi-Robot Exploration Tool

    Directory of Open Access Journals (Sweden)

    Arturo Gil

    2015-04-01

    Full Text Available This paper presents the multi-robot eXploration tool (MRXT [Freely available at http://arvc.umh.es/mrxt], a new mobile robotics simulation tool whose aim is to experiment and understand some well-known multi-robot exploration algorithms. The application is designed to test and compare different multi-robot exploration algorithms as well as SLAM techniques. The application includes a wide range of exploration algorithms that differ in their level of coordination and integration with the SLAM algorithm. The tool is focused on describing the exploration problem in a simple manner so that it is useful for educational or research purposes. In comparison with other simulation tools, MRXT is the first application completely focused on the exploration problem, so it can be easily employed to understand interactively many of the issues regarding this general problem in mobile robotics. Furthermore, the paper describes some examples using the tool.

  14. A Primer on Autonomous Aerial Vehicle Design.

    Science.gov (United States)

    Coppejans, Hugo H G; Myburgh, Herman C

    2015-12-02

    There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers.

  15. Highly Accelerated, Intravascular T1, T2, and Proton Density Mapping with Linear Algebraic Modeling and Sensitivity Profile Correction at 3T.

    Science.gov (United States)

    Wang, Guan; Zhang, Yi; Hegde, Shashank Sathyanarayana; Bottomley, Paul A

    2016-05-01

    Vessel wall MRI with intravascular (IV) detectors can produce superior local signal-to-noise ratios (SNR) and generate high-resolution T1, T2, and proton density (PD) maps that could be used to automatically classify atherosclerotic lesion stage. However, long acquisition times potentially limit multi-parametric mapping. Here, for the first time, spectroscopy with linear algebraic modeling (SLAM) is applied to yield accurate compartment-average T1, T2 and PD measures at least 10 times faster compared to a standard full k-space reconstructed MIX-TSE sequence at 3T. Simple phase and magnitude sensitivity corrections are incorporated into the SLAM reconstruction to compensate for IV detector non-uniformity.

  16. Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR

    Directory of Open Access Journals (Sweden)

    Javier Moreno

    2016-10-01

    Full Text Available This paper presents the design, implementation and validation of the three-wheel holonomic motion system of a mobile robot designed to operate in homes. The holonomic motion system is described in terms of mechanical design and electronic control. The paper analyzes the kinematics of the motion system and validates the estimation of the trajectory comparing the displacement estimated with the internal odometry of the motors and the displacement estimated with a SLAM procedure based on LIDAR information. Results obtained in different experiments have shown a difference on less than 30 mm between the position estimated with the SLAM and odometry, and a difference in the angular orientation of the mobile robot lower than 5° in absolute displacements up to 1000 mm.

  17. Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR).

    Science.gov (United States)

    Moreno, Javier; Clotet, Eduard; Lupiañez, Ruben; Tresanchez, Marcel; Martínez, Dani; Pallejà, Tomàs; Casanovas, Jordi; Palacín, Jordi

    2016-10-10

    This paper presents the design, implementation and validation of the three-wheel holonomic motion system of a mobile robot designed to operate in homes. The holonomic motion system is described in terms of mechanical design and electronic control. The paper analyzes the kinematics of the motion system and validates the estimation of the trajectory comparing the displacement estimated with the internal odometry of the motors and the displacement estimated with a SLAM procedure based on LIDAR information. Results obtained in different experiments have shown a difference on less than 30 mm between the position estimated with the SLAM and odometry, and a difference in the angular orientation of the mobile robot lower than 5° in absolute displacements up to 1000 mm.

  18. Sistem Pendukung Keputusan Penentuan Lokasi dan Pemetaan Secara Simultan dengan OLAP

    Directory of Open Access Journals (Sweden)

    Harindra W Pradhana

    2016-01-01

    Full Text Available This research proposes simultaneous localization and mapping (SLAM system processed separately from the robot using data ware house. Information in the data warehouse processed separately to allow complex computation held without lowering robotic system performance. The system helps making decision by analyzing information in the data warehouse. Decision support information visualized in vector graphics to helps robotic information interpretation. This system use online analytical processing (OLAP on processing and analyzing information in the data warehouse. Visualization process use SVG to display map from robotic data processing. Web server manages all of the processing and analysis of OLAP information and displays it through browser to the user. This research produces interactive and informative decision support system. The web server quickly process information and displays it to the browser. System processing and analysis generates relevant information with low error. For further research, conventional SLAM methods can be added to the server to operate the information in the data warehouse.

  19. Dostoyevski’nin Eserlerinde Peygamber Algısı

    OpenAIRE

    AKYÜZ, Yakup

    2015-01-01

    Dostoyevski eserlerinde evrensel Rus ideali içinde kalarak dinle ilgili düşüncelerini beyan etmiştir. Batı düşüncesi içinde gelişen Katoliklik, sosyalizm, nihilizm karşı çıktığı düşüncelerdir. O düşüncesinin temeline insanı koyarak varoluş felsefesini de temellendirmek istemiştir. Eserlerinde İsa’yı Tanrı’nın oğlu, Rus düşüncesinin yenileyicisi olarakgörür. Onda inanmak için mucizeye gerek yoktur. Dostoyevski İslam dini ve Hazret-i Muhammed ile ilgili düşüncelerini de dile getirmiştir. İslam ...

  20. A Primer on Autonomous Aerial Vehicle Design

    Directory of Open Access Journals (Sweden)

    Hugo H. G. Coppejans

    2015-12-01

    Full Text Available There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV, such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers.

  1. TÂRÎH-İ BEYHAKÎ’YE GÖRE SELÇUKLU-GAZNELİ İLİŞKİLERİ VE SELÇUKLU ALGISI

    OpenAIRE

    AKKUŞ, Mustafa; ZEKİ, İzzetullah

    2016-01-01

    Gazneli Devleti, Sultan Mahmud döneminde Horasan ve Kuzey Hindistan’ı da içine alarak dönemin en büyük devleti haline gelmiştir. Gaznelilerin hâkim olduğu Horasan’da Selçuklu Türkmenleri Tuğrul ve Çağrı Beylerin liderliğinde, onların siyasi dirayetleri, askeri kabiliyetleri ve üstün zekâları sayesinde Büyük Selçuklu Devletini kurmuşlardır. Böylece başta Abbasi Hilafeti olmak üzere İslam birliğini koruma çabasında olan Gazneliler ve ardından Selçuklular, İslam âleminde önemli hizmetler üstlenm...

  2. Crosscultural validation and reliability of 3 disease activity indices in systemic lupus erythematosus.

    Science.gov (United States)

    Gladman, D D; Goldsmith, C H; Urowitz, M B; Bacon, P; Bombardier, C; Isenberg, D; Kalunian, K; Liang, M H; Maddison, P; Nived, O

    1992-04-01

    Rheumatologists from 4 countries, representing 8 rheumatology centers, tested 3 systemic lupus erythematosus (SLE) disease activity indices: the SLE Disease Activity Index (SLEDAI) from Toronto; the Systemic Lupus Activity Measure (SLAM) from Boston and the British Isles Lupus Assessment Group (BILAG) for their reproducibility and validity in the assessment of real patients. Seven patients representing a spectrum of disease manifestations and activity were each examined by 4 of 7 observers from all centers except Toronto, using a Youden square design. Each observer completed all 3 indices and a category rating scale for disease activity on each of the 4 patients seen. All 3 indices detected differences among patients. There was no detectable observer effect among the 7 observers with each of the 3 indices. There was a detectable order effect with the SLAM. The 3 indices are comparable and reproducible for evaluating disease activity in SLE.

