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Sample records for slamming heiban kinji

  1. 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.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-12-31

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

  3. Distributed SLAM

    Science.gov (United States)

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

    2002-07-01

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

  4. 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...

  5. Performing poetry slam

    DEFF Research Database (Denmark)

    Schweppenhäuser, Jakob; Pedersen, Birgitte Stougaard

    2017-01-01

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

  6. Review of ship slamming loads and responses

    Science.gov (United States)

    Wang, Shan; Guedes Soares, C.

    2017-12-01

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

  7. Distributed Monocular SLAM for Indoor Map Building

    OpenAIRE

    Ruwan Egodagamage; Mihran Tuceryan

    2017-01-01

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

  8. 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.

  9. SLAM in a van

    Science.gov (United States)

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

    2002-07-01

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

  10. Literature review of SLAM and DATMO

    CSIR Research Space (South Africa)

    Pancham, A

    2011-11-01

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

  11. MonoSLAM: real-time single camera SLAM.

    Science.gov (United States)

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

    2007-06-01

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

  12. Clustered features for use in stereo vision SLAM

    CSIR Research Space (South Africa)

    Joubert, D

    2010-07-01

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

  13. Resolution enhancement of slam using transverse wave

    International Nuclear Information System (INIS)

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

    1997-01-01

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

  14. Slamming Simulations in a Conditional Wave

    DEFF Research Database (Denmark)

    Seng, Sopheak; Jensen, Jørgen Juncher

    2012-01-01

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

  15. Slam!

    Science.gov (United States)

    2006-01-01

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

  16. Slam estimation in dynamic outdoor environments

    OpenAIRE

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

    2010-01-01

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

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

    Science.gov (United States)

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

    2011-01-01

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

  18. 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

  19. Distributed Monocular SLAM for Indoor Map Building

    Directory of Open Access Journals (Sweden)

    Ruwan Egodagamage

    2017-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Hongjin Zhang

    2011-10-01

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

  1. Research of cartographer laser SLAM algorithm

    Science.gov (United States)

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

    2017-11-01

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

  2. A Highest Order Hypothesis Compatibility Test for Monocular SLAM

    OpenAIRE

    Edmundo Guerra; Rodrigo Munguia; Yolanda Bolea; Antoni Grau

    2013-01-01

    Simultaneous Location and Mapping (SLAM) is a key problem to solve in order to build truly autonomous mobile robots. SLAM with a unique camera, or monocular SLAM, is probably one of the most complex SLAM variants, based entirely on a bearing-only sensor working over six DOF. The monocular SLAM method developed in this work is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the contribution of a new data association batch validation technique, the Highest Order Hyp...

  3. Slamming Simulations in a Conditional Wave

    DEFF Research Database (Denmark)

    Seng, Sopheak; Jensen, Jørgen Juncher

    2012-01-01

    A study of slamming events in conditional waves is presented in this paper. The ship is sailing in head sea and the motion is solved for under the assumption of rigid body motion constrained to two degree-of-freedom i.e. heave and pitch. Based on a time domain non-linear strip theory most probable...

  4. 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.

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

    Directory of Open Access Journals (Sweden)

    Fernando Auat Cheein

    2010-02-01

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

  6. Situations in Construction of 3D Mapping for Slam

    OpenAIRE

    Nguyen Hoang Thuy Trang; Shydlouski Stanislav

    2018-01-01

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

  7. Situations in Construction of 3D Mapping for Slam

    Directory of Open Access Journals (Sweden)

    Nguyen Hoang Thuy Trang

    2018-01-01

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

  8. Applying FastSLAM to Articulated Rovers

    Science.gov (United States)

    Hewitt, Robert Alexander

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

  9. 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.

  10. A novel visual-inertial monocular SLAM

    Science.gov (United States)

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

    2018-02-01

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

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

    Science.gov (United States)

    Imani, Vandad; Haataja, Keijo; Toivanen, Pekka

    2018-04-01

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

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

    OpenAIRE

    Joly , Cyril; Rives , Patrick

    2008-01-01

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

  13. 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.

  14. Towards Informative Path Planning for Acoustic SLAM

    OpenAIRE

    Evers, C; Moore, A; Naylor, P

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Guillem Vallicrosa

    2018-05-01

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

  16. Using Symmetrical Regions of Interest to Improve Visual SLAM

    NARCIS (Netherlands)

    Kootstra, Geert; Schomaker, Lambertus

    2009-01-01

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

  17. 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.

  18. Environment exploration and SLAM experiment research based on ROS

    Science.gov (United States)

    Li, Zhize; Zheng, Wei

    2017-11-01

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

  19. FastSLAM Using Compressed Occupancy Grids

    Directory of Open Access Journals (Sweden)

    Christopher Cain

    2016-01-01

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

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

    Science.gov (United States)

    Dias, Frédéric; Ghidaglia, Jean-Michel

    2018-01-01

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

  1. 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.

  2. A Neuro-Fuzzy Multi Swarm FastSLAM Framework

    OpenAIRE

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

    2010-01-01

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

  3. Bottom Slamming on Heaving Point Absorber Wave Energy Devices

    DEFF Research Database (Denmark)

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

    2010-01-01

    shapes are considered: a hemisphere and two conical shapes with deadrise angles of 30 and 45, with a waterline diameter of 5 m. The simulations indicate that the risk of rising out of the water is largely dependent on the buoy draft and sea state. Although associated with power losses, emergence......Oscillating point absorber buoys may rise out of the water and be subjected to bottom slamming upon re-entering the water. Numerical simulations are performed to estimate the power absorption, the impact velocities and the corresponding slamming forces for various slamming constraints. Three buoy...... occurrence probabilities can be significantly reduced by adapting the control parameters. The magnitude of the slamming load is severely influenced by the buoy shape. The ratio between the peak impact load on the hemisphere and that on the 45 cone is approximately 2, whereas the power absorption is only 4...

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

    Science.gov (United States)

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

    2018-03-23

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

  5. Creating spatial awareness in unmanned ground robots using SLAM

    Indian Academy of Sciences (India)

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

  6. 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...

  7. Two Measures for Enhancing Data Association Performance in SLAM

    Directory of Open Access Journals (Sweden)

    Wu Zhou

    2014-01-01

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

  8. A Highest Order Hypothesis Compatibility Test for Monocular SLAM

    Directory of Open Access Journals (Sweden)

    Edmundo Guerra

    2013-08-01

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

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

    Science.gov (United States)

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

    2018-04-01

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

  10. 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.

  11. 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.

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

    Science.gov (United States)

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

    2001-10-01

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

  13. SLAM: a sodium-limestone concrete ablation model

    International Nuclear Information System (INIS)

    Suo-Anttila, A.J.

    1983-12-01

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

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

    Science.gov (United States)

    Auat Cheein, Fernando A.; Carelli, Ricardo

    2011-01-01

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

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

    OpenAIRE

    Mur-Artal, Raul; Tardos, Juan D.

    2016-01-01

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

  16. 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...

  17. 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.

  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. Sampling in image space for vision based SLAM

    NARCIS (Netherlands)

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

    2008-01-01

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

  20. 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.

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

    Science.gov (United States)

    Guerra, Edmundo; Munguia, Rodrigo; Grau, Antoni

    2014-04-02

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

  2. 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

  3. 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.

  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

    2017-04-20

    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.

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

    Science.gov (United States)

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

    2004-09-01

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

  6. Using external sensors in solution of SLAM task

    Science.gov (United States)

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

    2018-05-01

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

  7. Localisation accuracy of semi-dense monocular SLAM

    Science.gov (United States)

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

    2017-06-01

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

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

    OpenAIRE

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

    2009-01-01

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

  9. An EKF-SLAM algorithm with consistency properties

    OpenAIRE

    Barrau, Axel; Bonnabel, Silvere

    2015-01-01

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

  10. An evaluation of attention models for use in SLAM

    Science.gov (United States)

    Dodge, Samuel; Karam, Lina

    2013-12-01

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

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

    Science.gov (United States)

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

    2018-06-01

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

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

    NARCIS (Netherlands)

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

    2008-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Jianjun Ni

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Jan Bayer

    2016-11-01

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

  16. Multi-Sensor SLAM Approach for Robot Navigation

    Directory of Open Access Journals (Sweden)

    Sid Ahmed BERRABAH

    2010-12-01

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

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

    Science.gov (United States)

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

    2017-09-01

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

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

    Directory of Open Access Journals (Sweden)

    Hayyan Afeef Daoud

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

  19. Multibeam 3D Underwater SLAM with Probabilistic Registration

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2016-04-01

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

  20. Validation of Underwater Sensor Package Using Feature Based SLAM

    Directory of Open Access Journals (Sweden)

    Christopher Cain

    2016-03-01

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

  1. Validation of Underwater Sensor Package Using Feature Based SLAM

    Science.gov (United States)

    Cain, Christopher; Leonessa, Alexander

    2016-01-01

    Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package. PMID:26999142

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

    Directory of Open Access Journals (Sweden)

    Kamarulzaman Kamarudin

    2014-12-01

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

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

    Directory of Open Access Journals (Sweden)

    Hyunkyoung Shin

    2018-05-01

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

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

    CSIR Research Space (South Africa)

    Pancham, A

    2012-11-01

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

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

    National Research Council Canada - National Science Library

    Sukkarieh, Salah; Bryson, Mitch

    2008-01-01

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

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

    OpenAIRE

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

    2017-01-01

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

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

    OpenAIRE

    Zhang, Erik

    2016-01-01

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

  8. 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.

  9. 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.

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

    Science.gov (United States)

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

    2016-02-01

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

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

    Directory of Open Access Journals (Sweden)

    Chuang Qian

    2016-12-01

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

  12. 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

  13. 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.

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

    Science.gov (United States)

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

    2014-09-01

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

  15. 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.

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

    Directory of Open Access Journals (Sweden)

    Yanli Liu

    2013-01-01

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

  17. [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.

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

    Science.gov (United States)

    Ulas, C.; Temeltas, H.

    2013-05-01

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

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

    OpenAIRE

    Deschaud, Jean-Emmanuel

    2018-01-01

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

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

    International Nuclear Information System (INIS)

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

    2011-01-01

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

  1. 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.

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

    OpenAIRE

    Gao, C; Harle, Robert Keith

    2017-01-01

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

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

    Science.gov (United States)

    Yang, Xuesi; Xia, Shengping

    2015-12-01

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

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

    Science.gov (United States)

    Munguia, Rodrigo; Urzua, Sarquis; Grau, Antoni

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Rodrigo Munguia

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

  6. 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.

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

    Directory of Open Access Journals (Sweden)

    Jin-Chun Piao

    2017-11-01

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

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

    NARCIS (Netherlands)

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

    2009-01-01

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

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

    Science.gov (United States)

    Piao, Jin-Chun; Kim, Shin-Dug

    2017-01-01

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

  10. 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.

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

    DEFF Research Database (Denmark)

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

    2018-01-01

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

  12. 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

  13. 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

  14. 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.

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

    Science.gov (United States)

    2016-06-30

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

  16. 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

  17. 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.

  18. 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.

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

    International Nuclear Information System (INIS)

    Tian Wenxi; Su Guanghui; Wang Gaopeng; Qiu Suizheng; Xiao Zejun

    2009-01-01

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

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

    Science.gov (United States)

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

    2018-04-26

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

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

    Institute of Scientific and Technical Information of China (English)

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

    2009-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Hyukdoo Choi

    2014-01-01

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

  3. 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.

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

    OpenAIRE

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

    2017-01-01

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

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

    Directory of Open Access Journals (Sweden)

    KeKe Gen

    2015-01-01

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

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

    OpenAIRE

    Özaslan, Tolga

    2011-01-01

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

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

    Science.gov (United States)

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

    2018-03-02

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

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

    Directory of Open Access Journals (Sweden)

    Susana Lagüela

    2018-03-01

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

  9. 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.

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

    Science.gov (United States)

    Rodríguez-Salgado, Beatriz; Sánchez-Mateos, Daniel

    2016-01-01

    Background. Synthetic cathinones (SCs), also known as “bath salts,” are β-ketone amphetamine compounds derived from cathinone, a psychoactive substance found in Catha edulis. Mephedrone is the most representative SC. Slamming is the term used for the intravenous injection of these substances in the context of chemsex parties, in order to enhance sex experiences. Using IV mephedrone may lead to diverse medical and psychiatric complications like psychosis, aggressive behavior, and suicide ideation. Case. We report the case of a 25-year-old man admitted into a psychiatric unit, presenting with psychotic symptoms after slamming mephedrone almost every weekend for the last 4 months. He presents paranoid delusions, intense anxiety, and visual and kinesthetic hallucinations. He also shows intense craving, compulsive drug use, general malaise, and weakness. After four weeks of admission and antipsychotic treatment, delusions completely disappear. The patient is reinfected with hepatitis C. Discussion. Psychiatric and medical conditions related to chemsex and slamming have been reported in several European cities, but not in Spain. Psychotic symptoms have been associated with mephedrone and other SCs' consumption, with the IV route being prone to produce more severe symptomatology and addictive conducts. In the case we report, paranoid psychosis, addiction, and medical complications are described. PMID:27247820

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

    Science.gov (United States)

    Wu, Hua; Qin, Shi-Yin

    2011-03-01

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

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

    Science.gov (United States)

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

    2014-12-01

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

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

    NARCIS (Netherlands)

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

    2018-01-01

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

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

    NARCIS (Netherlands)

    Boermans GMF; van Pul WAJ

    1993-01-01

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

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

    Science.gov (United States)

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

    2010-01-01

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

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

    Science.gov (United States)

    Manning, R. M.

    1994-01-01

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

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

    Science.gov (United States)

    Manning, R. M.

    1994-01-01

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

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

    Science.gov (United States)

    Shams, Adel; Zhao, Sam; Porfiri, Maurizio

    2017-03-01

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

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

    Directory of Open Access Journals (Sweden)

    Jian Tang

    2015-12-01

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

  20. 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.

  1. 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.

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

    Science.gov (United States)

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

    2012-10-01

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

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

    Directory of Open Access Journals (Sweden)

    El Houssein Chouaib Harik

    2018-05-01

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

  4. 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.

  5. 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.

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

    Science.gov (United States)

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

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

  7. 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.

  8. 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)

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

    Science.gov (United States)

    Nishihta, Sho; Maeyama, Shoichi; Watanebe, Keigo

    2018-02-01

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

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

    Science.gov (United States)

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

    2015-05-01

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

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

    Science.gov (United States)

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

    2014-12-01

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

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

    International Nuclear Information System (INIS)

    Park, Byeolteo; Myung, Hyun

    2014-01-01

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

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

    Science.gov (United States)

    Park, Byeolteo; Myung, Hyun

    2014-12-01

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

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

    International Nuclear Information System (INIS)

    Martin, C.S.

    2011-01-01

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

  15. Slam Dunk

    Science.gov (United States)

    Herek, Matthew

    2011-01-01

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

  16. 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.