  3. Simultaneous localization and mapping in 3D environments with stereovision

    OpenAIRE

    Jung, Il Kyun

    2004-01-01

    In this thesis, we tackle the SLAM problem for robots evolving in 3D in large environments, without any prior knowledge on the environment, and using stereovision. A full implementation of the various processes has been conceived, developed, and experimented in various contexts. The first part of the thesis deals with the data association problem: it introduces a matching algorithm for invariant image point features, which is robust to image noise and viewpoint changes. The second part of the...

  4. Cloud Robotics Platforms

    Directory of Open Access Journals (Sweden)

    Busra Koken

    2015-01-01

    Full Text Available Cloud robotics is a rapidly evolving field that allows robots to offload computation-intensive and storage-intensive jobs into the cloud. Robots are limited in terms of computational capacity, memory and storage. Cloud provides unlimited computation power, memory, storage and especially collaboration opportunity. Cloud-enabled robots are divided into two categories as standalone and networked robots. This article surveys cloud robotic platforms, standalone and networked robotic works such as grasping, simultaneous localization and mapping (SLAM and monitoring.

  5. Genetic changes that affect the virulence of measles virus in a rhesus macaque model.

    Science.gov (United States)

    Bankamp, Bettina; Hodge, Gregory; McChesney, Michael B; Bellini, William J; Rota, Paul A

    2008-03-30

    To identify genetic changes that lead to the attenuation of measles virus (MV), a strain of MV that is pathogenic in rhesus macaques was adapted to grow in Vero cells, Vero/hSLAM cells and, to simulate the process used to derive live attenuated vaccines, in primary chicken embryo fibroblasts (CEF). Comparison of the complete genomic sequences of the pathogenic wild-type (Davis87-wt) and four cell culture-adapted strains derived from it showed complete conservation of sequence in the Vero/hSLAM-passaged virus. Viruses adapted to Vero cells and CEF had predicted amino acid changes in the nucleocapsid protein, phosphoprotein, V protein, C protein, matrix protein, and the cytoplasmic tail of the hemagglutinin protein. All four cell culture-adapted strains, including the Vero/hSLAM cell-passaged virus, were able to productively infect Vero cells, but the peak viral titers differed. The Vero cell-adapted strains were unable to replicate in Chinese Hamster Ovary cells expressing CD46, indicating that they had not adapted to use the CD46 receptor. The Vero/hSLAM cell-passaged virus retained pathogenicity in rhesus macaques as measured by the appearance of a skin rash while the Vero cell-adapted and CEF-adapted strains had lost the ability to cause a rash. There were no significant differences in viral titers in peripheral blood mononuclear cells among monkeys infected with any of the viral stocks tested. These results identify a limited number of genetic changes in the genome of MV that lead to attenuation in vivo.

  6. Gliders of World War II: ’The Bastards No One Wanted’

    Science.gov (United States)

    2008-06-01

    hedgerows that ringed the landing zones. The thick hedgerow , often over five feet high and three feet wide, took its toll on the CG-4A. One notable...Pratt’s glider were unable to stop the aircraft before it slammed into the infamous hedgerow . The impact with the hedgerow ejected the pilot and...crumpled the glider. General Pratt’s copilot seat, reinforced with extra armor for added protection, buckled when the glider crashed into hedgerow causing

  7. Simultan lokalisering och kartering med hjälp av en Kinect i en inomhusmiljö med få landmärken

    OpenAIRE

    Hjelmare, Fredrik; Rangsjö, Jonas

    2012-01-01

    Localization and mapping are two of the most central tasks when it comes toautonomous robots. It has often been performed using expensive, accurate sensorsbut the fast development of consumer electronics has made similar sensorsavailable at a more affordable price. In this master thesis a TurtleBot\\texttrademark\\, robot and a MicrosoftKinect\\texttrademark\\, camera are used to perform Simultaneous Localization AndMapping, SLAM. The thesis presents modifications to an already existing opensourc...

  8. Diferencias en las estadísticas de competición en tenis individual en función de la superficie de juego en jugadores junior masculinos de alto nivel.

    OpenAIRE

    Torres-Luque, G.; Fernández-García, AI.; Sánchez-Pay, A.; Ramírez, A.; Nikolaidis, PT.

    2017-01-01

    El objetivo del presente trabajo fue conocer las diferencias en las estadísticas de juego entre dos superficies y determinar los indicadores de rendimiento en jugadores junior de tenis masculinos de alto nivel. Fueron seleccionados un total 62 partidos de tenis individuales de dos Grand Slam (Open Australia y Wimbledon) en dos superficies diferentes (dura versus hierba). Los datos fueron recopilados de las páginas webs oficiales de los torneos. Se analizaron variables relacionadas con el part...

  9. ROBUST PARALLEL MOTION ESTIMATION AND MAPPING WITH STEREO CAMERAS IN UNDERGROUND INFRASTRUCTURE

    OpenAIRE

    Liu, Chun; Li, Zhengning; Zhou, Yuan

    2016-01-01

    Presently, we developed a novel robust motion estimation method for localization and mapping in underground infrastructure using a pre-calibrated rigid stereo camera rig. Localization and mapping in underground infrastructure is important to safety. Yet it’s also nontrivial since most underground infrastructures have poor lighting condition and featureless structure. Overcoming these difficulties, we discovered that parallel system is more efficient than the EKF-based SLAM approach since para...

  10. Wave Star C5

    DEFF Research Database (Denmark)

    Kramer, Morten; Kristensen, Tom Sten

    Design pile loads in this document are based on the Morison equation. In Chapter 3 and 4 the background for the design loads provided in Chapter 5 are given. In the remaining chapters from Chapter 6 and onward discussions and explanations of the results are given. A historical list of activities ...... to the present revision is given in Appendix A. Calculations of extreme events with wave slamming and plunging wave breaking is included in Appendix B and C....

  11. Molecular Evolution and Characterization of Hemagglutinin (H in Peste des Petits Ruminants Virus.

    Directory of Open Access Journals (Sweden)

    Zhongxiang Liang

    Full Text Available Peste des Petits Ruminants (PPR is an acute, highly contagious, and febrile viral disease that affects both domestic and wild small ruminants. The disease has become a major obstacle to the development of sustainable Agriculture. Hemagglutinin (H, the envelope glycoprotein of Peste des Petits Ruminants Virus (PPRV, plays a crucial role in regulating viral adsorption and entry, thus determining pathogenicity, and release of newly produced viral particles. In order to accurately understand the epidemic of the disease and the interactions between the virus and host, we launch the work. Here, we examined H gene from all four lineages of the PPRV to investigate evolutionary and epidemiologic dynamics of PPRV by the Bayesian method. In addition, we predicted positive selection sites due to selective pressures. Finally, we studied the interaction between H protein and SLAM receptor based on homology model of the complex. Phylogenetic analysis suggested that H gene can also be used to investigate evolutionary and epidemiologic dynamics of PPRV. Positive selection analysis identified four positive selection sites in H gene, in which only one common site (aa246 was detected by two methods, suggesting strong operation structural and/or functional constraint of changes on the H protein. This target site may be of interest for future mutagenesis studies. The results of homology modeling showed PPRVHv-shSLAM binding interface and MVH-maSLAM binding interface were consistent, wherein the groove in the B4 blade and B5 of the head domain of PPRVHv bound to the AGFCC' β-sheets of the membrane-distal ectodomain of shSLAM. The binding regions could provide insight on the nature of the protein for epitope vaccine design, novel drug discovery, and rational drug design against PPRV.

  12. The receptor-binding site of the measles virus hemagglutinin protein itself constitutes a conserved neutralizing epitope.

    Science.gov (United States)

    Tahara, Maino; Ohno, Shinji; Sakai, Kouji; Ito, Yuri; Fukuhara, Hideo; Komase, Katsuhiro; Brindley, Melinda A; Rota, Paul A; Plemper, Richard K; Maenaka, Katsumi; Takeda, Makoto

    2013-03-01

    Here, we provide direct evidence that the receptor-binding site of measles virus (MV) hemagglutinin protein itself forms an effective conserved neutralizing epitope (CNE). Several receptor-interacting residues constitute the CNE. Thus, viral escape from neutralization has to be associated with loss of receptor-binding activity. Since interactions with both the signaling lymphocyte activation molecule (SLAM) and nectin4 are critical for MV pathogenesis, its escape, which results from loss of receptor-binding activity, should not occur in nature.

  13. Ka-boom! When disaster strikes.

    Science.gov (United States)

    Appleby, C

    1996-08-20

    When Hurricane Opal slammed Florida's gulf coast last October, Baptist Healthcare in Pensacola was in danger of a direct hit, putting the hospital's mainframe, minicomputers and telecommunications network--not to mention its patients--in peril. But Baptist had planned for just such a danger and, in the end, no harm was done. How would your hospital have fared? Here's what you can do now to make sure your hospital will keep running after disaster strikes.

  14. Implementation and Reconfiguration of Robot Operating System on Human Follower Transporter Robot

    Directory of Open Access Journals (Sweden)

    Addythia Saphala

    2015-10-01

    Full Text Available Robotic Operation System (ROS is an im- portant platform to develop robot applications. One area of applications is for development of a Human Follower Transporter Robot (HFTR, which  can  be  considered  as a custom mobile robot utilizing differential driver steering method and equipped with Kinect sensor. This study discusses the development of the robot navigation system by implementing Simultaneous Localization and Mapping (SLAM.

  15. Celebrity endorsers' performance on the “ground” and on the “floor”

    OpenAIRE

    Nicolau, Juan Luis; Santa María Beneyto, María Jesús

    2013-01-01

    This article analyzes the relationship between two types of performances, one on the ground (of a tennis court) and the other on the floor (of the stock market). The empirical application looks into the tennis player, Rafael Nadal, and his endorsing firms. The findings show a positive reaction in the market value when the tennis player wins matches in the Grand Slams, the intriguing effect being the diminishing sensitivity pattern that such reaction shows and the absence of loss aversion.

  16. Allergen-specific Th2 cells as targets for immune intervention in allergic disease

    Directory of Open Access Journals (Sweden)

    Jan E. de Vries

    1996-01-01

    Finally, it is shown that IL-4-driven allergen-specific Th2 cell differentiation can be redirected into a Th0 and Thl cell differentiation pathway by stimulating these IL-4-driven allergen-specific Th cell populations in the presence of IL-12, or by co-stimulating these cells via a novel T cell receptor, designated signalling lymphocyte activation molecule (SLAM. The clinical implications of these approaches are discussed.

  17. An Improved Otsu Threshold Segmentation Method for Underwater Simultaneous Localization and Mapping-Based Navigation

    Directory of Open Access Journals (Sweden)

    Xin Yuan

    2016-07-01

    Full Text Available The main focus of this paper is on extracting features with SOund Navigation And Ranging (SONAR sensing for further underwater landmark-based Simultaneous Localization and Mapping (SLAM. According to the characteristics of sonar images, in this paper, an improved Otsu threshold segmentation method (TSM has been developed for feature detection. In combination with a contour detection algorithm, the foreground objects, although presenting different feature shapes, are separated much faster and more precisely than by other segmentation methods. Tests have been made with side-scan sonar (SSS and forward-looking sonar (FLS images in comparison with other four TSMs, namely the traditional Otsu method, the local TSM, the iterative TSM and the maximum entropy TSM. For all the sonar images presented in this work, the computational time of the improved Otsu TSM is much lower than that of the maximum entropy TSM, which achieves the highest segmentation precision among the four above mentioned TSMs. As a result of the segmentations, the centroids of the main extracted regions have been computed to represent point landmarks which can be used for navigation, e.g., with the help of an Augmented Extended Kalman Filter (AEKF-based SLAM algorithm. The AEKF-SLAM approach is a recursive and iterative estimation-update process, which besides a prediction and an update stage (as in classical Extended Kalman Filter (EKF, includes an augmentation stage. During navigation, the robot localizes the centroids of different segments of features in sonar images, which are detected by our improved Otsu TSM, as point landmarks. Using them with the AEKF achieves more accurate and robust estimations of the robot pose and the landmark positions, than with those detected by the maximum entropy TSM. Together with the landmarks identified by the proposed segmentation algorithm, the AEKF-SLAM has achieved reliable detection of cycles in the map and consistent map update on loop

  18. Access Platforms for Offshore Wind Turbines Using Gratings

    DEFF Research Database (Denmark)

    Andersen, Thomas Lykke; Rasmussen, Michael R.

    2008-01-01

    The paper deals with forces generated by a stationary jet on different types of gratings and a solid plate. The force reduction factors for the different gratings compared to the solid plate mainly depend on the porosity of the gratings, but the geometry of the grating is also of some importance........ The derived reduction factors are expected to be applicable to design of offshore wind turbine access platforms with gratings where slamming also is an important factor....

  19. A generalized simulation model for the design of a conveyor system

    OpenAIRE

    Shaikh, Asif Manzoor

    1982-01-01

    A simulation model is developed in SLAM II to study and analyze conveyor systems.. The adequacy of the model is tested by applying it to a conveyor layout as well as some variant designs. 1he problem of modeling large systems is reduced by decomposing the system into smaller segments (subsystems). Different types of conveyors are considered. Programming modules are prepared for feasible conveyor types and segments. These simulation modules are integrated into a system. M.S.

  20. Multi-Target Tracking for Swarm vs. Swarm UAV Systems

    Science.gov (United States)

    2012-09-01

    Function RMSE Root Mean Square Error SLAM Simultaneous Localization and Mapping SSPF Sequential Sampling Particle Filter UAV Unmanned Air Vehicle WSN ...them can perform ‘Swimming’, ‘Running’ and ‘Jogging’ at gym. The energy cost of each activity for each person can be seen in Equation (3.32). The...exercise for minimum energy cost. As long as the matrix established properly, Munkres algorithm finds the minimum cost. The extended case for Munkres

  1. A Consistent Wave Impact Load Model for Studying Structure, Equipment Ruggedness, Shock Isolation Seats, and Human Comfort in Small High Speed Craft

    Science.gov (United States)

    2016-11-01

    information if it does not display a currently valid OMB control number. PLEASE DO NOT RETURN YOUR FORM TO THE ABOVE ADDRESS. 1. REPORT DATE 30...of acceleration application (i.e., jerk ), peak amplitude, and pulse duration, Eiband (1959). Consistent Wave Slam Type The time history responses of...systematic research for effects other than vertical, and there is a need for controlled studies to better describe and quantify the bounds of human