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

    Directory of Open Access Journals (Sweden)

    A. Kurian

    2016-06-01

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

  18. 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.

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

    OpenAIRE

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

    2016-01-01

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

  20. 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.

  1. 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.

  2. 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.

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

    Science.gov (United States)

    Samanta, Sudipta; Mukherjee, Sanchita

    2018-01-28

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

  4. 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.

  5. 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.

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

    International Nuclear Information System (INIS)

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

    1996-01-01

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

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

    Science.gov (United States)

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

    2018-05-18

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

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

    Science.gov (United States)

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

    2013-11-01

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

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

    Science.gov (United States)

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

    2018-06-01

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

  10. A Precise and Real-Time Loop-closure Detection for SLAM Using the RSOM Tree

    Directory of Open Access Journals (Sweden)

    Siyang Song

    2015-06-01

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

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

    International Nuclear Information System (INIS)

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

    1985-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Denis Mike

    2009-08-01

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

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

    Science.gov (United States)

    Cronin, V.; Sverdrup, K. A.

    2013-05-01

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

  14. 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.

  15. 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.

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

    Science.gov (United States)

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

    2009-09-01

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

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

    Science.gov (United States)

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

    2006-02-01

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

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

    Science.gov (United States)

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

    2017-01-01

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

  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 (T FH ) cell differentiation. Intriguingly, the deletion of SFRs completely rescued the severe defect in T FH cell generation caused by SAP deficiency, whereas SFR deletion had a minimal effect on the defective NKT cell development in SAP-deficient mice. These findings suggest that SAP-dependent activating SFR signaling is essential for NKT cell selection; however, SFR signaling is inhibitory in SAP-deficient T FH cells. Thus, our current study revises our understanding of the mechanisms underlying T cell defects in patients with XLP. © 2017 Chen et al.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-05-15

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

  1. 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

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

    International Nuclear Information System (INIS)

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

    2016-01-01

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

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

    Science.gov (United States)

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

    2014-01-01

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

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

    Directory of Open Access Journals (Sweden)

    F. Chiabrando

    2018-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Mary M Melia

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

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

    Directory of Open Access Journals (Sweden)

    Mehmet Atlar

    2013-06-01

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

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

    Directory of Open Access Journals (Sweden)

    Denny Meyer

    2006-12-01

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

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

    International Nuclear Information System (INIS)

    Neuhaus, Thorsten; Schaffrath, Andreas

    2009-01-01

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

  9. 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

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

    Institute of Scientific and Technical Information of China (English)

    董蕊芳; 柳长安; 杨国田; 程瑞营

    2017-01-01

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

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

    Science.gov (United States)

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

    2018-05-01

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

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

    Directory of Open Access Journals (Sweden)

    Jaehoon Jung

    2015-10-01

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

  13. 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

  14. Hurricane slams gulf operations

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

    This paper reports that reports of damage by Hurricane Andrew escalated last week as operators stepped up inspections of oil and gas installations in the Gulf of Mexico. By midweek, companies operating in the gulf and South Louisiana were beginning to agree that earlier assessments of damage only scratched the surface. Damage reports included scores of lost, toppled, or crippled platforms, pipeline ruptures, and oil slicks. By midweek the U.S. coast Guard had received reports of 79 oil spills. Even platforms capable of resuming production in some instances were begin curtailed because of damaged pipelines. Offshore service companies the another 2-4 weeks could be needed to fully assess Andrew's wrath. Lack of personnel and equipment was slowing damage assessment and repair

  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. 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.

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

    Science.gov (United States)

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

    2007-12-01

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

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

    Science.gov (United States)

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

    2018-06-02

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

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

    OpenAIRE

    METİN, İsmail

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Fatih TİRYAKİ

    2015-09-01

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

  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. 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.

  5. Public citizen slams NRC on nuclear inspections

    International Nuclear Information System (INIS)

    Newman, P.

    1993-01-01

    Charging the Nuclear Regulatory Commission with open-quotes abandoning tough regulation of the nuclear power industry,close quotes Public Citizen's Critical Mass Energy Project on Wednesday released a report asserting that NRC is shielding sensitive internal nuclear industry self-evaluations from public scrutiny. Based on their review of 56 Institute of Nuclear Power Operations reports and evaluations and comparing these to the NRC's Systematic Assessment of Licensee Performance reports for the same plants, it was concluded that the NRC failed to address issues raised in all eight areas evaluated by the INPO reports

  6. Air quality assessment in Salim Slam Tunnel

    International Nuclear Information System (INIS)

    El-Fadel, M.; Hashisho, Z.; Saikaly, P.

    1999-01-01

    Full text.Vehicle emissions constitute a serious occupational environmental hazard particularly in confined spaces such as tunnels and underground parking garages. these emissions at elevated concentrations, can cause adverse health effects, which range from nausea and eye irritation to mutagenicity, carcinogenicity and even death. This paper presents an environmental air quality assessment in a tunnel located in a highly congested urban area. For this purpose, air samples were collected and analyzed for the presence of primary air pollutants, priority metals, and volatile organic carbons. Air quality modeling was conducted to simulate variations of pollutant concentrations in the tunnel under worst case scenarios including traffic congestion and no air ventilation. Field measurements and mathematical simulation results were used to develop a strategy for proper air quality management in tunnels

  7. Vision Based SLAM in Dynamic Scenes

    Science.gov (United States)

    2012-12-20

    the correct relative poses between cameras at frame F. For this purpose, we detect and match SURF features between cameras in dilierent groups, and...all cameras in s uch a challenging case. For a compa rison, we disabled the ’ inte r-camera pose estimation’ and applied the ’ intra-camera pose esti

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

    Directory of Open Access Journals (Sweden)

    Hayrettin Kesgingöz

    2018-03-01

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

  9. Flows around a moving flat plate simulated by the method of cellular automata. Seru outoman ho ni yoru ido heiban mawari no nagare

    Energy Technology Data Exchange (ETDEWEB)

    Tsutahara, M; Tomiyama, A; Kimura, T; Murata, H [Kobe University, Kobe (Japan). Faculty of Engineering

    1993-08-25

    In order to analyze the field of flow containing a moving boundary by the method of cellular automaton, the method of giving the boundary conditions in the case where a wall is moving at a constant velocity in the normal direction was examined. This method is used to simulate the movement of continuous fluid by statistically treating the movement of many discrete particles which repeat translation and collision. The collision law of particles at grid points is formulated so as to conserve mass(number of particles) and momentum for the purpose of satisfying the governing equation of flow. The object is the flow in the case where a flat plate moves in the normal direction inside the fluid enclosed by rectangular walls and the plate was assumed that it is first in a standing condition, then starts to move from left to right at a speed of V and stops in front of the right wall. Three boundary conditions, surrounding wall, plate in the standing condition and moving plate, were considered. Flow rates were calculated concerning the translation and collision and each divided mean-field-approximation region(space having a magnitude of capable of averaging operation of particles). Effectiveness of proposed boundary conditions was confirmed by a visualization experiment. 3 refs., 14 figs.

  10. 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.

  11. Surface temperature measurement using infrared radiometer. 2nd Report. Applicability of pseudo gray body approximation. Sekitaisen eizo sochi wo riyoshita jitsuyoteki ondo keisoku ni kansuru kenkyu. 2. Giji Haiiro kinji no tekiyosei

    Energy Technology Data Exchange (ETDEWEB)

    Inagaki, T; Sekiya, M; Ishibashi, H; Okamoto, Y [Ibaraki University, Ibaraki (Japan). Faculty of Engineering; Kurokawa, K [NEC Corp., Tokyo (Japan)

    1994-06-25

    Establishment of a simple and reasonable technique and its application to the metallic surface in addition to the nonmetallic surface in the room-temperature measurement using infrared picture equipment have been studied. It was found, as published in the previous paper, in the investigation of radiation temperature, radiosity coefficient, their wave-length dependence and the dispersiveness of these parameters about the surfaces of various kinds of material that the assumption of gray body approximation does not hold in the surfaces of metal and part of nonmetal. In the present work, applicability of pseudo-gray body approximation to the metal surface in a system surrounded by black body surfaces was studied in consideration of directivity of emissivity and reflectance while, in actual, a measuring angle of 15 degrees giving a small directivity effect was used based on experimental results. As in the previous paper, three kinds of sensors different in the detectable wave-length range were used to evaluate the radiation temperature, emissivity, radiosity coefficient, and their dispersiveness. The experimental results proved the applicability of pseudo-gray body approximation. 3 refs., 18 figs., 2 tabs.

  12. 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

  13. Active Visual SLAM with Exploration for Autonomous Underwater Navigation

    Science.gov (United States)

    2012-01-01

    tourism. Reconstruction of Notre Dame de Paris (Snavely et al., 2006). (c) Web-scale landmark recognition engine (Zheng et al., 2009). eters for an...structures, such as Notre Dame Cathedral in Paris and the Great Wall of China (Figure 1.3(b)), using photographs compiled from the Internet. Given the...Exhibition, vol. 3, pp. 378–383, Brest , France. Brown, M., and D. G. Lowe (2005), Unsupervised 3D object recognition and reconstruction in unordered

  14. Multi-Robot FastSLAM for Large Domains

    Science.gov (United States)

    2007-03-01

    Derr, D. Fox, A.B. Cremers , Integrating global position estimation and position tracking for mobile robots: The dynamic markov localization approach...Intelligence (AAAI), 2000. 53. Andrew J. Davison and David W. Murray. Simultaneous Localization and Map- Building Using Active Vision. IEEE...Wyeth, Michael Milford and David Prasser. A Modified Particle Filter for Simultaneous Robot Localization and Landmark Tracking in an Indoor

  15. Human SLAM, indoor localisation of devices and users

    NARCIS (Netherlands)

    Bulten, W.; Rossum, A.C. van; Haselager, W.F.G.; Guerrero, J.E.

    2016-01-01

    The indoor localisation problem is more complex than just finding whereabouts of users. Finding positions of users relative to the devices of a smart space is even more important. Unfortunately, configuring such systems manually is a tedious process, requires expert knowledge, and is sensitive to

  16. SLAM, a Mathematica interface for SUSY spectrum generators

    International Nuclear Information System (INIS)

    Marquard, Peter; Zerf, Nikolai

    2013-09-01

    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 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 h 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.

  17. Multi-Robot FastSLAM for Large Domains

    National Research Council Canada - National Science Library

    Koperski, Choyong G

    2007-01-01

    For a robot to build a map of its surrounding area, it must have accurate position information within the area, and to obtain accurate position information within the area, the robot needs to have an...

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

    CSIR Research Space (South Africa)

    Matsebe, O

    2010-07-01

    Full Text Available and Control. Available: http://www.robots.ox.ac.uk/~pnewman/papers/Robotica.pdf, date accessed: [2009, 05/20] [7] Williams, S.B., Newman, P., Rosenblatt, J., Dissanayake, G. & Whyte, H.D., Autonomous Underwater Simultaneous and Localisation and Map Building.... Available: http://www.robots.ox.ac.uk/~pnewman/papers/Robotica.pdf., date accessed: [2009, 05/20] [8]http://www.tritech.co.uk/products/products-micron_sonar.htm, date accessed: [10/01/10] [9] Tena, I., Petillot, Y., Lane, D.M.,Salson. Feature Extraction...

  19. Creating spatial awareness in unmanned ground robots using SLAM

    Indian Academy of Sciences (India)

    sensor data to get information of the environment, to formulate its plan to achieve the given goals, to plan a path for movement to a designated location, to allow the robot to update itself con- tinuously to incorporate observed changes in its plans, etc. Among these activities, autonomous movement is very important for mobile ...

  20. Social partners slam government plans to counter crisis

    NARCIS (Netherlands)

    Grünell, M.

    2009-01-01

    The social partners have criticized the plans put forward by the Dutch government to ease the impact of the economic crisis. Trade unions are against the plans to keep older employees working for longer and to raise the retirement age. Employers, meanwhile, have argued against the scrapping of the

  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. 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.

  3. AUTOMATIC CALIBRATION OF A STOCHASTIC-LAGRANGIAN TRANSPORT MODEL (SLAM)

    Science.gov (United States)

    Numerical models are a useful tool in evaluating and designing NAPL remediation systems. Traditional constitutive finite difference and finite element models are complex and expensive to apply. For this reason, this paper presents the application of a simplified stochastic-Lagran...

  4. Vision-Based SLAM System for Unmanned Aerial Vehicles

    Directory of Open Access Journals (Sweden)

    Rodrigo Munguía

    2016-03-01

    Full Text Available The present paper describes a vision-based simultaneous localization and mapping system to be applied to Unmanned Aerial Vehicles (UAVs. The main contribution of this work is to propose a novel estimator relying on an Extended Kalman Filter. The estimator is designed in order to fuse the measurements obtained from: (i an orientation sensor (AHRS; (ii a position sensor (GPS; and (iii a monocular camera. The estimated state consists of the full state of the vehicle: position and orientation and their first derivatives, as well as the location of the landmarks observed by the camera. The position sensor will be used only during the initialization period in order to recover the metric scale of the world. Afterwards, the estimated map of landmarks will be used to perform a fully vision-based navigation when the position sensor is not available. Experimental results obtained with simulations and real data show the benefits of the inclusion of camera measurements into the system. In this sense the estimation of the trajectory of the vehicle is considerably improved, compared with the estimates obtained using only the measurements from the position sensor, which are commonly low-rated and highly noisy.

  5. Vision-Based SLAM System for Unmanned Aerial Vehicles.

    Science.gov (United States)

    Munguía, Rodrigo; Urzua, Sarquis; Bolea, Yolanda; Grau, Antoni

    2016-03-15

    The present paper describes a vision-based simultaneous localization and mapping system to be applied to Unmanned Aerial Vehicles (UAVs). The main contribution of this work is to propose a novel estimator relying on an Extended Kalman Filter. The estimator is designed in order to fuse the measurements obtained from: (i) an orientation sensor (AHRS); (ii) a position sensor (GPS); and (iii) a monocular camera. The estimated state consists of the full state of the vehicle: position and orientation and their first derivatives, as well as the location of the landmarks observed by the camera. The position sensor will be used only during the initialization period in order to recover the metric scale of the world. Afterwards, the estimated map of landmarks will be used to perform a fully vision-based navigation when the position sensor is not available. Experimental results obtained with simulations and real data show the benefits of the inclusion of camera measurements into the system. In this sense the estimation of the trajectory of the vehicle is considerably improved, compared with the estimates obtained using only the measurements from the position sensor, which are commonly low-rated and highly noisy.