  2. Cost of solving mysteries of universe: $6.7 billion

    CERN Multimedia

    Overbye, Dennis

    2007-01-01

    "An international consortium of physicists on Thursday released the first detailed design of what they believe will be the next big thing in physics. The machine, 20 miles long, will slam together electrons and their opposites, positrons, to produce fireballs of energy re-creating conditions when the universe was only a trillionth of a second old. It would cost about $6.7 billion." (1 page)

  3. Big Bang and bucks set to collide in inner space The price of exploring inner space went up this week

    CERN Multimedia

    Overbye, Dennis

    2007-01-01

    "At a news conference in Beijing this Thursday, an international consortium of physicists released the first detailed design of what they believe will be the Next Big Thing in physics: a machine 20 miles long that will slam together electrons and their evil-twin opposites, positrons, to produce fireballs of energy recreating conditions when the universe was only a trillionth of a second old." (1.5 page)

  4. Bibliography on Cold Regions Science and Technology. Volume 51, Part 1.

    Science.gov (United States)

    1997-12-01

    Correlation, Statistical analysis 51-1097 Comparison of slam-freezing and high-pressure freezing effects on the DNA cholesteric liquid crystalline...consequences of grasshopper her- bivory in an alpine grassland, Swiss Central Alps. Blumer, P., Diemer, M., Arctic and alpine research, Nov. 1996, 28...strains, were analyzed by numeri- cal taxonomy and for DNA base composition in order to determine the biodiversity of sea ice bacteria. From these

  5. LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments.

    Science.gov (United States)

    Tang, Jian; Chen, Yuwei; Niu, Xiaoji; Wang, Li; Chen, Liang; Liu, Jingbin; Shi, Chuang; Hyyppä, Juha

    2015-07-10

    A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies-INS and LiDAR SLAM-into one navigation frame with a loosely coupled Extended Kalman Filter (EKF) to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV) platform-NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment.

  6. Systemic lupus erythematosus in three ethnic groups. XIV. Poverty, wealth, and their influence on disease activity.

    Science.gov (United States)

    Alarcón, Graciela S; McGwin, Gerald; Sanchez, Martha L; Bastian, Holly M; Fessler, Barri J; Friedman, Alan W; Baethge, Bruce A; Roseman, Jeffrey; Reveille, John D

    2004-02-15

    To determine the impact of wealth on disease activity in the multiethnic (Hispanic, African American, and Caucasian) LUMINA (Lupus in Minorities, Nature versus nurture) cohort of patients with systemic lupus erythematosus (SLE) and disease duration Health Initiative study were used to measure wealth. Disease activity was measured with the Systemic Lupus Activity Measure (SLAM). The relationship between the different variables and wealth was then examined. Next, the impact of wealth on disease activity was examined in regression models where the dependent variables were the SLAM score and SLAM global (physician). Variables previously found to impact disease activity plus the wealth questions were included in the models. Questions on income, assets, and debt were found to distinguish patients into groups, wealthier and less wealthy. Less wealthy patients tended to be younger, women, noncaucasian, less educated, unmarried, less likely to have health insurance, and more likely to live below the poverty line. They also tended to have more active disease, more abnormal illness-related behaviors, less social support, and lower levels of self reported mental functioning. None of the wealth questions was retained in the regression models, although other socioeconomic features (such as African American ethnicity, poverty, and younger age) did. Wealth, per se, does not appear to have an additional predictive value, over and above traditional measures of socioeconomic status, in SLE disease activity.

  7. Maneuverability Strategy for Assistive Maneuverability Strategy for Assistive Vehicles Navigating within Confined Space

    Directory of Open Access Journals (Sweden)

    Fernando Auat Cheein

    2011-08-01

    Full Text Available In this work, a path planning strategy for both a car-like and a unicycle type assistive vehicles is presented. The assistive vehicles are confined to restricted environments. The path planning strategy uses the environment information to generate a kinematically plausible path to be followed by the vehicle. The environment information is provided by a SLAM (Simultaneous Localization and Mapping algorithm implemented on the vehicles. The map generated by the SLAM algorithm compensates the lack of sensor at the back of the vehicles' chassis. A Monte Carlo-based technique is used to find the optimum path given the SLAM information. A visual and user-friendly interface enhances the user-vehicle communication allowing him/her to select a desired position and orientation (pose that the vehicle should reach within the mapped environment. A trajectory controller drives the vehicle until it reaches a neighborhood of the desired pose. Several real-time experimental results within real environments are also shown herein.

  8. Camera pose estimation for augmented reality in a small indoor dynamic scene

    Science.gov (United States)

    Frikha, Rawia; Ejbali, Ridha; Zaied, Mourad

    2017-09-01

    Camera pose estimation remains a challenging task for augmented reality (AR) applications. Simultaneous localization and mapping (SLAM)-based methods are able to estimate the six degrees of freedom camera motion while constructing a map of an unknown environment. However, these methods do not provide any reference for where to insert virtual objects since they do not have any information about scene structure and may fail in cases of occlusion of three-dimensional (3-D) map points or dynamic objects. This paper presents a real-time monocular piece wise planar SLAM method using the planar scene assumption. Using planar structures in the mapping process allows rendering virtual objects in a meaningful way on the one hand and improving the precision of the camera pose and the quality of 3-D reconstruction of the environment by adding constraints on 3-D points and poses in the optimization process on the other hand. We proposed to benefit from the 3-D planes rigidity motion in the tracking process to enhance the system robustness in the case of dynamic scenes. Experimental results show that using a constrained planar scene improves our system accuracy and robustness compared with the classical SLAM systems.

  9. TIMESTAMP OFFSET DETERMINATION BETWEEN AN ACTUATED LASER SCANNER AND ITS CORRESPONDING MOTOR

    Directory of Open Access Journals (Sweden)

    R. Voges

    2017-05-01

    Full Text Available Motor actuated 2D laser scanners are key sensors for many robotics applications that need wide ranging but low cost 3D data. There exist many approaches on how to build a 3D laser scanner using this technique, but they often lack proper synchronization for the timestamps of the actuator and the laser scanner. However, to transform the measurement points into three-dimensional space an appropriate synchronization is mandatory. Thus, we propose two different approaches to accomplish the goal of calculating timestamp offsets between laser scanner and motor prior to and after data acquisition. Both approaches use parts of a SLAM algorithm but apply different criteria to find an appropriate solution. While the approach for offset calculation prior to data acquisition exploits the fact that the SLAM algorithm should not register motion for a stationary system, the approach for offset calculation after data acquisition evaluates the perceived clarity of a point cloud created by the SLAM algorithm. Our experiments show that both approaches yield the same results although operating independently on different data, which demonstrates that the results reflect reality with a high probability. Furthermore, our experiments exhibit the significance of a proper synchronization between laser scanner and actuator.

  10. Timestamp Offset Determination Between AN Actuated Laser Scanner and its Corresponding Motor

    Science.gov (United States)

    Voges, R.; Wieghardt, C. S.; Wagner, B.

    2017-05-01

    Motor actuated 2D laser scanners are key sensors for many robotics applications that need wide ranging but low cost 3D data. There exist many approaches on how to build a 3D laser scanner using this technique, but they often lack proper synchronization for the timestamps of the actuator and the laser scanner. However, to transform the measurement points into three-dimensional space an appropriate synchronization is mandatory. Thus, we propose two different approaches to accomplish the goal of calculating timestamp offsets between laser scanner and motor prior to and after data acquisition. Both approaches use parts of a SLAM algorithm but apply different criteria to find an appropriate solution. While the approach for offset calculation prior to data acquisition exploits the fact that the SLAM algorithm should not register motion for a stationary system, the approach for offset calculation after data acquisition evaluates the perceived clarity of a point cloud created by the SLAM algorithm. Our experiments show that both approaches yield the same results although operating independently on different data, which demonstrates that the results reflect reality with a high probability. Furthermore, our experiments exhibit the significance of a proper synchronization between laser scanner and actuator.

  11. Learning probabilistic features for robotic navigation using laser sensors.

    Directory of Open Access Journals (Sweden)

    Fidel Aznar

    Full Text Available SLAM is a popular task used by robots and autonomous vehicles to build a map of an unknown environment and, at the same time, to determine their location within the map. This paper describes a SLAM-based, probabilistic robotic system able to learn the essential features of different parts of its environment. Some previous SLAM implementations had computational complexities ranging from O(Nlog(N to O(N(2, where N is the number of map features. Unlike these methods, our approach reduces the computational complexity to O(N by using a model to fuse the information from the sensors after applying the Bayesian paradigm. Once the training process is completed, the robot identifies and locates those areas that potentially match the sections that have been previously learned. After the training, the robot navigates and extracts a three-dimensional map of the environment using a single laser sensor. Thus, it perceives different sections of its world. In addition, in order to make our system able to be used in a low-cost robot, low-complexity algorithms that can be easily implemented on embedded processors or microcontrollers are used.

  12. Maneuverability Strategy for Assistive Vehicles Navigating within Confined Spaces

    Directory of Open Access Journals (Sweden)

    Fernando Auat Cheein

    2011-08-01

    Full Text Available In this work, a path planning strategy for both a car-like and a unicycle type assistive vehicles is presented. The assistive vehicles are confined to restricted environments. The path planning strategy uses the environment information to generate a kinematically plausible path to be followed by the vehicle. The environment information is provided by a SLAM (Simultaneous Localization and Mapping algorithm implemented on the vehicles. The map generated by the SLAM algorithm compensates the lack of sensor at the back of the vehicles' chassis. A Monte Carlo-based technique is used to find the optimum path given the SLAM information. A visual and user-friendly interface enhances the user-vehicle communication allowing him/her to select a desired position and orientation (pose that the vehicle should reach within the mapped environment. A trajectory controller drives the vehicle until it reaches a neighborhood of the desired pose. Several real-time experimental results within real environments are also shown herein.

  13. JAK2V617F expression in mice amplifies early hematopoietic cells and gives them a competitive advantage that is hampered by IFNα.

    Science.gov (United States)

    Hasan, Salma; Lacout, Catherine; Marty, Caroline; Cuingnet, Marie; Solary, Eric; Vainchenker, William; Villeval, Jean-Luc

    2013-08-22

    The acquired gain-of-function V617F mutation in the Janus Kinase 2 (JAK2(V617F)) is the main mutation involved in BCR/ABL-negative myeloproliferative neoplasms (MPNs), but its effect on hematopoietic stem cells as a driver of disease emergence has been questioned. Therefore, we reinvestigated the role of endogenous expression of JAK2(V617F) on early steps of hematopoiesis as well as the effect of interferon-α (IFNα), which may target the JAK2(V617F) clone in humans by using knock-in mice with conditional expression of JAK2(V617F) in hematopoietic cells. These mice develop a MPN mimicking polycythemia vera with large amplification of myeloid mature and precursor cells, displaying erythroid endogenous growth and progressing to myelofibrosis. Interestingly, early hematopoietic compartments [Lin-, LSK, and SLAM (LSK/CD48-/CD150+)] increased with the age. Competitive repopulation assays demonstrated disease appearance and progressive overgrowth of myeloid, Lin-, LSK, and SLAM cells, but not lymphocytes, from a low number of engrafted JAK2(V617F) SLAM cells. Finally, IFNα treatment prevented disease development by specifically inhibiting JAK2(V617F) cells at an early stage of differentiation and eradicating disease-initiating cells. This study shows that JAK2(V617F) in mice amplifies not only late but also early hematopoietic cells, giving them a proliferative advantage through high cell cycling and low apoptosis that may sustain MPN emergence but is lost upon IFNα treatment.

  14. Comentarios de Agamben a la noción de biopolítica de Foucault Comentários de Agamben à noção de biopolítica de Foucault "Agamben Commentaries" to michel foucault's notion of biopolitics

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    Graciela Lechuga-Solís

    2012-01-01

    Full Text Available Indisociable a la propuesta crítica del estudio del poder desarrollada por Michel Foucault es la noción de biopolítica la que ha sido retomada, entre otros, por Giorgio Agamben quien le ha dado una lectura distinta con la intención de "corregirla". En las páginas siguientes se hace un recorrido de las afirmaciones de Foucault sobre la biopolítica y las hechas por el pensador italiano sobre el tema en su libro Homo sacer I, en particular en la introducción. Además se muestra la dificultad de la empresa agambiana debido a las grandes diferencias en las formas de pensar de ambos autores, por lo que la pretendida "corrección" es un mero comentario.Indissociável à proposta crítica do estudo de poder desenvolvida por Michel Foucault é a noção de biopolítica, que tem sido retomada, entre outros, por Giorgio Agamben, que faz uma leitura diferente com a intenção de "corrigi-la". Nas páginas a seguir faz-se um percurso das afirmações de Foucault sobre a biopolítca, bem como as realizadas pelo pensador italiano sobre o tema em seu livro Homo sacer I, em particular na introdução. Outrossim, apresenta-se a dificuldade da empresa agambiana às grandes diferenças nas formas de pensar de ambos os autores, razão pela qual a pretensa "correção" é um mero comentário.Inextricably linked to the critical proposal study of power and its exercise developed by Michel Foucault is the notion of Biopolitics which have been revisited by Giorgio Agamben who has given a different interpretation in an attemt to "correct" it. In what follows a run through the notion of Foucault's biopolitics is made, as well as Agamben's claims about Biopolitics, in particular in the introduction of his book Homo Sacer I. In addition the difficult of such task shown here is due to the huge differences of both thinkers, thus Agamben's supposed "correction", it's only a commentary.

  15. A fala fora de lugar: testemunho, resto, tempo e linguagem em Ricardo Piglia The speech misplaced: testimony, remnants, time and language in Ricardo Piglia

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    Rafaela Scardino

    2013-06-01

    Full Text Available Um pensamento dedicado ao problema do testemunho defronta, não raro, questões relacionadas, intrinsecamente, a tempo e linguagem. Tais questões surgem no debate como conceitos de larga abordagem, uma vez que acompanham, por milênios, o desenvolvimento das meditações humanas. Giorgio Agamben, em parte significativa de sua obra, insere, no debate acerca do testemunho, um relevante ponto de discussão: o resto. Buscando refletir sobre esses aspectos, em especial sobre testemunho, resto, tempo e linguagem, propomo-nos a analisar o romance A cidade ausente, de Ricardo Piglia, de modo a investigar, na narrativa do escritor argentino, os mecanismos textuais que interrogam as possibilidades (e impossibilidades de constituição da experiência na contemporaneidade.Un pensamiento dedicado al problema del testimonio enfrenta, a menudo, problemas relacionados al tiempo y el lenguaje. Estas cuestiones surgen en el debate como conceptos de largo enfoque, una vez que acompañan el desarrollo de las meditaciones humanas. Giorgio Agamben, en importante parte de su obra, inserta en el debate sobre el testigo, un punto relevante de la discusión: el resto. Buscando reflexionar sobre estos aspectos, especialmente sobre el testimonio, el resto, el tiempo y el lenguaje, nos proponemos analizar la novela La ciudad ausente, de Ricardo Piglia, de modo a investigar, en la narrativa del escritor argentino, los mecanismos textuales que cuestionan las posibilidades (e imposibilidades de la constitución de la experiencia en la contemporaneidad.A thought devoted to the problem of testimony is often obliged to face questions related to time and language. Such issues arise in the debate as concepts of a broader approach, since they are attached to the development of human meditations. Giorgio Agamben, in a significant part of his work, inserts, in the debate about testimony, a relevant point of discussion: the remnant. Seeking to on these aspects, particularly on