  6. Stability of diffusion flame formed in a laminar flat plate boundary layer. Effect of fuel dilution; Soryu heiban kyokai sonai ni keiseisareru kakusan kaen no anteisei. Nenryo kishaku no eikyo

    Energy Technology Data Exchange (ETDEWEB)

    Takeuchi, M [National Institute for Resources and Environment, Tsukuba (Japan); Ueda, T; Mizumoto, M [Keio University, Tokyo (Japan). Faculty of Science and Technology; Amari, T [Keio University, Tokyo (Japan)

    1998-10-25

    A stability limit of the diffusion flame with fuel injection from a porous wall in a laminar flat plate boundary layer is measured as functions of fuel (CH4) concentration of CH4/N2 injectant mixture ({chi}) and its injection velocity (v). The free stream velocity (U{infinity}) is set as 0.6 m/s. The thermal condition at the wall is controlled by setting temperature at the upstream end of the porous wall as a reference temperature. When v >20 mm/s, the flame becomes unstable with the separation of leading flame edge with decreasing {chi}. The value of {chi} at the stability limit is constant without regard to v as long as the wall temperature is kept constant. As the wall temperature is decreased the value of {chi} increases. The separation is supposed to take place as a result of the limit of the reaction rate. When v <20 mm/s, the flame becomes unstable with the oscillation. The value of {chi} at the stability limit increases drastically with decreasing v. The oscillation takes place mainly due to the repeat of the extinction due to heat loss to the wall and the flame propagation in the combustible layer. 10 refs., 8 figs., 1 tab.

  7. Research and development of peripheral technology for photovoltaic power systems. Research and development of photovoltaic modules integrated with construction materials (detachable plane panel); Shuhen gijutsu no kenkyu kaihatsu. Kenzai ittaigata module no kenkyu kaihatsu (chakudatsushiki heiban panel)

    Energy Technology Data Exchange (ETDEWEB)

    Tatsuta, M [New Energy and Industrial Technology Development Organization, Tokyo (Japan)

    1994-12-01

    This paper reports the study results on R and D of photovoltaic modules integrated with construction materials in fiscal 1994. (1) On development of technology for module structures, specifications of the horizontal muntin system module were newly determined in addition to the improved muntin system module, and the prototype pseudo-module integrated with construction material was prepared. The comparison results of the basic performance of both system modules clarified superior waterproofing and module temperature uniformity of the horizontal muntin system. Based on this specifications, integration technology of modules with back metal plates was studied. Formation of the integrated module close to final specifications was ascertained to be possible by use of passivation equipment to irregular form. (2) On development of construction and installation methods of modules, improvement of the waterproofing and workability of both system modules was studied. (3) On the study on practical use of modules, their design and ventilation/cooling structure were studied. 38 figs., 13 tabs.

  8. Getting Slammed: White Depictions of Race Discussions as Arenas of Violence

    Science.gov (United States)

    DiAngelo, Robin; Sensoy, Özlem

    2014-01-01

    For many educators who lead cross-racial discussions, creating "safe" spaces in which students can express their views is a familiar goal. Yet what constitutes safety is rarely defined or contextualized. In the absence of this contextualization, the goal of safety is most often driven by White participants who complain that they are (or…

  9. MeshSLAM: Robust Localization and Large-Scale Mapping in Barren Terrain, Phase II

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

    Science.gov (United States)

    2015-03-26

    Truth rotation values are obtained from the spot of a laser pointer that is fixed to the CubeSat and points 76 Figure 44. The AFIT 6U CubeSat Air Bearing...Demonstration for Autonomous Rendezvous Technology (DART) spacecraft, which irradiates retro-reflectors of a known orienta- tion with a laser to solve the...minimize the additional sub-system requirements on the spacecraft. Most spacecraft already have star trackers , which use dedicated CPUs to perform stellar

  11. "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…

  12. Remote inspection with multi-copters, radiological sensors and SLAM techniques

    Science.gov (United States)

    Carvalho, Henrique; Vale, Alberto; Marques, Rúben; Ventura, Rodrigo; Brouwer, Yoeri; Gonçalves, Bruno

    2018-01-01

    Activated material can be found in different scenarios, such as in nuclear reactor facilities or medical facilities (e.g. in positron emission tomography commonly known as PET scanning). In addition, there are unexpected scenarios resulting from possible accidents, or where dangerous material is hidden for terrorism attacks using nuclear weapons. Thus, a technological solution is important to cope with fast and reliable remote inspection. The multi-copter is a common type of Unmanned Aerial Vehicle (UAV) that provides the ability to perform a first radiological inspection in the described scenarios. The paper proposes a solution with a multi-copter equipped with on-board sensors to perform a 3D reconstruction and a radiological mapping of the scenario. A depth camera and a Geiger-Müler counter are the used sensors. The inspection is performed in two steps: i) a 3D reconstruction of the environment and ii) radiation activity inference to localise and quantify sources of radiation. Experimental results were achieved with real 3D data and simulated radiation activity. Experimental tests with real sources of radiation are planned in the next iteration of the work.

  13. Rating Slam Dunks to Visualize the Mean, Median, Mode, Range, and Standard Deviation

    Science.gov (United States)

    Robinson, Nick W.; Castle Bell, Gina

    2014-01-01

    Among the many difficulties beleaguering the communication research methods instructor is the problem of contextualizing abstract ideas. Comprehension of variable operationalization, the utility of the measures of central tendency, measures of dispersion, and the visual distribution of data sets are difficult, since students have not handled data.…

  14. Graph SLAM correction for single scanner MLS forest data under boreal forest canopy

    Science.gov (United States)

    Kukko, Antero; Kaijaluoto, Risto; Kaartinen, Harri; Lehtola, Ville V.; Jaakkola, Anttoni; Hyyppä, Juha

    2017-10-01

    Mobile laser scanning (MLS) provides kinematic means to collect three dimensional data from surroundings for various mapping and environmental analysis purposes. Vehicle based MLS has been used for road and urban asset surveys for about a decade. The equipment to derive the trajectory information for the point cloud generation from the laser data is almost without exception based on GNSS-IMU (Global Navigation Satellite System - Inertial Measurement Unit) technique. That is because of the GNSS ability to maintain global accuracy, and IMU to produce the attitude information needed to orientate the laser scanning and imaging sensor data. However, there are known challenges in maintaining accurate positioning when GNSS signal is weak or even absent over long periods of time. The duration of the signal loss affects the severity of degradation of the positioning solution depending on the quality/performance level of the IMU in use. The situation could be improved to a certain extent with higher performance IMUs, but increasing system expenses make such approach unsustainable in general. Another way to tackle the problem is to attach additional sensors to the system to overcome the degrading position accuracy: such that observe features from the environment to solve for short term system movements accurately enough to prevent the IMU solution to drift. This results in more complex system integration with need for more calibration and synchronization of multiple sensors into an operational approach. In this paper we study operation of an ATV (All -terrain vehicle) mounted, GNSS-IMU based single scanner MLS system in boreal forest conditions. The data generated by RoamerR2 system is targeted for generating 3D terrain and tree maps for optimizing harvester operations and forest inventory purposes at individual tree level. We investigate a process-flow and propose a graph optimization based method which uses data from a single scanner MLS for correcting the post-processed GNSS-IMU trajectory for positional drift under mature boreal forest canopy conditions. The result shows that we can improve the internal conformity of the data significantly from 0.7 m to 1 cm based on tree stem feature location data. When the optimization result is compared to reference at plot level we reach down to 6 cm mean error in absolute tree stem locations. The approach can be generalized to any MLS point cloud data, and provides as such a remarkable contribution to harness MLS for practical forestry and high precision terrain and structural modeling in GNSS obstructed environments.

  15. Remote inspection with multi-copters, radiological sensors and SLAM techniques

    Directory of Open Access Journals (Sweden)

    Carvalho Henrique

    2018-01-01

    Full Text Available Activated material can be found in different scenarios, such as in nuclear reactor facilities or medical facilities (e.g. in positron emission tomography commonly known as PET scanning. In addition, there are unexpected scenarios resulting from possible accidents, or where dangerous material is hidden for terrorism attacks using nuclear weapons. Thus, a technological solution is important to cope with fast and reliable remote inspection. The multi-copter is a common type of Unmanned Aerial Vehicle (UAV that provides the ability to perform a first radiological inspection in the described scenarios. The paper proposes a solution with a multi-copter equipped with on-board sensors to perform a 3D reconstruction and a radiological mapping of the scenario. A depth camera and a Geiger-Müler counter are the used sensors. The inspection is performed in two steps: i a 3D reconstruction of the environment and ii radiation activity inference to localise and quantify sources of radiation. Experimental results were achieved with real 3D data and simulated radiation activity. Experimental tests with real sources of radiation are planned in the next iteration of the work.

  16. 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

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

    Science.gov (United States)

    Hickok, Gregory

    2017-01-01

    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. PMID:26223468

  18. 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.

  19. 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...

  20. İSLAM HUKUKU AÇISINDAN NİŞANLANMA / Engagement in Islamic Law

    OpenAIRE

    Acar, H. İbrahim

    2010-01-01

    ÖZETNişanlanma, evlenme arzusunda olan kadınla erkeğin evliliğe karar vermeden önce birbirini daha iyi tanımaları bakımından önem arzeden ve evliliğin hazırlık safhası olarak kabul edilen bir dönemi ifade eder.Bu dönemde, taraflar birbirleri hakkında fikir edinmek ve ilerde çıkması muhtemel bazı ailevi problemleri en aza indirmek için, edep dairesi içinde herkese açık mekanlarda buluşup görüşebilirler. Bunu yasaklayan her hangi bi...

  1. 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.

  2. Analysis of a postulated pipe rupture and subsequent check valve slam of a PWR feedwater line

    International Nuclear Information System (INIS)

    Chang, K.C.; Adams, T.M.

    1983-01-01

    System designs criteria employed in the design of pressurized water reactors (PWR) requires that, for a postulated instantaneous guillotine rupture anywhere in the steam generator feedwater system, no more than one steam generator can be allowed to blowdown. Feedwater systems in many PWR's consist of pipe lines running from the feedwater pumps into a common feedwater header then branching into each steam generator from the header. The feedwater piping to each steam generator contains swing check valves to prevent reverse flow from the steam generator. This activation of some or all of these check valves significantly complicates the system structural analysis in that not only the blowdown forces resulting from the postulated pipe rupture, but also the water hammer loads resulting from closure of the check valve at high reverse flow velocities must be considered. The loads resulting from system blowdown and check valve closure are axial in nature. Peak loads ranging from 130000 lbs. to 180000 lbs. are not uncommon and are layout dependent. The analysis and design to withstand this transient loading deviates from the usual feedwater line design in that supports are required along the piping axis in the direction normal to the usual seismic supports. A brief and general discussion of the methods employed in the generation of the thermal-hydraulic loadings is presented. However, the discussion emphasizes the piping and piping support structural design and analysis method and approaches used in evaluating a selected portion of such a feedwater system. (orig./RW)

  3. MeshSLAM: Robust Localization and Large-Scale Mapping in Barren Terrain, Phase I

    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...

  4. Check valve slam waterhammer in piping systems equipped with multiple parallel pumps

    International Nuclear Information System (INIS)

    Sponsel, J.; Bird, E.; Zarechnak, A.

    1993-01-01

    The low pressure safety injection system at the calvert cliff's plant is designed to provide cooling water to the reactor in the event of a postulated accident and for reactor cool-down and decay heat removal during normal maintenance and refueling. This system experienced repeated damage to the axial piping supports on the pump section and the discharge headers due to the check valve phenomenon. To determine the cause, testing was performed in both the LPSI and CCW systems

  5. Journal of Biosciences | Indian Academy of Sciences

    Indian Academy of Sciences (India)

    2007-05-10

    May 10, 2007 ... Annual Meetings · Mid Year Meetings · Discussion Meetings · Public Lectures ... Prior to the contribution of genetics or the modern evolutionary ... Imanishi Kinji's personal library and his scientific notes and papers ... School of Environmental Studies, University of Victoria, Victoria, BC V8W 2Y2, Canada ...

  6. Achievement report for fiscal 1981 on Sunshine Program survey and research. Joint projects on solar energy between Japan and Australia, etc. (Joint efforts for high-grade flat-plate collector development); 1981 nendo Nichigonado taiyo energy gijutsu kyoryoku jigyo seika hokokusho. Nichigo taiyo energy gijutsu kyoryoku (kokyu heiban collector kaihatsu kyoryoku)

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1982-03-01

    Investigated at DET (Division of Energy Technology) are a unit for controlling air convection in between a heat collector heat-collecting plate and the cover, testing methods, and under-floor heat accumulation using a horizontal rock bed. DMC (Division of Mineral Chemistry) is engaged in the study of black Ni selective absorption film formation on a metal plate and a reflection-preventing film for a heat collector. Monash University studies methods for testing heat collectors, transfer of heat, heat pipe, tracking mechanism, etc. Melbourne University is dedicated to computer model calculation involving solar energy utilization. Sydney University deals with collectors, selective absorption films, absorption type refrigerators, heat accumulation, and desalination of water. Under study at New South Wales University are passive solar systems, photothermal collectors, solar cells, etc. The Beaseley Corporation is a manufacturer of heater collectors and water heaters in South Australia, and a visit is paid to the corporation for the study of its manufacturing process. The Rheem Corporation manufactures water heaters in New South Wales, and its presence in the solar collector industry is known. (NEDO)

  7. Until the interior of the proton. A science slam through the world of the elementary particles, the accelerators, and supernerds; Bis(s) ins Innere des Protons. Ein Science Slam durch die Welt der Elementarteilchen, der Beschleuniger und Supernerds

    Energy Technology Data Exchange (ETDEWEB)

    Lemmer, Boris

    2014-06-01

    There where's becomes small the world suddenly becomes suddenly totally crazy: From pure energy particles are produced, matter particles get siblings of antimatter, particles, which actually should not exist, are created from scratch. The nature borrows energy, which is actually not there. Forces act, which behave completely differently than anything, what we know from everyday life. This is the world of particle physics. Particle physicist build the largest experiments of all time, in order to study the smallest particles of the universe. They go to the limits of the technically feasible and exceed thereby the limits of our countries. Who finds that all also so exciting - as the particle physicists - is heartily invited to read this book. Who believes that without a study of particle physics nothing is understood, also. Quantum field theories, particle accelerators, Higgs mechanisms etc. are instead by nasty formulas explained by means of monkeys, ants, hedgehogs, beavers, and illustrative pictures. And by means of linked videos in can be directly submerged into the world of CERN, the LHC particle accelerator, and the ATLAS experiment.

  8. Hydroelastic slamming response in the evolution of a flip-through event during shallow-liquid sloshing

    Science.gov (United States)

    Lugni, C.; Bardazzi, A.; Faltinsen, O. M.; Graziani, G.