  16. Asylbarn og menneskeverd: Etiske refleksjoner med utgangspunkt i erfaringer fra Helsesenteret for papirløse migranter

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    Sturla J. Stålsett

    2012-11-01

    Full Text Available Asylbarns status og rettigheter i Norge er i kritisk søkelys. En særlig utsatt gruppe er barn av papirløse foreldre som fødes på norske sykehus. Med bakgrunn i Kirkens Bymisjons arbeid med denne gruppen, argumenterer jeg i denne artikkelen for at slike eksempler viser at norsk offentlig politikk overfor disse barna tenderer mot å gradere og dermed underminere deres grunnleggende menneskeverd, slik dette blant annet kommer til uttrykk i barnekonvensjonens krav om hensynet til barnets beste (artikkel 3. Ved hjelp av Judith Butlers tenkning om sårbarhet og «framing» samt Giorgio Agambens tenkning om «nakent liv» og unntakstilstanden, analyserer jeg hvordan denne graderingen av asylbarnas menneskeverd skjer. Til slutt viser jeg kort hvordan Helsesenteret uttrykker motstand mot disse mekanismene som bidrar til å underminere asylbarnas og de papirløses menneskeverd.Nøkkelord: menneskeverd, asylbarn, papirløse i Norge, Kirkens Bymisjon, helsesenter, etikk, flyktninger, Judith Butler, Giorgio Agamben, diakonalt arbeidEnglish summary: Children of asylum seekers and human dignity: Ethical reflections based on the experiences of the Health Care Centre for Undocumented MigrantsThe human rights and dignity of children of asylum seekers and undocumented migrants is much debated in Norway. A group that is particularly at risk is children born in Norwegian hospitals whose parents do not possess a legal residence permit. On the basis of the diaconal work of the Church City Mission in Oslo that aims at providing care and defending the rights of these groups through the Health Care Centre for Undocumented Migrants, the purpose of this article is to argue that the inherent human dignity of these children is being undermined in contemporary Norwegian politics. By relating to Judith Butler's thoughts on vulnerability and «framing» and Giorgio Agamben's theory of the «bare life» and the state of exception, the article aims at showing mechanisms that

  17. Los Estados Unidos de América y la apropiación del territorio indígena

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    Héctor Calleros Rodríguez

    2015-06-01

    Full Text Available Este artículo examina la relación que existe entre la democracia con los pueblos indígenas a partir del concepto Homo sacer (Homines sacri, acuñado por Giorgio Agamben (1998. El argumento central es que actos cometidos contra el Indio Americano o sus propiedades (tierras y recursos naturales pueden ser interpretados no solo como violaciones a los derechos humanos sino como estructuras políticas permanentes de violencia y exclusión. El artículo revisa el caso de Mary y Carrie Dann, en una disputa por tierras con los EE.UU., y que la Comisión Interamericana de Derechos Humanos (CIDH ha considerado como violatorio de la Declaración Americana de los Derechos y Deberes del Hombre (Declaración Americana. La revisión del caso se basa en el reporte de la CIDH (2002.

  18. Pelo imprevisto: dispositivos e singularidade

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    Artur de Vargas Giorgi

    2010-12-01

    Full Text Available Um dos desdobramentos das investigações de Foucault sobre os processos de subjetivação e as técnicas de governo pode ser encontrado no conceito de dispositivo. Conceito que está presente, e com grande produtividade, no pensamento de Giorgio Agamben, já que são vários os textos em que ele retoma e trabalha sua ambivalência, desenvolvendo também o seu alcance, como em O que é um dispositivo? O presente texto parte da definição de Agamben para levantar algumas questões acerca do conceito e das estratégias para lidar com ele.

  19. Pelo imprevisto: dispositivos e singularidade

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    Artur de Vargas Giorgi

    2010-05-01

    Full Text Available http://dx.doi.org/10.5007/1984-784X.2010v10n15p159 Um dos desdobramentos das investigações de Foucault sobre os processos de subjetivação e as técnicas de governo pode ser encontrado no conceito de dispositivo. Conceito que está presente, e com grande produtividade, no pensamento de Giorgio Agamben, já que são vários os textos em que ele retoma e trabalha sua ambivalência, desenvolvendo também o seu alcance, como em O que é um dispositivo? O presente texto parte da definição de Agamben para levantar algumas questões acerca do conceito e das estratégias para lidar com ele.

  20. A formação humana no contexto da consumação metafísica do sujeito: ética da potência de Agamben = The human formation in context of consummation metaphysics of subject: ethics of power in Agamben = La formación humana en el contexto de consumación metafísica del sujeto: la ética del poder de Agamben

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    Freitas, Alexandre Simão de

    2015-01-01

    Full Text Available A presente reflexão toma o chamado giro pós-teológico-político na filosofia contemporânea como ponto de partida para a tematização de alguns dilemas que atravessam os processos e as práticas que articulam a educação na atualidade. Para isso, evoca a figura do pobre como imagem (pesrsonagem, ou símbolo? pra não ficar tão repetitivo excêntrica de nossa modernidade pedagógica. Essa figura é um intercessor privilegiado na ontologia da potência desdobrada pelo pensador italiano Giorgio Agamben. Tematiza-se, assim, em que medida sua ética da potência permite retomar os princípios que animam o debate sobre a formação humana

  1. La pédagogie des langues-cultures comme science et comme art ; Homo sapiens, faber, loquens, ludens : l’intérité humaine

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    Jacques Demorgon

    2014-04-01

    Homo sapiens, faber, loquens, ludens: The human interity Abstract: The most common attitude consists in separating techniques, sciences, arts and languages. Unfortunately, by losing sight of their common origin, we lose the means of associating them in our learning processes and our teaching practices. These have to base themselves in human “interity” (between-ness. It makes anthropological references necessary to human adaptation and historical and geographical references to their joint developments. It is on these bases that sciences and educational arts are going to allow the appropriate exchanges between the singular persons in interaction in and outside the class. This new pedagogy of the languages-cultures places them in a humanity in progress: competitive, conflicting, and complementary. It can be better understood and reinforced with works as those of Giorgio Agamben, François Jullien and Henri Van Lier.

  2. More than meets the eye: Morandi's art and analytic listening.

    Science.gov (United States)

    Miller, J David

    2011-02-01

    This study of Giorgio Morandi, the great twentieth-century Italian painter, departs from the model of Freud's essay on Leonardo, in which he creates a psychodynamic hypothesis by linking the art with facts and conjecture about the artist's life. Because personal information about Morandi is remarkably scarce, we can make few connections between his art and his individual psychology. But Morandi's works can inform psychoanalysis and enhance analytic listening when we reflect on the paintings themselves, our responses to them, and the responses of art critics. This approach to his art evokes core principles of clinical theory, demonstrates the overlap between the creative process in art and analysis, and exemplifies the value of interdisciplinary study for analytic education.

  3. Bando, geografía y niñez en Argentina (1966-1983

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    Viviana Masciadri

    2016-01-01

    Full Text Available A partir de los postulados de Giorgio Agamben, sobre todo en lo concerniente al homo sacer, se analizaron los instrumentos que usó el poder gubernamental argentino entre 1966 y 1983 para controlar a la población, particularmente a la niñez. Se recurrió a la asociación de las zonas geográficas militares y a la distribución geográfica de los hechos represivos a los integrantes de las familias de los jóvenes estudiantes universitarios y secundarios, obreros, sindicalistas y militantes. Se observó que la teología política y la teología económica originaron la violencia durante este periodo.

  4. LIGHT and LUMINOSITY, from Einstein to LHC

    CERN Multimedia

    CERN. Geneva; Prof. ROSSI, Lucio

    2015-01-01

    After an introduction on the concept of light in physics, this talk will focus on CERN’s High Luminosity LHC project, aiming at extending the discovery potential of CERN’s flagship accelerator by increasing its “luminosity” (ie the number of particles that can be squeezed inside the accelerator to maximize the number of collisions). To achieve this objective, many new technologies are being developed at CERN and many collaborating institutes worldwide, especially in the field of superconductivity. Lucio Rossi, the main speaker, is the head of the HL-LHC project, based at CERN. Giorgio Apollinari, Director for the LHC Accelerator Research Program (LARP) will speak through a videoconference from Fermilab (USA). The event is webcast live and will be followed by Fermilab and other institutes in the USA.

  5. Techno-euphoria and the world-improving dream: Gladiator

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    Robert Burgoyne

    2006-04-01

    Full Text Available In this essay, I explore the potential of the epic genre as a form of transnational cinema, and reconsider its traditional role as a vehicle of national ideology and aspirations. I suggest that the contemporary historical epic conveys a sense of double-voicing by adapting epic themes usually associated with national narratives to collectivities that are not framed by nation. Reading the epic alongside the work of Giorgio Agamben, I draw particular attention to the ways that the contemporary epic foregrounds the potential of “bare life” as a form of historical agency, emphasizing the emergence of the multitude and the mongrel community. I also consider the particular formal characteristics of the epic film—its design-intensive mise-en-scène, its use of spectacle and its style of sensory expansiveness—as producing an affective and emotional relation to the historical past, creating a fullness of engagement and amplitude of consciousness.

  6. Turned Back: Mad Men as Intermedial Melodrama

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    Monique Rooney

    2012-09-01

    Full Text Available This essay draws on definitions of gesture (Giorgio Agamben and Peter Brooks and catachresis (Peter Brooks, Jacques Derrida to examine the primacy of non-verbal signifiers as communicators of meaning in AMC’s Mad Men. Beginning with an analysis of Mad Men’s credit sequence, it draws attention to Mad Men’s use of gesture and catachresis in relation to melodrama’s privileging of non-verbal and naturalistic expression and its persistence as an intermedial mode that has moved back and forth between various media (theatre, novel, cinema, television and now digital formats. It argues that Mad Men’s melodramatic aesthetic is one that obliquely, and via a gestural and rhetorical ‘turned back’, communicates its relation to the past and the present.

  7. Awards and honours

    CERN Multimedia

    2009-01-01

    President of the Italian Republic, Giorgio Napolitano, presenting Fabiola Gianotti with her award on 7 March.On the occasion of International Woman’s Day on 7 March, Fabiola Gianotti, ATLAS spokesperson, was awarded "Commendatore della Repubblica Italiana" by the Italian President for her "scientific knowledge and her excellent management skills demonstrated in guiding the ATLAS project". Gianotti received the honorary title also for "her contribution to the prestige of the Italian scientific community in the field of nuclear physics." Further reading (in Italian only): http://www.quirinale.it/Comunicati/Comunicato.asp?id=38192 An article about the beginning of Gianotti’s term of office as ATLAS spokesperson is available from the latest issue of the CERN Courier: http://cerncourier.com/cws/article/cern/38709

  8. Avant-propos

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    Severiano Rojo Hernandez

    2010-03-01

    Full Text Available Au cours de la première moitié du XXe siècle, l’Europe vit naître et se développer sur son territoire un nombre considérable de dictatures particulièrement sanglantes. Malgré leurs différences idéologiques, Hitler, Staline, Mussolini, Franco, Salazar pratiquèrent une même politique répressive, fondée sur la censure, la terreur, l’élimination des adversaires politiques et la mise sous surveillance de l’ensemble de la société. Comme le signale Giorgio Agamben (« L’Etat d’exception », Le Monde, ...

  9. Princess Brambilla - images/text

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    Maria Aparecida Barbosa

    2016-01-01

    Full Text Available Read the illustrated literary text is simultaneously think pictures and words. This articulation between the written text and pictures adds potential, expands and becomes complex. Coincides with nowadays discussions on Giorgio Agamben's "contemporary" that add to what adheres to respectively time the displacement and the distance needed to understand it, shakes linear notions of historical chronology. Somehow the coincidence is related to the current interest in the concept of "Nachleben" (survival, which assumes the images of the past ransom, postulated by the art historian Aby Warburg in a research on ancient art of motion characteristics in Renaissance pictures Botticelli's. For the translation of the Princesa Brambilla – um capriccio segundo Jakob Callot, de E. T. A. Hoffmann, com 8 gravuras cunhadas a partir de moldes originais de Callot (1820 to Portuguese such discussions were fundamental, as I try to present in this article.

  10. La búsqueda de lo primigenio en el poema “12”, de Oliverio Girondo

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    Raisacruz Huertas-Ner

    2016-01-01

    Full Text Available Con base en los postulados de María Zambrano, Giorgio Agamben y Wilhelm Dilthey se analizó la interacción entre filosofía y poesía presente en el poema “12” de Espantapájaros (al alcance de todos, de Oliverio Girondo. Se hizo énfasis en la labor emprendida por la literatura para notar, afrontar y transformar la decadencia del orden instaurado bajo leyes obsoletas. Finalmente, se dio cuenta de la necesidad del sujeto lírico que busca la experiencia primigenia y el encuentro con el otro, búsqueda efectuada gracias a la palabra poética y al delirio del amor, estableciendo una analogía entre el éxtasis de la experiencia amorosa y el placer estético de la poesía.

  11. Do testemunho à memória: o a posteriori entre a história e as ruínas

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    José César Coimbra

    2012-01-01

    Full Text Available Basado en investigación bibliográfica, este trabajo analiza las relaciones entre testimonio y memoria de Giorgio Agamben, Sigmund Freud, Walter Benjamin y verifica el lugar, en esas relaciones, de las nociones de olvido, de restos, de ruinas y el a posteriori. Se constata la sinergia de las elaboraciones de esos autores, las cuales destacan las posibilidades de desplazamiento de las posiciones subjetivas del testimonio frente al deber de la memoria. En el momento en que Brasil instala en primer plano su Comisión de la Verdad, la discusión abierta por el pasado revisitado resalta la importancia de comprender los límites de la expresión de la memoria que el testimonio proporciona.

  12. [Fermentation as the origin of life: discussions on blood in Italy in the late 17th century].