    2014-03-01

    The evolution of a flip-through event [6] upon a vertical, deformable wall during shallow-water sloshing in a 2D tank is analyzed, with specific focus on the role of hydroelasticity. An aluminium plate, whose dimensions are Froude-scaled in order to reproduce the first wet natural frequency associated with the typical structural panel of a Mark III containment system, is used. (Mark III Containment System is a membrane-type tank used in the Liquefied Natural Gas (LNG) carrier to contain the LNG. A typical structural panel is composed by two metallic membranes and two independent thermal insulation layers. The first membrane contains the LNG, the second one ensures redundancy in case of leakage.) Such a system is clamped to a fully rigid vertical wall of the tank at the vertical ends while being kept free on its lateral sides. Hence, in a 2D flow approximation the system can be suitably modelled, as a double-clamped Euler beam, with the Euler beam theory. The hydroelastic effects are assessed by cross-analyzing the experimental data based both on the images recorded by a fast camera, and on the strain measurements along the deformable panel and on the pressure measurements on the rigid wall below the elastic plate. The same experiments are also carried out by substituting the deformable plate with a fully stiff panel. The pressure transducers are mounted at the same positions of the strain gauges used for the deformable plate. The comparison between the results of rigid and elastic case allows to better define the role of hydroelasticity. The analysis has identified three different regimes characterizing the hydroelastic evolution: a quasi-static deformation of the beam (regime I) precedes a strongly hydroelastic behavior (regime II), for which the added mass effects are relevant; finally, the free-vibration phase (regime III) occurs. A hybrid method, combining numerical modelling and experimental data from the tests with fully rigid plate is proposed to examine the hydroelastic effects. Within this approach, the measurements provide the experimental loads acting on the rigid plate, while the numerical solution enables a more detailed analysis, by giving additional information not available from the experimental tests. More in detail, an Euler beam equation is used to model numerically the plate with the added-mass contribution estimated in time. In this way the resulting hybrid method accounts for the variation of the added mass associated with the instantaneous wetted length of the beam, estimated from the experimental images. Moreover, the forcing hydrodynamic load is prescribed by using the experimental pressure distribution measured in the rigid case. The experimental data for the elastic beam are compared with the numerical results of the hybrid model and with those of the standard methods used at the design stage. The comparison against the experimental data shows an overall satisfactory prediction of the hybrid model. The maximum peak pressure predicted by the standard methods agrees with the result of the hybrid model only when the added mass effect is considered. However, the standard methods are not able to properly estimate the temporal evolution of the plate deformation.

  9. Hydroelastic slamming response in the evolution of a flip-through event during shallow-liquid sloshing

    International Nuclear Information System (INIS)

    Lugni, C.; Bardazzi, A.; Faltinsen, O. M.; Graziani, G.

    2014-01-01

    The evolution of a flip-through event [6] upon a vertical, deformable wall during shallow-water sloshing in a 2D tank is analyzed, with specific focus on the role of hydroelasticity. An aluminium plate, whose dimensions are Froude-scaled in order to reproduce the first wet natural frequency associated with the typical structural panel of a Mark III containment system, is used. (Mark III Containment System is a membrane-type tank used in the Liquefied Natural Gas (LNG) carrier to contain the LNG. A typical structural panel is composed by two metallic membranes and two independent thermal insulation layers. The first membrane contains the LNG, the second one ensures redundancy in case of leakage.) Such a system is clamped to a fully rigid vertical wall of the tank at the vertical ends while being kept free on its lateral sides. Hence, in a 2D flow approximation the system can be suitably modelled, as a double-clamped Euler beam, with the Euler beam theory. The hydroelastic effects are assessed by cross-analyzing the experimental data based both on the images recorded by a fast camera, and on the strain measurements along the deformable panel and on the pressure measurements on the rigid wall below the elastic plate. The same experiments are also carried out by substituting the deformable plate with a fully stiff panel. The pressure transducers are mounted at the same positions of the strain gauges used for the deformable plate. The comparison between the results of rigid and elastic case allows to better define the role of hydroelasticity. The analysis has identified three different regimes characterizing the hydroelastic evolution: a quasi-static deformation of the beam (regime I) precedes a strongly hydroelastic behavior (regime II), for which the added mass effects are relevant; finally, the free-vibration phase (regime III) occurs. A hybrid method, combining numerical modelling and experimental data from the tests with fully rigid plate is proposed to examine the hydroelastic effects. Within this approach, the measurements provide the experimental loads acting on the rigid plate, while the numerical solution enables a more detailed analysis, by giving additional information not available from the experimental tests. More in detail, an Euler beam equation is used to model numerically the plate with the added-mass contribution estimated in time. In this way the resulting hybrid method accounts for the variation of the added mass associated with the instantaneous wetted length of the beam, estimated from the experimental images. Moreover, the forcing hydrodynamic load is prescribed by using the experimental pressure distribution measured in the rigid case. The experimental data for the elastic beam are compared with the numerical results of the hybrid model and with those of the standard methods used at the design stage. The comparison against the experimental data shows an overall satisfactory prediction of the hybrid model. The maximum peak pressure predicted by the standard methods agrees with the result of the hybrid model only when the added mass effect is considered. However, the standard methods are not able to properly estimate the temporal evolution of the plate deformation

  10. 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

    hardware, but caution is advised because effective solutions will likely only be achieved by experienced shock isolation designers who pursue unique...provide tractable isolation solutions for craft, but caution is advised because effective solutions will likely only be achieved by experienced...very short duration of local vibration oscillations (e.g., nominal 25 to 50 msec or less) rather than rigid body shock pulse durations (e.g., 100

  11. Santería grand slam: Afro-Cuban religious studies and the study of Afro-Cuban religion

    Directory of Open Access Journals (Sweden)

    Stephan Palmié

    2008-12-01

    Full Text Available [First paragraph] Living Santería: Rituals and Experiences in an Afro-Cuban Religion. MICHAEL ATWOOD MASON. Washington DC: Smithsonian Institution Press, 2002. ix + 165 pp. (Paper US$ 16.95 Divine Utterances: The Performance of Afro-Cuban Santería. KATHERINE J. HAGEDORN. Washington DC: Smithsonian Institution Press, 2001. xvi + 296 pp. (Cloth US$ 40.00 The Light Inside: Abakuá Society Arts and Cuban Cultural History. DAVID H. BROWN. Washington DC: Smithsonian Institution Press, 2003. xix + 286 pp. (Cloth US$ 44.23 Santería Enthroned: Art, Ritual, and Innovation in an Afro-Cuban Religion. DAVID H. BROWN. Chicago: The University of Chicago Press, 2003. xx + 413 pp. (Paper US$ 38.00 Ethnographic objects behave in curious ways. Although they clearly are “our constructions,” field sites and even topically circumscribed (rather than spatially delimited ethnographic problems lead double lives: places and problems change not merely because they factually undergo historical changes, but because researchers come to them from historically no less changeable epistemic vantage points. One can imagine generational cohorts of ethnographers marching across the same geographically or thematically defined terrain and seeing different things – not just because of substantial changes that have factually occurred, but because they have come to ask different questions. The process obviously has its dialectical moments. The figures we inscribe in writing from fleeting observations (based on changing theoretical conceptions are no less subject to history than the empirical grounds from which our discursive efforts call them forth. The result is a curious imbrication of partially autonomous, but also partly overlapping, historicities of lives and texts which, at times, are more difficult to keep apart than it would seem at first glance. At least in the study of Afro-Cuban religious culture, the two practical and discursive fields – one circumscribed by the practical, but perhaps misleading label “Afro-Cuban religion,”1 and the other designated by whatever term one might like to affix to the study of it – cannot be easily separated: much as in the Brazilian case (Braga 1995, Capone 1999, Matory 1999, 2001, practitioners of Afro-Cuban religions and their ethnographers have engaged each other in a dialogue since at least the second decade of the twentieth century. That it took us so long to understand this fact has much to do with the way both “Afro-Cuban religion” and “Afro-Cuban ethnography” originally (and lastingly became discursively objectified: the former largely under the sign of a search for “authentically African” elements in New World cultural practices, the second as an instrument for “verifying” (and thereby authorizing such “Africanisms” (Scott 1991.

  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

    ... Administrator, or his or her representative. The quality system will be reviewed during the systems audits.... Environmental Protection Agency in Research Triangle Park, North Carolina. 2.5Technical Systems Audit Program. Technical systems audits of each ambient air monitoring organization shall be conducted at least every 3...

  13. Klasik İslam Geleneğinde Taklidi İmanın Değeri

    OpenAIRE

    Ünverdi, Mustafa

    2012-01-01

    The value of faith of taqlid is one of the subjects discussed in classical Islamic tradition. The center of these debates which discusses functioning of the mind, autonomy of people and relationship of faith in information is at the necessity of rational justification and the verdict of muqallid?s faith. The Mutazilite, which is rational face of traditional Islam, and the Kharijites have agreed that taqlid is superstition. Their estimation rely on the principle of ?murtekib-i kebire.? On the ...

  14. 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.

  15. Bis(s) ins Innere des Protons ein Science Slam durch die Welt der Elementarteilchen, der Beschleuniger und Supernerds

    CERN Document Server

    Lemmer, Boris

    2014-01-01

    Geben Sie's zu, wir alle fragen gerne mal: „Was ist da drin?“. Und einige, die hören mit dem Fragen einfach nicht mehr auf. Sie haken nach, bis es als Antwort nur noch gibt: „Das war’s, kleiner geht’s nicht mehr.“ Da wo's klein wird, wird die Welt plötzlich ganz verrückt: Aus purer Energie werden Teilchen erzeugt. Materieteilchen bekommen Geschwister aus Antimaterie. Teilchen, die es eigentlich gar nicht geben dürfte, entstehen plötzlich aus dem Nichts. Das ist die Welt der Teilchenphysik. Teilchenphysiker bauen die größten Experimente aller Zeiten, um die kleinsten Teilchen des Universums zu untersuchen. Sie gehen an die Grenzen des technisch Machbaren und überschreiten dabei die Grenzen unserer Länder. Wer das alles auch so spannend findet wie die Teilchenphysiker selbst, ist herzlich eingeladen, dieses Buch zu lesen. Wer glaubt, dass man ohne ein Studium in der Teilchenphysik nichts versteht, der auch. Quantenfeldtheorien, Teilchenbeschleuniger, Higgs-Mechanismus und Co werden hier...

  16. 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.

  17. 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%.

  18. 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.

  19. Until the interior of the proton. A science slam through the world of the elementary particles, the accelerators, and supernerds

    International Nuclear Information System (INIS)

    Lemmer, Boris

    2014-01-01

    There where's becomes small the world suddenly becomes suddenly totally crazy: From pure energy particles are produced, matter particles get siblings of antimatter, particles, which actually should not exist, are created from scratch. The nature borrows energy, which is actually not there. Forces act, which behave completely differently than anything, what we know from everyday life. This is the world of particle physics. Particle physicist build the largest experiments of all time, in order to study the smallest particles of the universe. They go to the limits of the technically feasible and exceed thereby the limits of our countries. Who finds that all also so exciting - as the particle physicists - is heartily invited to read this book. Who believes that without a study of particle physics nothing is understood, also. Quantum field theories, particle accelerators, Higgs mechanisms etc. are instead by nasty formulas explained by means of monkeys, ants, hedgehogs, beavers, and illustrative pictures. And by means of linked videos in can be directly submerged into the world of CERN, the LHC particle accelerator, and the ATLAS experiment.

  20. 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.

  1. Release of nutrients from sludge pellets - a field study in Halland; Naeringsfrigoerelse ur pelleterat slam - en faeltstudie i Halland

    Energy Technology Data Exchange (ETDEWEB)

    Larsson, Maria

    2000-07-01

    The forest will, most probably, play an important part in the sustainable society of the future, as a producer of timber and pulp, in the conversion of bioenergy and in the chemical industry. The forest also is of great importance for recreation. The question is how we can make the forest last for all these things, without lessening its values of nature and production. Some are speaking of an enhanced fertilization of parts of the forest to maintain productivity. The fertilizer could consist of sludge from municipal sewage treatment works. The management of the sludge has earlier been a problem at fertilizations, but now there is a method to produce sludge pellets that are easy to handle, possible to store and do not smell or contain any infectious matter. Before the sludge pellets can be used in a large scale, questions about the release of different matters from the sludge, should be answered. The aim of this study was to find out at which rate nutrients and heavy metals are released from sludge pellets spread on forest soils. The study was executed at Hjuleberg, east of Falkenberg in south Sweden. Pellets were put out in bags of fine-meshed synthetic fibre net. The bags were collected at four different occasions. The samples were analyzed for C, N, P, K, Ca, Mg, S, Al, As, B, Cd, Co, Cr, Cu, Fe, Li, Mn, Mo, Na, Ni, Pb, Se, V and Zn. After nine months, about half of the original dry-matter and about half of the original amounts of N, K, Ca, Mg and S remained. The results showed that nitrogen was mineralized, which indicates that pelleted sludge can work as a source of nutrients, and that phosphorus was to a large part immobilized. As for As, Cd, Fe, Pb, Se and Zn, there was an enrichment in the pellets during the early winter, before the first uptake. Spreading of sludge of the kind that is used in this study results in spreading of heavy metals. Swedish limits of heavy metals in arable land might be exceeded during an initial phase, but is managed at an annual spreading of 0.85 tons of pelleted sludge per hectare, when using the kind of sludge that has been tested in this study.

  2. Tidstrend av oidentifierade poly- och perfluorerade alkylämnen i slam från reningsverk i Sverige

    OpenAIRE

    Yeung, Leo W. Y.; Eriksson, Ulrika

    2017-01-01

    The aims of this investigation are 1) to study spatial variation in PFAS discharge by measuring PFAS in sludge samples collected from four wastewater treatment plants (WWTPs: Öhn - Umeå, Bergkvara - Torsås, Henriksdal – Stockholm, and Gässlösa - Borås); 2) to evaluate the amount of unidentified PFAS, if any, in the sludge samples by measuring total organofluorine (TOF) in the samples; 3) to study the temporal discharge and pattern of PFASs by measuring different PFASs in archived sludge sampl...

  3. 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.

  4. 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.

  5. 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...

  6. 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

    (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...

  7. 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.

  8. (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.

  9. 3D modeling of underground objects with the use of SLAM technology on the example of historical mine in Ciechanowice (Ołowiane Range, The Sudetes

    Directory of Open Access Journals (Sweden)

    Wajs Jaroslaw

    2018-01-01

    Full Text Available Terrestrial Laser Scanning is a currently one of the most popular methods for producing representations of 3D objects. This paper presents the potential of applying the mobile laser scanning method to inventory underground objects. The examined location was a historic crystalline limestone mine situated in the vicinity of Ciechanowice village (Kaczawa Mts., SW Poland. The authors present a methodology for performing measurements and for processing the obtained results, whose accuracy is additionally verified.

  10. 3D modeling of underground objects with the use of SLAM technology on the example of historical mine in Ciechanowice (Ołowiane Range, The Sudetes)

    Science.gov (United States)

    Wajs, Jaroslaw; Kasza, Damian; Zagożdżon, Paweł P.; Zagożdżon, Katarzyna D.

    2018-01-01

    Terrestrial Laser Scanning is a currently one of the most popular methods for producing representations of 3D objects. This paper presents the potential of applying the mobile laser scanning method to inventory underground objects. The examined location was a historic crystalline limestone mine situated in the vicinity of Ciechanowice village (Kaczawa Mts., SW Poland). The authors present a methodology for performing measurements and for processing the obtained results, whose accuracy is additionally verified.

  11. 学匠詩人 オーギュスト・アンジュリエ

    OpenAIRE

    宮永, 孝; Miyanaga, Takashi

    2007-01-01

    This essay is comprised of four chapters : (1) The study of English literature in Japan-past and present (2) Auguste Angellier in Japan (3) The reminiscences of Prof. Kinji Shimada (4) Auguste Angellier, the man and his achievements.It was in the twenties of the Meiji era (i.e.1880s) that the study of English literature in Japan started both at a university and popular level. However the English ability of general academics was not high enough to specialize in English literature. The scholar...

  12. Structural Loading of Cross Deck Connections for Trimaran Vessels

    National Research Council Canada - National Science Library

    Rhoads, Jason

    2004-01-01

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

  13. Sensor Failure Detection through Introspection

    National Research Council Canada - National Science Library

    Smeltz, Jeremy; Valerius, Andrew

    2007-01-01

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

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

    DEFF Research Database (Denmark)

    Haarder, Jon Helt

    2007-01-01

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

  15. Counter Tunnel Project

    Science.gov (United States)

    2014-03-01

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

  16. Basic extended Kalman filter: simultaneous localisation and mapping

    CSIR Research Space (South Africa)

    Matsebe, O

    2010-01-01

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

  17. 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.

  18. 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.

  19. Seismicity and seismogenic structures of Central Apennines (Italy): constraints on the present-day stress field from focal mechanisms - The SLAM (Seismicity of Lazio-Abruzzo and Molise) project

    Science.gov (United States)

    Frepoli, Alberto; Battista Cimini, Giovanni; De Gori, Pasquale; De Luca, Gaetano; Marchetti, Alessandro; Montuori, Caterina; Pagliuca, Nicola

    2016-04-01

    We present new results for the microseismic activity in the Central Apennines recorded from a total of 81seismic stations. The large number of recording sites derives from the combination of temporary and permanent seismic networks operating in the study region. Between January 2009 and October 2013 we recorded 6923 earthquakes with local magnitudes ML ranging from 0.1 to 4.8. We located hypocentres by using a refined 1D crustal velocity model. The majority of the hypocenters are located beneath the axes of the Apenninic chain, while the seismic activity observed along the peri-Tyrrhenian margin is lower. The seismicity extends to a depth of 32 km; the hypocentral depth distribution exhibits a pronounced peak of seismic energy release in the depth range between 8 and 20 km. During the observation period we recorded two major seismic swarms and one seismic sequence in the Marsica-Sorano area in which we have had the largest detected magnitude (ML = 4.8). Fault plane solutions for a total of 600 earthquakes were derived from P-polarities. This new data set consists of a number of focal plane solutions that is about four times the data so far available for regional stress field study. The majority of the focal mechanisms show predominantly normal fault solutions. T-axis trends are oriented NE-SW confirming that the area is in extension. We also derived the azimuths of the principal stress axes by inverting the fault plane solutions and calculated the direction of the maximum horizontal stress, which is mainly sub-vertical oriented. The study region has been historically affected by many strong earthquakes, some of them very destructive. This work can give an important contribution to the seismic hazard assessment in an area densely populated as the city of Rome which is distant around 60 km from the main seismogenic structures of Central Apennine.

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

    Science.gov (United States)

    2013-11-01

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

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

    Science.gov (United States)

    2015-05-01

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

  2. A multidisciplinary view on cultural primatology: behavioral innovations and traditions in Japanese macaques.

    Science.gov (United States)

    Leca, Jean-Baptiste; Gunst, Noëlle; Pelletier, Amanda N; Vasey, Paul L; Nahallage, Charmalie A D; Watanabe, Kunio; Huffman, Michael A

    2016-07-01

    Cultural primatology (i.e., the study of behavioral traditions in nonhuman primates as a window into the evolution of human cultural capacities) was founded in Japan by Kinji Imanishi in the early 1950s. This relatively new research area straddles different disciplines and now benefits from collaborations between Japanese and Western primatologists. In this paper, we return to the cradle of cultural primatology by revisiting our original articles on behavioral innovations and traditions in Japanese macaques. For the past 35 years, our international team of biologists, psychologists and anthropologists from Japan, France, Sri Lanka, the USA and Canada, has been taking an integrative approach to addressing the influence of environmental, sociodemographic, developmental, cognitive and behavioral constraints on the appearance, diffusion, and maintenance of behavioral traditions in Macaca fuscata across various domains; namely, feeding innovation, tool use, object play, and non-conceptive sex.

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

    National Research Council Canada - National Science Library

    Anderson, Andrew D

    2006-01-01

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

  4. 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, ...

  5. Nondestructive testing of thermocompression bonds. Final report

    International Nuclear Information System (INIS)

    Hale, G.M.

    1981-02-01

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

  6. 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.

  7. 76 FR 56694 - Approval and Promulgation of Air Quality Implementation Plans; California; Determinations of...

    Science.gov (United States)

    2011-09-14

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

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

    International Nuclear Information System (INIS)

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

    1997-01-01

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

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

    International Nuclear Information System (INIS)

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

    2011-01-01

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

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

    Science.gov (United States)

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

    2014-04-25

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

  11. 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.

  12. 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".

  13. Research Article Special Issue

    African Journals Online (AJOL)

    pc

    2018-02-24

    Feb 24, 2018 ... SLAM is rapidly increasing, for example, in systems of obstacle detection in intelligent car driving. .... Transportation. Systems. (ITSC), ... Vision”. In Proceedings of the 7th international joint conference on Artificial intelligence,.

  14. 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....

  15. 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

  16. Large-Area Visually Augmented Navigation for Autonomous Underwater Vehicles

    National Research Council Canada - National Science Library

    Eustice, Ryan M

    2005-01-01

    ...., unstructured terrain, low-overlap imagery, moving light source). Our large area SLAM algorithm recursively incorporates relative-pose constraints using a view-based representation that exploits exact sparsity in the Gaussian canonical...

  17. Integrating Unmanned Aerial Vehicles (UAVs) With Current Combat Search and Rescue (CSAR) Doctrine

    National Research Council Canada - National Science Library

    Altieri, Jayson

    2003-01-01

    .... BACH-21 whipped his plane over into a left SAM break. As G-forces began to press against him, he felt his aircraft shake violently and continued to roll inverted as an SA-6 slammed into his right wing...

  18. Selective Laser Ablation and Melting, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — In this project Advratech will develop a new additive manufacturing (AM) process called Selective Laser Ablation and Melting (SLAM). The key innovation in this...

  19. 76 FR 70940 - Approval and Promulgation of Air Quality Implementation Plans; Oklahoma; Infrastructure...

    Science.gov (United States)

    2011-11-16

    ...). Oklahoma's monitoring network includes the State and Local Air Monitoring Stations (SLAMS), which measure... and PM 2.5 monitor locations and current and historical data, including ozone design values for...

  20. Simultaneous Localization and Mapping for Satellite Rendezvous and Proximity Operations

    Data.gov (United States)

    National Aeronautics and Space Administration — Simultaneous Localization and Mapping (SLAM) attempts to estimate a vehicle’s position and orientation (localization) and the location of an initially unknown number...

  1. 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

  2. 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.

  3. Üniversite Gençliğinin İslam Dini Konusundaki Algılamaları ve Dünya Görüşleri Üzerine Bir İnceleme (Güney Kırgızistan Bölgesi

    Directory of Open Access Journals (Sweden)

    Fazlı Polat

    2015-11-01

    Full Text Available Kirghizi people who had been under former Socialist Soviet Union administration, had lacked both cultural and socio-economic improvement during this period. Religious feeling constitutes one of the most important elements which determine the sensitivity of youth after independence to their cultural dynamics coming from history. Moving from this point, we tried to determine religious educational activities in Kirghizistan and information level of youth about Islam and their perceptions together with their mindset towards the world which they develop within that perception. Our sample is limited to the university students

  4. 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.

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

    Directory of Open Access Journals (Sweden)

    Veljko M Nikolin

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

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

    Science.gov (United States)

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

    2012-01-01

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

  7. An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping

    OpenAIRE

    Niu, Xiaoji; Yu, Tong; Tang, Jian; Chang, Le

    2017-01-01

    Multisensors (LiDAR/IMU/CAMERA) integrated Simultaneous Location and Mapping (SLAM) technology for navigation and mobile mapping in a GNSS-denied environment, such as indoor areas, dense forests, or urban canyons, becomes a promising solution. An online (real-time) version of such system can extremely extend its applications, especially for indoor mobile mapping. However, the real-time response issue of multisensors is a big challenge for an online SLAM system, due to the different sampling f...

  8. Dynamic Data Driven Applications Systems (DDDAS)

    Science.gov (United States)

    2013-03-06

    detected Level 1 (L1) sensors: PIR & Piezoelectric Level 2 (L2) sensor: Overhead camera (UAV) Level 1.1 sensor: LIDAR Dynamic Influence Diagram ID1...Effects of Porous Shape Memory Alloys • Bayesian Computational Sensor Networks for Aircraft Structural Health Monitoring • Fluid SLAM and the Robotic...Structural Health Monitoring – PI: Thomas Henderson, U. of Utah • Fluid SLAM and the Robotic Reconstruction of Localized Atmospheric Phenomena – PI

  9. Vision Aided Inertial Navigation System Augmented with a Coded Aperture

    Science.gov (United States)

    2011-03-24

    GPS IMU INS LlDAR MAV MITE OTF PDF PSD PSF PVA SIFT SLAM List of Abbreviations Description Two Dimensional Three Dimensional Four...mapping ( SLAM ) [31]. A single image from a traditional camera provides heading information from the camera to a landmark, constraining the possible...through use of light detection and ranging ( LIDAR ) [3]. Laser range scanners emit light in a given direction and measure properties of the light

  10. (DCT-FY08) Target Detection Using Multiple Modality Airborne and Ground Based Sensors

    Science.gov (United States)

    2013-03-01

    resolution SIFT grids in metric-topological SLAM ,” in Proc. of the IEEE Conference on Computer Vision and Pattern Recognition, 2009. [4] M. Bosse and R...single camera SLAM ,” IEEE Trans. Pattern Anal. Mach. Intell., vol. 29, no. 6, pp. 1052–1067, 2007. [7] D. Nister, O. Naroditsky, and J. Bergen...segmentation with ground-based and airborne LIDAR range data,” in Proceedings of the Fourth International Symposium on 3D Data Processing

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

    Science.gov (United States)

    2011-12-01

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

  12. Coordinating a Team of Robots for Urban Reconnaisance

    Science.gov (United States)

    2010-11-01

    this local map. This task is performed by the mapping and estimation module using a SLAM solution. This module uses scan matching on LIDAR data to...the map of the world. LIDAR data provides knowledge about the open space, obstacles and unknown regions around each robot. The exploration planner...requires the use of Simultaneous Localization and Mapping ( SLAM ) to robustly compute the relative positions of each robot. Our robots rely on their

  13. Real-Time NDE Using Multi-Function Robotic Sonoscope (MSRF)

    Science.gov (United States)

    1991-12-31

    was caused by a 0.16 Xc impacto - a"L a s?eed of 6-7 m/s. The field of view is 45 ran x 2 6 mm Mass 0.16 Kg Velocity = 6.70 m...3J tic . (c) SLAM inage of Specimen C3. ?ig. 6 (c) SLAM irrage of Scecimer. C^ 3£ 0 1 2 3 4 5 6 7 8 9 10 *! T ±± 12 13

  14. Do antidepressants increase the risk of mania and bipolar disorder in people with depression? A retrospective electronic case register cohort study

    OpenAIRE

    Patel, Rashmi; Reiss, Peter; Shetty, Hitesh; Broadbent, Matthew; Stewart, Robert; McGuire, Philip; Taylor, Matthew

    2015-01-01

    Objectives To investigate the association between antidepressant therapy and the later onset of mania/bipolar disorder.Design Retrospective cohort study using an anonymised electronic health record case register.Setting South London and Maudsley National Health Service (NHS) Trust (SLaM), a large provider of inpatient and community mental healthcare in the UK.Participants 21 012 adults presenting to SLaM between 1 April 2006 and 31 March 2013 with unipolar depression.Exposure Prior antidepres...

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

    Directory of Open Access Journals (Sweden)

    Jan E. de Vries

    1998-01-01

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

  16. Handheld Synthetic Array Final Report, Part A

    Science.gov (United States)

    2014-12-01

    Arrival UWB Ultra Wideband WiFi Wireless Fidelity WLAN Wireless Local Access Network Variables used variable description 0:tbel x Posterior pdf...technology has obvious application for military based personal and asset location. Differences will be that the wireless signals of opportunity that can...143 Chapter 2. Overview of the SLAM algorithm for SGL – This chapter describes the SLAM algorithm as applicable to the SGL problem. The general

  17. Feasibility study of partial observability in H∞ filtering for robot localization and mapping problem

    OpenAIRE

    Ahmad, Hamzah; Namerikawa, Toru

    2010-01-01

    This paper presents H∞ Filter SLAM, which is also known as the minimax filter to estimate the robot and landmarks location with the analysis on partial observability. Some convergence conditions are also presented to aid the analysis. Due to SLAM is a controllable but unobservable problem, it's difficult to estimate the position of robot and landmarks even though the control inputs are given to the system. As a result, Covariance Inflation which is a method of adding a pseudo positive semidef...

  18. 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.

  19. 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.

  20. [Engineering education reform plan created by Prof. Dr. Shimizu and establishment of Nagoya Municipal Science Museum--regarding cooperative education between universities and industries in Japan after the Second World War].

    Science.gov (United States)

    Mabuchi, Koichi

    2014-07-01

    This paper gives an account of Prof. Dr. Kinji Shimizu, the first president of Nagoya Institute of Technology, and his establishment of Nagoya Municipal Science Museum. After graduating from the Electrical Engineering Department of Kyoto Imperial University in 1923, Shimizu was impressed by the German Museum in Munich during his stay there as a student in 1932. It's the first time that he learned the education in cooperation with industries. Just after the Second World War, he became director general of the Ministry of Education. However, new education system given by the United States focused not on developing practical ability but on gaining the basic knowledge, which is contrary to what he expected. Then, he contributed to the establishment of the Japanese Society for Engineering Education, besides working as the president of Nagoya Institute of Technology in the earlier 1950s. His idea was supported by industries for the economic growth. Throughout his career, Prof. Dr. Shimizu was convinced that practical engineering education would benefit Japan, and wanted to introduce cooperative education between universities and industries, along the lines of the same system in Germany and the United States. With this vision he founded Nagoya Municipal Science Museum in cooperation with local industries and local government as his final achievement. The museum was completed in 1964.

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

    Science.gov (United States)

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

    2010-01-01

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

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

    Science.gov (United States)

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

    2010-05-01

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

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

    Science.gov (United States)

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

    2014-05-01

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

  4. Dewey Onlu Sınıflandırması ve İslâm Literatürünün Sınıflandırma Sorunları

    Directory of Open Access Journals (Sweden)

    Fahriye Mercanlıgil Gündoğdu

    1993-03-01

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

  5. 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.