    Science.gov (United States)

    Conforti, Maria

    2003-01-01

    The article examines the correspondence (1701) between the Neapolitan mathematician Giacinto De Cristofaro and Domennico Guglielmini, professor of theoretical medicine at Padua, on the role of blood and on the fermentative process in the 'origin' of life. The discussion is set against the background of the lively Italian medical debates and experimentations on the function and composition of the blood. Works by Marcello Malpighi, Giacomo Sandri, Giovanni Maria Lancisi, Giorgio Baglivi, Giovanbattista Morgagni and Nicola Cirillo - all of them taking into account Robert Boyle's Natural History of the Blood (1683-4) - show that blood composition and heart motion were described in different ways, ranging from the adoption of chemical theories and experimentation to that of strictly mechanical explanations. Different positions about the role of the blood and of its fermentative motion reflect different views about the relationship between matter and life.

  13. Galileo's wondrous telescope

    Science.gov (United States)

    Cartlidge, Edwin

    2008-06-01

    If you need reminding of just how wrong the great and the good can be, take a trip to the Museum of the History of Science in Florence, Italy. The museum is staging an exhibition entitled "Galileo's telescope - the instrument that changed the world" to mark the 400th anniversary this year of Galileo Galilei's revolutionary astronomical discoveries, which were made possible by the invention of the telescope. At the start of the 17th century, astronomers assumed that all the planets and the stars in the heavens had been identified and that there was nothing new for them to discover, as the exhibition's curator, Giorgio Strano, points out. "No-one could have imagined what wondrous new things were about to be revealed by an instrument created by inserting two eyeglass lenses into the ends of a tube," he adds.

  14. Leituras de Kafka: Escólios sobre a burocracia e o exercício da lei

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    Bruno Barbosa dos Santos

    2017-12-01

    Full Text Available Este ensaio tem como objetivo apresentar algumas considerações acerca da burocracia e do direito na obra de Franz Kafka. As breves notas que dão corpo ao texto buscam salientar conceitos fundamentais da literatura kafkiana para fazer deles um novo uso. Deste modo, distanciando-se da exegese “judaico-realística” de Max Brod, o texto recorrerá à fortuna crítica de autores como Walter Benjamin, Günther Anders e Giorgio Agamben para realizar outra leitura das categorias teológicas presentes em Kafka. Com isso, as notas a seguir procuram avaliar as estratégias investidas pelo prosador tcheco contra os mecanismos da lei.

  15. Love and Grace in Heidegger´s 'Sein und Zeit'

    DEFF Research Database (Denmark)

    Östman, Lars

    2014-01-01

    Martin Heidegger’s Sein und Zeit presents one of the most striking reflexions on human facticity, i.e. the fact that Dasein fundamentally exists in a world letting Dasein and world be co-extensive. By quoting two central personages in theology, Pascal and Augustine, Heidegger refers to a concept...... of love that is constitutive for Dasein’s facticity to truth and to knowledge. By investigating the claim that love is as good as absent from Sein und Zeit, the article intends to show that the scanty references to love nevertheless have a central role in Heidegger’s early work and, furthermore, why...... its methodological cues from Giorgio Agamben and Jacques Derrida, the article shows how the concepts of possibility and impotentiality (Ohnmacht) become essential in Heidegger via his reference to love. Lastly, the article examines to what extent Heidegger’s Sein und Zeit paraphrases the old...

  16. Da estética ao terrorismo: Agamben, entre Nietzsche e Heidegger

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    Cláudio Oliveira

    2012-09-01

    Full Text Available O artigo tenta demonstrar que, em seu primeiro livro, O homem sem conteúdo, Giorgio Agamben se move entre a ideia heideggeriana de uma destruição da estética e a ideia nietzschiana de uma destruição da estética do expectador. O artigo mostra como Agamben reduz estas duas ideias, que na origem são distintas, em uma única e mesma ideia. O artigo tenta ainda demonstrar como Agamben, partindo dessa discussão com Nietzsche e Heidegger, chega a uma ideia própria da arte, em nosso tempo, como possuindo um caráter terrorista.

  17. Administration of palmitoylethanolamide in combination with topiramate in the preventive treatment of nummular headache

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    Chirchiglia D

    2016-07-01

    Full Text Available Domenico Chirchiglia,1 Attilio Della Torre,2 Francesco Signorelli,2 Giorgio Volpentesta,2 Giusy Guzzi,2 Carmelino Angelo Stroscio,2 Federica Deodato,2 Donatella Gabriele,2 Angelo Lavano,2 1Department of Neurosurgery, Neurophysiopathology Unit, 2Department of Neurosurgery, University of Catanzaro “Magna Graecia”, Catanzaro, Italy Abstract: Nummular headache has been recently described as a primary disorder characterized by head pain exclusively felt in a small rounded area typically 2–6 cm in diameter, not attributed to another disorder. Both size and shape of the painful area remain constant since the onset of symptoms. A 57-year-old woman presented with a history of focal episodic pain in a circumscribed area on the right parietal region. The administration of standard oral doses of palmitoylethanolamide and topiramate in combination showed an improvement in pain symptoms and on pain measuring scales. Keywords: algometry, migraine, nummular headache, palmitoylethanolamide, topiramate

  18. Lo siniestro del enigma.

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    Victoria Eugenia Diaz.

    1999-11-01

    Full Text Available En "El nacimiento de la filosofía griega", Giorgio Colli nos muestra una faceta tenebrosa del enigma. El dios Apolo, de naturaleza ilimitada, insondable, caprichosa, plantea al hombre enigmas que lo enfrentan con el sufrimiento y con la muerte. Allí, Edipo se confronta con enigmas enviados por el dios en los que se pone en juego su propia existencia. Tiempo después, en el transcurrir del siglo XX, reaparece una nueva forma de este dios arbitrario y arrogante: el desaparecedor de personas, ese inmoderado que impone moderación, borra con su acto un cuerpo, una imagen, un nombre, y formula un nuevo enigma siniestro que enfrenta otra vez al hombre con el dolor y con la muerte.

  19. Il mestiere di tradurre 5: Juan Carlos Reche

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    Juan Carlos Reche

    2015-07-01

    Full Text Available En la última década el traductor y poeta Juan Carlos Reche (Córdoba, 1976 ha dado a conocer algunos de los textos poéticos más relevantes y complejos de la literatura italiana de los últimos tiempos. Galardonado en 2013 con el Premio Nazionale per la Traduzione concedido por el Ministerio Italiano de Cultura, es además autor de poemarios propios como El dolor y la velocidad (Ed. Renacimiento, Sevilla, 1999 o Carrera del fruto (Ed. Pre-Textos, Valencia, 2006. Su doble condicion de poeta y traductor, el riesgo de enfrentarse a autores como Maurizio Cucchi, Giorgio Caproni o Giovanni Raboni, y la reciente aparición de la revista Años diez, que dirije junto al poeta Abraham Gragera, nos ha llevado a plantearle algunas preguntas sobre su labor en ambos campos. Entrevista de Juan Pérez Andrés.

  20. The Frontispiece of Leviathan

    DEFF Research Database (Denmark)

    Östman, Lars

    2012-01-01

    a few years after the great religious Thirty Years’ War a bold one: Leviathan represents a new way of conceiving the relation between sovereign and citizen as it combines Christian political theory and aesthetics. Having its methodological point of departure especially in Giorgio Agamben, the article...... and authority symbolised on the frontispiece, and it is thus not an image analyses in the traditional sense. Rather, it is to discuss the kind of political theory the frontispiece represents. Not only is Hobbes’ decision to put forward a theory of a commonwealth that is both civil as well as ecclesiastical only......This article analyses the frontispiece of Thomas Hobbes’ Leviathan with a focus on the relation between theology and politics as it is illustrated on the cover of this grand œuvre, and in particular on the figure of Leviathan himself. The scope of the article is to discuss the form of power...