  6. 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.

  7. Characterisation of fluid-structure interaction for water impact of composite panels

    Directory of Open Access Journals (Sweden)

    M Battley

    2016-09-01

    Full Text Available Hydrodynamic loads can be very significant for high performance marine vessels. Water impact of panels, known as "slamming", typically generates high magnitude short duration pressure pulses that move across the structure. In the case of compliant panels there can be significant coupling between the pressures and the structural responses. While there has been significant development of numerical methods to simulate this type of fluid-structure interaction there is only very limited experimental data available for validation of the simulation approaches. This paper describes an experimental study of sandwich composite panels subjected to water slamming impacts. The results demonstrate that compliant panels subjected to water slamming impacts experience different pressures than rigid panels, and have different structural responses than predicted by traditional uniform pressure based analysis approaches. The study also characterizes the significant effects that the dimensions of pressure transducers and data acquisition sampling rates have on the measured pressures.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-08-15

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

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

    International Nuclear Information System (INIS)

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

    2016-01-01

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

  10. 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

  11. 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

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

    Science.gov (United States)

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

    2017-07-01

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

  13. Synchronous Adversarial Feature Learning for LiDAR based Loop Closure Detection

    OpenAIRE

    Yin, Peng; He, Yuqing; Xu, Lingyun; Peng, Yan; Han, Jianda; Xu, Weiliang

    2018-01-01

    Loop Closure Detection (LCD) is the essential module in the simultaneous localization and mapping (SLAM) task. In the current appearance-based SLAM methods, the visual inputs are usually affected by illumination, appearance and viewpoints changes. Comparing to the visual inputs, with the active property, light detection and ranging (LiDAR) based point-cloud inputs are invariant to the illumination and appearance changes. In this paper, we extract 3D voxel maps and 2D top view maps from LiDAR ...

  14. The Improved Locating Algorithm of Particle Filter Based on ROS Robot

    Science.gov (United States)

    Fang, Xun; Fu, Xiaoyang; Sun, Ming

    2018-03-01

    This paperanalyzes basic theory and primary algorithm of the real-time locating system and SLAM technology based on ROS system Robot. It proposes improved locating algorithm of particle filter effectively reduces the matching time of laser radar and map, additional ultra-wideband technology directly accelerates the global efficiency of FastSLAM algorithm, which no longer needs searching on the global map. Meanwhile, the re-sampling has been largely reduced about 5/6 that directly cancels the matching behavior on Roboticsalgorithm.

  15. Appearance-based mapping and localization using feature stability histograms for mobile robot navigation

    OpenAIRE

    Bacca Cortés, Eval Bladimir

    2012-01-01

    Este trabajo propone un método de SLAM basado en apariencia cuya principal contribución es el Histograma de Estabilidad de Características (FSH). El FSH es construido por votación, si una característica es re-observada, ésta será promovida; de lo contrario su valor FSH progresivamente es reducido. El FSH es basado en el modelo de memoria humana para ocuparse de ambientes cambiantes y SLAM a largo término. Este modelo introduce conceptos como memoria a corto plazo (STM) y largo plazo (LTM), la...

  16. Approach of simultaneous localization and mapping based on local maps for robot

    Institute of Scientific and Technical Information of China (English)

    CHEN Bai-fan; CAI Zi-xing; HU De-wen

    2006-01-01

    An extended Kalman filter approach of simultaneous localization and mapping(SLAM) was proposed based on local maps.A local frame of reference was established periodically at the position of the robot, and then the observations of the robot and landmarks were fused into the global frame of reference. Because of the independence of the local map, the approach does not cumulate the estimate and calculation errors which are produced by SLAM using Kalman filter directly. At the same time, it reduces the computational complexity. This method is proven correct and feasible in simulation experiments.

  17. 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.

  18. 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 ...

  19. 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

    Carderock Division for overall management of wave slam phenomenology and craft motion mechanics investigations. During different periods of the...approach to transition this definition to an equivalent static acceleration, Riley and Coats (2012). The first assumption is that the vertical

  20. Planar simplification and texturing of dense point cloud maps

    NARCIS (Netherlands)

    Ma, L.; Whelan, T.; Bondarau, Y.; With, de P.H.N.; McDonald, J.

    2013-01-01

    Dense RGB-D based SLAM techniques and highfidelity LIDAR scanners are examples from an abundant set of systems capable of providing multi-million point datasets. These large datasets quickly become difficult to process and work with due to the sheer volume of data, which typically contains

  1. Tracking Subpixel Targets with Critically Sampled Optical Sensors

    Science.gov (United States)

    2012-09-01

    LEFT BLANK xii LIST OF ACRONYMS AND ABBREVIATIONS PSF point spread function SNR signal-to-noise ratio SLAM simultaneous localization and tracking EO... LIDAR light detection and ranging FOV field of view RMS root mean squared PF particle filter TBD track before detect MCMC monte carlo markov chain

  2. Development and Validation of a Controlled Virtual Environment for Guidance, Navigation and Control of Quadrotor UAV

    Science.gov (United States)

    2013-09-01

    Width Modulation QuarC Quanser Real-time Control RC Remote Controlled RPV Remotely Piloted Vehicles SLAM Simultaneous Localization and Mapping UAV...development of the following systems: 1. Navigation (GPS, Lidar , etc.) 2. Communication (Datalink) 3. Ground Control Station (GUI, software programming

  3. Dynamo: A Model Transition Framework for Dynamic Stability Control and Body Mass Manipulation

    Science.gov (United States)

    2011-11-01

    driving at high speed, and you turn the steering wheel hard to the right and slam on the brakes, then you will end up in the oversteer regime. At the...sensors (GPS, IMU, LIDAR ) for vehicle control. Figure 17: Dynamo high-speed small UGV hardware platform We will perform experiments to measure the MTC

  4. Robotics Laboratory to Enhance the STEM Research Experience

    Science.gov (United States)

    2015-04-30

    Research Platforms Clearpath Robotics 2 $66,118 Open IMU system integrated with Husky SICK LMS Outdoor LIDAR Outdoor PTZ Camera NovAtel...currently focusing our attention and efforts on simultaneous localization and mapping ( SLAM ) algorithms, obstacle avoidance, and communication between

  5. Quest Trial Q348: Evaluation of WaMoS II Data

    Science.gov (United States)

    2013-04-01

    and slam warning.” Quest Sea Trial Q348 page 7 “In July of 2011, as part of the 11gi project, DRDC acquired and installed a new WaMoS...Fourier series expansion was originally implemented to compare WaMoS II data to reference data of an airborne LIDAR scanner, which yielded very good

  6. Incremental and batch planar simplification of dense point cloud maps

    NARCIS (Netherlands)

    Whelan, T.; Ma, L.; Bondarev, E.; With, de P.H.N.; McDonald, J.

    2015-01-01

    Dense RGB-D SLAM techniques and high-fidelity LIDAR scanners are examples from an abundant set of systems capable of providing multi-million point datasets. These datasets quickly become difficult to process due to the sheer volume of data, typically containing significant redundant information,

  7. 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"

  8. High-speed automated NDT device for niobium plate using scanning laser acoustic microscopy

    International Nuclear Information System (INIS)

    Oravecz, M.G.; Yu, B.Y.; Riney, K.; Kessler, L.W.; Padamsee, H.

    1988-01-01

    This paper presents a nondestructive testing (NDT) device which rapidly and automatically identifies defects throughout the volume of a 23.4 cm x 23.4 cm x 0.3 cm, pure niobium plate using Scanning Laser Acoustic Microscope (SLAM), high-resolution, 60 MHz, ultrasonic images. A principle advantage of the SLAM technique is that it combines a video scan rate with a high scan density (130 lines/mm at 60 MHz). To automate the inspection system they integrated under computer control the following: the SLAM RS-170/330 video output, a computerized XY plate scanner, a real-time video digitizer/integrator, a computer algorithm for defect detection, a digital mass storage device, and a hardcopy output device. The key element was development of an efficient, reliable defect detection algorithm using a variance filter with a locally determined threshold. This algorithm is responsible for recognizing valid flaws in the midst of random texture. This texture was seen throughout the acoustic images and was caused by the niobium microstructure. The images, as analyzed, contained 128 x 120 pixels with 64 grey levels per pixel. This system allows economical inspection of the large quantities (eg. 100 tons) of material needed for future particle accelerators based on microwave superconductivity. Rapid nondestructive inspection of pure niobium sheet is required because current accelerator performance is largely limited by the quality of commercially available material. Previous work documented critical flaws that are detectable by SLAM techniques. 15 references, 9 figures

  9. Using Adaptive Tools and Techniques to Teach a Class of Students Who Are Blind or Low-Vision

    Science.gov (United States)

    Supalo, Cary A.; Mallouk, Thomas E.; Amorosi, Christeallia; Lanouette, James; Wohlers, H. David; McEnnis, Kathleen

    2009-01-01

    A brief overview of the 2007 National Federation of the Blind-Jernigan Institute Youth Slam Chemistry Track, a course of study within a science camp that provided firsthand experimental experience to 200 students who are blind and low-vision, is given. For many of these students, this was their first hands-on experience with laboratory chemistry.…

  10. Connecting the Disconnected: Scholar Activists and Education Reform in Post-Katrina New Orleans

    Science.gov (United States)

    Cook, Daniella Ann

    2014-01-01

    When Hurricane Katrina slammed into New Orleans on August 29, 2005, the failure of the levees resulted in the largest single human-made disaster in the United States. In addition to the physical devastation of the city, the landscape of public schools in New Orleans was permanently altered, as was the national dialogue about school reform in the…

  11. 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…

  12. Do antidepressants increase the risk of mania and bipolar disorder in people with depression? A retrospective electronic case register cohort study

    NARCIS (Netherlands)

    Patel, Rashmi; Reiss, Peter; Shetty, Hitesh; Broadbent, Matthew; Stewart, Robert; McGuire, Philip; Taylor, Matthew

    2015-01-01

    Objectives To investigate the association between antidepressant therapy and the later onset of mania/bipolar disorder. Design Retrospective cohort study using an anonymised electronic health record case register. Setting South London and Maudsley National Health Service (NHS) Trust (SLaM), a large

  13. Prediction of Vertical-Plane Wave Loading and Ship Responses in High Seas

    DEFF Research Database (Denmark)

    Wang, Z.; Xia, J.; Jensen, Jørgen Juncher

    2000-01-01

    The non-linearities in wave- and slamming-induced rigid-body motions and structural responses of ships such as heave, pitch and vertical bending moments are consistently investigated based on a rational time-domain strip method. A hydrodynamic model for predicting sectional green water force is a...

  14. Evaluation of a simultaneous localization and mapping algorithm in a dynamic environment using a red green blue - depth camera

    CSIR Research Space (South Africa)

    Pancham, Ardhisha

    2018-03-01

    Full Text Available ., Tardos, J.: Probabilistic Semi-Dense Mapping from Highly Accurate Feature-Based Monocular SLAM. In: Robotics: Science and Systems, p.2015 10. Bove, C., Wald, A., Michalson, W., Donahue, M., LaPenta, J.: Collaborative Robotics Heads-Up Display Major...

  15. 78 FR 62597 - 36(b)(1) Arms Sales Notification

    Science.gov (United States)

    2013-10-22

    ... F-15SA multi-role fighter aircraft and associated weapons. The armaments in this request are... program proceeds through the development, production, and equipment installation phases. There will be no...-Expanded Response (SLAM-ER) is a non-nuclear tactical weapon system currently in service in the U.S. Navy...

  16. Rensningsgruppens rapport

    DEFF Research Database (Denmark)

    Harremoës, Poul

    1971-01-01

    Der findes i dag afprøvede metoder til rensning af vand til enhver ønskelig renhed; men stigende renhed opnås kun med progressivt stigende omkostninger. Der findes derimoed ikke metoder til fjernelse af giftstoffer fra det ved rensningen producerede slam, hvorfor disse stoffer må fjernes ved kilden....

  17. 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.

  18. Our Lyrics Will Not Be on Lockdown: An Arts Collective's Response to an Incarceration Nation

    Science.gov (United States)

    Green, Keisha

    2010-01-01

    Recognizing the unprecedented proliferation of prisons in the United States, Blackout Arts Collective (BAC), a grassroots organization working to empower communities of color through the arts, education, and activism, launched a national tour--"Lyrics on Lockdown (LOL): Slamming the Prison Industrial Complex." As a BAC member, I participated in…

  19. Mary Catherine and Me: Building Cross-Cultural Relationships in "Post-Racial" America

    Science.gov (United States)

    Bruno, Holly Elissa

    2009-01-01

    In 1963, President Obama's parents could not have married legally in a number of states. Mary Catherine and the author graduated from Corning Free Academy in Corning, New York, in June 1963. The lessons they learned were wrenching: "Someone is going to get hurt." Doors that opened for the author slammed in Mary Catherine's face. Holding Mary…

  20. 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 ...

  1. 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...

  2. 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.

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

    International Nuclear Information System (INIS)

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

    2016-01-01

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

  4. Autonomous Underwater Vehicle Architecture Synthesis for Shipwreck Interior Exploration

    Science.gov (United States)

    2015-12-01

    GHz Quad-Core ARM cortex A9 processor ), brushless, 60 W DC motors, NESNE Electronics motor drivers, and a 540 Wh battery allowing for an operating... processor speed (Pentium M). The SLAM update rate is limited to the sonar array cycle time of 1 Hz. Fairfield et al. state that sensor degradation or

  5. Using Local Symmetry for Landmark Selection

    NARCIS (Netherlands)

    Kootstra, Gert; de Jong, Sjoerd; Schomaker, Lambert R. B.; Fritz, M; Schiele, B; Piater, JH

    2009-01-01

    Most visual Simultaneous Localization And Mapping (SLAM) methods use interest points as landmarks in their maps of the environment. Often the interest points are detected using contrast features, for instance those of the Scale Invariant Feature Transform (SIFT). The SIFT interest points, however,

  6. Performance of Closely Spaced Point Absorbers with Constrained Floater Motion

    DEFF Research Database (Denmark)

    De Backer, G.; Vantorre, M.; Beels, C.

    2009-01-01

    The performance of a wave energy converter array of twelve heaving point absorbers has been assessed numerically in a frequency domain model. Each point absorber is assumed to have its own linear power take-off. The impact of slamming, stroke and force restrictions on the power absorption...

  7. Numerical Modelling of Wave Run-Up

    DEFF Research Database (Denmark)

    Ramirez, Jorge Robert Rodriguez; Frigaard, Peter; Andersen, Thomas Lykke

    2011-01-01

    Wave loads are important in problems related to offshore structure, such as wave run-up, slamming. The computation of such wave problems are carried out by CFD models. This paper presents one model, NS3, which solve 3D Navier-Stokes equations and use Volume of Fluid (VOF) method to treat the free...

  8. 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 ...

  9. Non-linear wave loads and ship responses by a time-domain strip theory

    DEFF Research Database (Denmark)

    Xia, Jinzhu; Wang, Zhaohui; Jensen, Jørgen Juncher

    1998-01-01

    . Based on this time-domain strip theory, an efficient non-linear hydroelastic method of wave- and slamming-induced vertical motions and structural responses of ships is developed, where the structure is represented as a Timoshenko beam. Numerical calculations are presented for the S175 Containership...

  10. Non-Linear Wave Loads and Ship responses by a time-domain Strip Theory

    DEFF Research Database (Denmark)

    Xia, Jinzhu; Wang, Zhaohui; Jensen, Jørgen Juncher

    1998-01-01

    . Based on this time-domain strip theory, an efficient non-linear hyroelastic method of wave- and slamming-induced vertical motions and structural responses of ships is developed, where the structure is represented by the Timoshenko beam theory. Numerical calculations are presented for the S175...

  11. On the Effect of Green Water on Deck on the Wave Bending Moment

    DEFF Research Database (Denmark)

    Wang, Zhaohui; Jensen, Jørgen Juncher; Xia, Jinzhu

    1998-01-01

    and a momentum term, using an effective relative motion calibrated with the model tests, model the green water load. The resulting loads are of the same magnitude as the slamming loads. The results show only a marginal influence of the green water load on the maximum wave bending moment, although the time signal...

  12. Study and optimization of the partial discharges in capacitor model ...

    African Journals Online (AJOL)

    that the main cause of failure of these devices is the appearance of partial discharges initiated on edges of armatures. These devices can quickly slam if discharges occur continuously during the liquid impregnation. One of the criteria for selecting impregnating liquids is the behavior of gas bubbles when discharges occur.

  13. Argentina: Background and U.S. Relations

    Science.gov (United States)

    2008-11-05

    Comercio Internacional, Y Culto, Comunicado de la Cancillería Argentina, September 11, 2008. 43 A. Rebossio, "Fernández Acusa al FBI de Desestablizar...Argentina," El País (Madrid), September 13, 2008. 44 “Argentina Slams Witness in Cash Suitcase Scandal,” Associated Press Newswires, November 4, 2008

  14. Download this PDF file

    African Journals Online (AJOL)

    forms during a home visit (especially after-hours) greatly accelerates the building of a relationship between doctor and patient, compared with an office consultation: just what the doctor ordered for a new practice. Home visitation also plays a big role in my marketing strategy: when visiting a patient I find myself slamming the ...

  15. On the Impact of Spheres onto Liquid Pools and Ultra-viscous Films

    KAUST Repository

    Mansoor, Mohammad M.

    2016-01-01

    The free-surface impact of spheres is important to several applications in the military, industry and sports such as the water-entry of torpedoes, dip-coating procedures and slamming of boats. This two-part thesis attempts to explore this field

  16. 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...

  17. Phantom crash confirms models

    International Nuclear Information System (INIS)

    Anon.

    1989-01-01

    To test computer models of how a nuclear reactor's containment building would fare if an airplane crashed into it, the Muto Institute in Tokyo sponsored a 3.2 million dollar project at Sandia National Laboratory to slam an F-4 Phantom jet into a 500 ton concrete wall. The results showed that the computer calculations were accurate

  18. 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 ...

  19. 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…

  20. Structural Influence of Dynamics of Bottom Loads

    Science.gov (United States)

    2014-02-10

    using the Numerette research craft, are underway. Early analytic research on slamming was done by von Karman [5] using a momentum approach, and by...pressure q{x,t) as two constant pressures, qi and qj, traveling at a constant speed c. Using the Euler- Bernoulli beam assumptions the governing

  1. Don't Spoil the Promise of Cooperative Learning: Response to Slavin.

    Science.gov (United States)

    Kohn, Alfie

    1991-01-01

    Responding to Slavin's critique of Kohn's article (in the same "Educational Leadership" issue) condemning cooperative rewards, Kohn slams Slavin's faulty research interpretations. Slavin may be correct that few non-reward-based classrooms exist in the U.S., but this hardly demonstrates that the best alternative to bribing individuals is to bribe…

  2. 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

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

    NARCIS (Netherlands)

    Bidarra, José; 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

  4. Validity of simplified Analysis of Stability of Caison Breakwaters on Rubble Foundation Exposed to Impulsive Loads

    DEFF Research Database (Denmark)

    Andersen, Lars; Burcharth, Hans F.; Andersen, Thomas Lykke

    2011-01-01

    Wave slamming on vertical breakwaters cause a sudden, impulsive load that may cause a caisson to slide on its foundation. Alternatively, geotechnical failure may occur in the subsoil. This paper investigates whether simple analytical solutions, accounting only for the sliding along the caisson...

  5. 77 FR 65346 - Determination of Attainment for the Sacramento Nonattainment Area for the 2006 Fine Particle...

    Science.gov (United States)

    2012-10-26

    ... docket are listed in the index, some information may be publicly available only at the hard copy location (e.g., copyrighted material), and some may not be publicly available at either location (e.g., CBI...-assured data gathered at established State and Local Air Monitoring Stations (SLAMS) in a nonattainment...

  6. Estimating Effects Of Rain On Ground/Satellite Communication

    Science.gov (United States)

    Manning, R. M.

    1992-01-01

    LeRC-SLAM provides static and dynamic statistical assessment of impact of attenuation by rain on communication link established between Earth terminal and geosynchronous satellite. Program designed for use in specification, design, and assessment of satellite link for any terminal location in continental United States. IBM PC version written in Microsoft QuickBASIC, and Macintosh version written in Microsoft Basic.

  7. 77 FR 4940 - Determination of Failure To Attain by 2005 and Determination of Current Attainment of the 1-Hour...

    Science.gov (United States)

    2012-02-01

    ... Air Monitoring Stations (SLAMS) in the nonattainment area and entered into the EPA's Air Quality... each monitor, its AQS identification number, its location, and its ``short name.'' Table 2--Monitor Information Baltimore Area 2006-2011 Monitor (AQS ID No.) Location Short name 24-510-0054 Furley E.S...

  8. 77 FR 65651 - Determination of Attainment for the Chico Nonattainment Area for the 2006 Fine Particle Standard...

    Science.gov (United States)

    2012-10-30

    ... docket are listed in the index, some information may be publicly available only at the hard copy location (e.g., copyrighted material), and some may not be publicly available at either location (e.g., CBI..., quality-assured data gathered at established State and Local Air Monitoring Stations (SLAMS) in a...

  9. 75 FR 13710 - Approval and Promulgation of Implementation Plans; Designation of Areas for Air Quality Planning...

    Science.gov (United States)

    2010-03-23

    ... only at the hard copy location (e.g., copyrighted material), and some may not be publicly available in either location (e.g., CBI). To inspect the hard copy materials, please schedule an appointment during... at established state and local air monitoring stations (SLAMS) in the nonattainment area and entered...

  10. 78 FR 2211 - Determination of Attainment for the Yuba City-Marysville Nonattainment Area for the 2006 Fine...

    Science.gov (United States)

    2013-01-10

    ... information may be publicly available only at the hard copy location (e.g., copyrighted material, large maps, multi-volume reports), and some may not be publicly available in either location (e.g., [[Page 2212... complete, quality-assured data gathered at a State and Local Air Monitoring Station(s) (SLAMS) and entered...

  11. 75 FR 45485 - Determination of Attainment for PM10

    Science.gov (United States)

    2010-08-03

    ... in the index, some information may be publicly available only at the hard copy location (e.g., copyrighted material), and some may not be publicly available in either location (e.g., CBI). To inspect the... recorded), quality-assured data gathered at established state and local air monitoring stations (SLAMS) and...

  12. 78 FR 54394 - Determination of Attainment for the West Central Pinal Nonattainment Area for the 2006 Fine...

    Science.gov (United States)

    2013-09-04

    ....gov , some information may be publicly available only at the hard copy location (e.g., copyrighted material, large maps, multi-volume reports), and some may not be publicly available in either location (e.g...) (SLAMS) and entered into EPA's Air Quality System (AQS) database. Under 40 CFR 50.13 (``National primary...

  13. 76 FR 21807 - Approval and Promulgation of Implementation Plans; State of Nevada; PM-10; Determinations...

    Science.gov (United States)

    2011-04-19

    ... available only at the hard copy location (e.g., copyrighted material, large maps, multi-volume reports) and some may not be available in either location (e.g., confidential business information (CBI)). To... local air monitoring stations (``SLAMS'') in the nonattainment area and entered into the EPA AQS...

  14. 75 FR 27944 - Approval and Promulgation of Implementation Plans; Designation of Areas for Air Quality Planning...

    Science.gov (United States)

    2010-05-19

    ... available only at the hard copy location (e.g., copyrighted material), and some may not be publicly available in either location (e.g., Confidential Business Information). To inspect the hard copy materials..., quality-assured and certified data gathered at established state and local air monitoring stations (SLAMS...

  15. 78 FR 887 - Determination of Attainment for the Nogales Nonattainment Area for the 2006 Fine Particle...

    Science.gov (United States)

    2013-01-07

    ... at the hard copy location (e.g., copyrighted material, large maps, multi-volume reports), and some may not be publicly available in either location (e.g., Confidential Business Information). To inspect..., quality-assured data gathered at a State and Local Air Monitoring Station(s) (SLAMS) and entered into EPA...

  16. 77 FR 65521 - Determination of Attainment for the San Francisco Bay Area Nonattainment Area for the 2006 Fine...

    Science.gov (United States)

    2012-10-29

    ... available only at the hard copy location (e.g., copyrighted material), and some may not be publicly available at either location (e.g., CBI). To inspect the hard copy materials, please schedule an appointment... Monitoring Stations (SLAMS) in a nonattainment area and entered into the AQS database. Data from air monitors...

  17. 78 FR 1760 - Determination of Attainment for the San Francisco Bay Area Nonattainment Area for the 2006 Fine...

    Science.gov (United States)

    2013-01-09

    ... information may be publicly available only at the hard copy location (e.g., copyrighted material, large maps, multi-volume reports), and some may not be publicly available in either location (e.g., Confidential..., quality-assured data gathered at State and Local Air Monitoring Stations (SLAMS) and entered into EPA's...

  18. 77 FR 65646 - Determination of Attainment for the Yuba City-Marysville Nonattainment Area for the 2006 Fine...

    Science.gov (United States)

    2012-10-30

    ... available only at the hard copy location (e.g., copyrighted material), and some may not be publicly available at either location (e.g., CBI). To inspect the hard copy materials, please schedule an appointment... Monitoring Stations (SLAMS) in a nonattainment area and entered into the AQS database. Data from air monitors...

  19. 78 FR 41901 - Determination of Attainment for the West Central Pinal Nonattainment Area for the 2006 Fine...

    Science.gov (United States)

    2013-07-12

    ... available only at the hard copy location (e.g., copyrighted material), and some may not be publicly available at either location (e.g., CBI). To inspect the hard copy materials, please schedule an appointment... and Local Air Monitoring Stations (SLAMS) in a nonattainment area and entered into the AQS database...

  20. Transmembrane-sequence-dependent overexpression and secretion of glycoproteins in Saccharomyces cerevisiae.

    Science.gov (United States)

    Schuster, M; Wasserbauer, E; Aversa, G; Jungbauer, A

    2001-02-01

    Protein expression using the secretory pathway in Saccharomyces cerevisiae can lead to high amounts of overexpressed and secreted proteins in culture supernatants in a short period of time. These post-translational modified expression products can be purified up to >90% in a single step. The overexpression and secretion of the transmembrane glycoprotein signaling lymphocytic activation molecule (SLAM) was studied. SLAM belongs to the immunoglobulin superfamily and its engagement results in T-cell expansion and INF-gamma production. The molecule is composed of an extracellular, a single-span transmembrane and a cytoplasmatic domain. The extracellular part may be relevant for stimulation studies in vitro since SLAM is a high-affinity self-ligand. Therefore several fragments of this region have been expressed as Flag-fusions in S. cerevisiae: a full-length fragment containing the transmembrane region and the autologous signal sequence, another without the transmembrane region, and two fragments without the autologous signal sequence with and without the transmembrane region. By molecular cloning, the different deletion mutants of the cDNA encoding the full-length construct have been inserted in a yeast episomal plasmid. Upstream of the cDNA, the alpha-leader sequence of a yeast mating pheromone has been cloned to direct the fusion proteins into the secretory protein maturation pathway. All four fragments were expressed but yield, location, and maturation were highly influenced by the transmembrane domain and the autologous signal sequence. Only the fragment without autologous signal sequence and transmembrane domain could be efficiently secreted. High-mannose glycosylation was analyzed by lectin mapping and digestion with specific glycosidases. After enzyme treatment, a single band product with the theoretical size could be detected and identified as SLAM by a specific monoclonal antibody. The fusion protein concentration in the supernatant was 30 microg/ml. The

  1. 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

  2. Integrated multi-sensor fusion for mapping and localization in outdoor environments for mobile robots

    Science.gov (United States)

    Emter, Thomas; Petereit, Janko

    2014-05-01

    An integrated multi-sensor fusion framework for localization and mapping for autonomous navigation in unstructured outdoor environments based on extended Kalman filters (EKF) is presented. The sensors for localization include an inertial measurement unit, a GPS, a fiber optic gyroscope, and wheel odometry. Additionally a 3D LIDAR is used for simultaneous localization and mapping (SLAM). A 3D map is built while concurrently a localization in a so far established 2D map is estimated with the current scan of the LIDAR. Despite of longer run-time of the SLAM algorithm compared to the EKF update, a high update rate is still guaranteed by sophisticatedly joining and synchronizing two parallel localization estimators.

  3. 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.

  4. 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.

  5. 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

    2016-01-01

    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. PMID:27735857

  6. Maps managing interface design for a mobile robot navigation governed by a BCI

    Energy Technology Data Exchange (ETDEWEB)

    Auat Cheein, Fernando A [Institute of Automatic, National University of San Juan. San Martin, 1109 - Oeste 5400 San Juan (Argentina); Carelli, Ricardo [Institute of Automatic, National University of San Juan. San Martin, 1109 - Oeste 5400 San Juan (Argentina); Celeste, Wanderley Cardoso [Electrical Engineering Department, Federal University of Espirito Santo. Fernando Ferrari, 514 29075-910 Vitoria-ES (Brazil); Freire Bastos, Teodiano [Electrical Engineering Department, Federal University of Espirito Santo. Fernando Ferrari, 514 29075-910 Vitoria-ES (Brazil); Di Sciascio, Fernando [Institute of Automatic, National University of San Juan. San Martin, 1109 - Oeste 5400 San Juan (Argentina)

    2007-11-15

    In this paper, a maps managing interface is proposed. This interface is governed by a Brain Computer Interface (BCI), which also governs a mobile robot's movements. If a robot is inside a known environment, the user can load a map from the maps managing interface in order to navigate it. Otherwise, if the robot is in an unknown environment, a Simultaneous Localization and Mapping (SLAM) algorithm is released in order to obtain a probabilistic grid map of that environment. Then, that map is loaded into the map database for future navigations. While slamming, the user has a direct control of the robot's movements via the BCI. The complete system is applied to a mobile robot and can be also applied to an autonomous wheelchair, which has the same kinematics. Experimental results are also shown.

  7. Maps managing interface design for a mobile robot navigation governed by a BCI

    International Nuclear Information System (INIS)

    Auat Cheein, Fernando A; Carelli, Ricardo; Celeste, Wanderley Cardoso; Freire Bastos, Teodiano; Di Sciascio, Fernando

    2007-01-01

    In this paper, a maps managing interface is proposed. This interface is governed by a Brain Computer Interface (BCI), which also governs a mobile robot's movements. If a robot is inside a known environment, the user can load a map from the maps managing interface in order to navigate it. Otherwise, if the robot is in an unknown environment, a Simultaneous Localization and Mapping (SLAM) algorithm is released in order to obtain a probabilistic grid map of that environment. Then, that map is loaded into the map database for future navigations. While slamming, the user has a direct control of the robot's movements via the BCI. The complete system is applied to a mobile robot and can be also applied to an autonomous wheelchair, which has the same kinematics. Experimental results are also shown

  8. 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.

  9. 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.

  10. 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.

  11. Bestemmelse af spormetaller i organisk materiale

    DEFF Research Database (Denmark)

    Tjell, Jens Christian; Palfeldt, Kirsten

    Behovet for pålidelige analysemetoder til bestemmelse af spormetalindhold i organiske materialer, f.eks. planter, slam og dyrevæv er stigende på grund af den stigende erkendelse af disse stoffers betydning for organismers fysiologi, både hvor disse stoffer optræder i uønskede koncentrationer som...... der over de sidste år udviklet en analyseprocedure hvorefter det er muligt at analysere for metallerne Mn, Cu, Ni, Co, Cr, Zn, Cd og Pb i planter, dyrevæv, jord, slam og andre materialer med standardafvigelser på mellem 5 og 10%. Der gøres rede for denne metode....

  12. Pipe support optimization in nuclear power plants

    International Nuclear Information System (INIS)

    Cleveland, A.B.; Kalyanam, N.

    1984-01-01

    A typical 1000 MWe nuclear power plant consists of 80,000 to 100,000 feet of piping which must be designed to withstand earthquake shock. For the required ground motion, seismic response spectra are developed for safety-related structures. These curves are used in the dynamic analysis of piping systems with pipe-stress analysis computer codes. To satisfy applicable Code requirements, the piping systems also require analysis for weight, thermal and possibly other lasting conditions. Bechtel Power Corporation has developed a design program called SLAM (Support Location Algorithm) for optimizing pipe support locations and types (rigid, spring, snubber, axial, lateral, etc.) while satisfying userspecified parameters such as locations, load combinations, stress and load allowables, pipe displacement and cost. This paper describes SLAM, its features, applications and benefits

  13. Social Media Influencing C2 in Underdeveloped and Degraded Operational Environments

    Science.gov (United States)

    2013-06-01

    soldiers standing guard at the Tomb of the Unknown Soldier, a picture of a giant wave slamming into 18 th ICCRTS Paper ID: 103 | Social Media...efforts. Network monitoring site BGPmon found that 88 percent of Egyptian networks had become unreachable, with many Egyptian internet service providers...upheaval [69]. The Egyptian society was able to participate in social media because of the reach of the relevant media. In Egypt, youngsters had access to

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

    OpenAIRE

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

    2015-01-01

    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. Th...

  15. Intelligent Behavioral Action Aiding for Improved Autonomous Image Navigation

    Science.gov (United States)

    2012-09-13

    odometry, SICK laser scanning unit ( Lidar ), Inertial Measurement Unit (IMU) and ultrasonic distance measurement system (Figure 32). The Lidar , IMU...2010, July) GPS world. [Online]. http://www.gpsworld.com/tech-talk- blog/gnss-independent-navigation-solution-using-integrated- lidar -data-11378 [4...Milford, David McKinnon, Michael Warren, Gordon Wyeth, and Ben Upcroft, "Feature-based Visual Odometry and Featureless Place Recognition for SLAM in

  16. Micro Autonomous Systems and Technology: A Methodology for Quantitative Technology Assessment and Prototyping of Unmanned Vehicles

    Science.gov (United States)

    2012-01-30

    Sensors: LIDAR , Camera, SONAR) is qualitatively or quantitatively ranked against the other options in such categories as weight and power consumption...Mapping ( SLAM ) and A*. The second software change in progress is upgrading from Unreal 2004 to is a bridge between an external program that defines a...current simulation setup, a simulated quad-copter with an Inertial Navigation System (INS) and ranging LIDAR sensor spawns within an environment and

  17. Towards Stable Adversarial Feature Learning for LiDAR based Loop Closure Detection

    OpenAIRE

    Xu, Lingyun; Yin, Peng; Luo, Haibo; Liu, Yunhui; Han, Jianda

    2017-01-01

    Stable feature extraction is the key for the Loop closure detection (LCD) task in the simultaneously localization and mapping (SLAM) framework. In our paper, the feature extraction is operated by using a generative adversarial networks (GANs) based unsupervised learning. GANs are powerful generative models, however, GANs based adversarial learning suffers from training instability. We find that the data-code joint distribution in the adversarial learning is a more complex manifold than in the...

  18. Pose and Wind Estimation for Autonomous Parafoils

    Science.gov (United States)

    2014-09-01

    Precision Airdrop System LIDAR light detection and ranging LOP line of position MCADS Maritime Craft Air Delivery System MEMS micro-electro-mechanical...least squares SLAM simultaneous localization and mapping SPS standard positioning service TIP Turn Initiation Point TMA target motion analysis TNT...improvements and further testing on the WindPack [45]. Most recently, Herrmann proposed the use of a ground-based lidar wind measurement system to transmit

  19. The Proceedings of the International Conference on Numerical Ship Hydrodynamics (4th) Held in Washington, DC on 24-27 September 1985

    Science.gov (United States)

    1985-09-01

    Arlington VA, U.S.A. M.R. Hendenhall and S.C. Perkins, PREDICTION OF THE UNSTEADY HYDRODYNAMIC CHARACTERISTICS OF SUBNERSIBLE VEHICLES ...Architecture and Ocean Engineering University of Glasgow Glasgow, Scotland Abstract Research into slamming on marine vehicles has concentrated in the two...difference (open boun- compare the results obtained by the dary) method (17], hibrid method of - method on the assumption of the linear matching with the

  20. Computers in Defence: An Assessment

    OpenAIRE

    R.K. Bagga

    1993-01-01

    Computer technology has revolutionised weapons system and hardware during the last decade 'miracle chip' has had impact in all areas of battlefield. The recent Gulf War has amply demonstrated the important role of computer technology in warfare. The best of the high technology was used during the 45 days of air battle followed by 100 hours of ground offensive. Computer and communication formed the heart of every weapon system from Tomahawk, SLAM, Scud, Patriot missile to night vision o...

  1. DESY: Hot spots in the nucleon?

    International Nuclear Information System (INIS)

    Ali, A.; Bartels, J.

    1990-01-01

    The HERA electron-proton collider nearing completion at the DESY Laboratory in Hamburg and scheduled to come on-line next spring will provide unusual collision conditions (protons of almost 1000 GeV slamming into 30 GeV electrons). This physics will probe the deep structure of the proton under new conditions, particularly the kinematic area, known in the trade as small x, where a constituent quark carries only a small fraction of the total proton momentum

  2. 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.

  3. Effect of hydroxychloroquine treatment on pro-inflammatory cytokines and disease activity in SLE patients: data from LUMINA (LXXV), a multiethnic US cohort

    Science.gov (United States)

    Willis, R; Seif, AM; McGwin, G; Martinez-Martinez, LA; González, EB; Dang, N; Papalardo, E; Liu, J; Vilá, LM; Reveille, JD; Alarcón, GS; Pierangeli, SS

    2013-01-01

    Objective We sought to determine the effect of hydroxychloroquine therapy on the levels proinflammatory/prothrombotic markers and disease activity scores in patients with systemic lupus erythematosus (SLE) in a multiethnic, multi-center cohort (LUMINA). Methods Plasma/serum samples from SLE patients (n=35) were evaluated at baseline and after hydroxychloroquine treatment. Disease activity was assessed using SLAM-R scores. Interferon (IFN)-α2, interleukin (IL)-1β, IL-6, IL-8, inducible protein (IP)-10, monocyte chemotactic protein-1, tumor necrosis factor (TNF)-α and soluble CD40 ligand (sCD40L) levels were determined by a multiplex immunoassay. Anticardiolipin antibodies were evaluated using ELISA assays. Thirty-two frequency-matched plasma/serum samples from healthy donors were used as controls. Results Levels of IL-6, IP-10, sCD40L, IFN-α and TNF-α were significantly elevated in SLE patients versus controls. There was a positive but moderate correlation between SLAM-R scores at baseline and levels of IFN-α (p=0.0546). Hydroxychloroquine therapy resulted in a significant decrease in SLAM-R scores (p=0.0157), and the decrease in SLAM-R after hydroxychloroquine therapy strongly correlated with decreases in IFN-α (p=0.0087). Conclusions Hydroxychloroquine therapy resulted in significant clinical improvement in SLE patients, which strongly correlated with reductions in IFN-α levels. This indicates an important role for the inhibition of endogenous TLR activation in the action of hydroxychloroquine in SLE and provides additional evidence for the importance of type I interferons in the pathogenesis of SLE. This study underscores the use of hydroxychloroquine in the treatment of SLE. PMID:22343096

  4. 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....

  5. Using local symmetry for landmark selection

    OpenAIRE

    Kootstra, Geert; de Jong, Sjoerd; Schomaker, Lambert R. B.

    2009-01-01

    Most visual Simultaneous Localization And Mapping (SLAM) methods use interest points as landmarks in their maps of the environment. Often the interest points are detected using contrast features, for instance those of the Scale Invariant Feature Transform (SIFT). The SIFT interest points, however, have problems with stability, and noise robustness. Taking our inspiration from human vision, we therefore propose the use of local symmetry to select interest points. Our method, the MUlti-scale Sy...

  6. Cooperative Exploration for USAR Robots with Indirect Communication

    OpenAIRE

    Ziparo, V. A.; Kleiner, Alexander; Farinelli, A.; Marchetti, L.; Nardi, D.

    2007-01-01

    To coordinate a team of robots for exploration is a challenging problem, particularly in unstructured areas, as for example post-disaster scenarios where direct communication is severely constrained. Furthermore, conventional methods of SLAM, e.g. those performing data association based on visual features, are doomed to fail due to bad visibility caused by smoke and fire. We use indirect communication (based on RFIDs), to share knowledge and use a gradient-like local search to direct robots t...

  7. Cloud-Based Perception and Control of Sensor Nets and Robot Swarms

    Science.gov (United States)

    2016-04-01

    distributed stream processing framework provides the necessary API and infrastructure to develop and execute such applications in a cluster of computation...streaming DDDAS applications based on challenges they present to the backend Cloud control system. Figure 2 Parallel SLAM Application 3 1) Set of...the art deep learning- based object detectors can recognize among hundreds of object classes and this capability would be very useful for mobile

  8. Generalized Optimal-State-Constraint Extended Kalman Filter (OSC-EKF)

    Science.gov (United States)

    2017-02-01

    algorithms is demonstrated by achieving reasonable consistency and accuracy on a challenging micro aerial vehicle dataset. simultaneous localization...platforms exist,4 and many others have been constructed with low-cost components. Visual-inertial simultaneous localization and mapping (SLAM) and...epipolar constraints. The OSC-EKF used a window size of 10 frames. The SAM problem was constructed using an inverse -depth feature position param

  9. Novel structures of oxygen adsorbed on a Zr(0001) surface predicted from first principles

    Energy Technology Data Exchange (ETDEWEB)

    Gao, Bo [State Key Laboratory of Superhard Materials, Jilin University, Changchun, 130012 (China); Beijing computational science research center, Beijing,100084 (China); Wang, Jianyun [State Key Laboratory of Superhard Materials, Jilin University, Changchun, 130012 (China); Lv, Jian [State Key Laboratory of Superhard Materials, Jilin University, Changchun, 130012 (China); College of Materials Science and Engineering, Jilin University, Changchun, 130012 (China); Gao, Xingyu [Laboratory of Computational Physics, Institute of Applied Physics and Computational Mathematics, Beijing, 100088 (China); CAEP Software Center for High Performance Numerical Simulation, Beijing, 100088 (China); Zhao, Yafan [CAEP Software Center for High Performance Numerical Simulation, Beijing, 100088 (China); Wang, Yanchao, E-mail: wyc@calypso.cn [State Key Laboratory of Superhard Materials, Jilin University, Changchun, 130012 (China); Beijing computational science research center, Beijing,100084 (China); College of Materials Science and Engineering, Jilin University, Changchun, 130012 (China); Song, Haifeng, E-mail: song_haifeng@iapcm.ac.cn [Laboratory of Computational Physics, Institute of Applied Physics and Computational Mathematics, Beijing, 100088 (China); CAEP Software Center for High Performance Numerical Simulation, Beijing, 100088 (China); Ma, Yanming [State Key Laboratory of Superhard Materials, Jilin University, Changchun, 130012 (China); Beijing computational science research center, Beijing,100084 (China)

    2017-01-30

    Highlights: • Two stable structures of O adsorbed on a Zr(0001) surface are predicted with SLAM. • A stable structure of O adsorbed on a Zr(0001) surface is proposed with MLAM. • The calculated work function change is agreement with experimental value. - Abstract: The structures of O atoms adsorbed on a metal surface influence the metal properties significantly. Thus, studying O chemisorption on a Zr surface is of great interest. We investigated O adsorption on a Zr(0001) surface using our newly developed structure-searching method combined with first-principles calculations. A novel structural prototype with a unique combination of surface face-centered cubic (SFCC) and surface hexagonal close-packed (SHCP) O adsorption sites was predicted using a single-layer adsorption model (SLAM) for a 0.5 and 1.0 monolayer (ML) O coverage. First-principles calculations based on the SLAM revealed that the new predicted structures are energetically favorable compared with the well-known SFCC structures for a low O coverage (0.5 and 1.0 ML). Furthermore, on basis of our predicted SFCC + SHCP structures, a new structure within multi-layer adsorption model (MLAM) was proposed to be more stable at the O coverage of 1.0 ML, in which adsorbed O atoms occupy the SFCC + SHCP sites and the substitutional octahedral sites. The calculated work functions indicate that the SFCC + SHCP configuration has the lowest work function of all known structures at an O coverage of 0.5 ML within the SLAM, which agrees with the experimental trend of work function with variation in O coverage.

  10. Associated factors and impact of myocarditis in patients with SLE from LUMINA, a multiethnic US cohort (LV). [corrected].

    Science.gov (United States)

    Apte, M; McGwin, G; Vilá, L M; Kaslow, R A; Alarcón, G S; Reveille, J D

    2008-03-01

    To examine the factors associated with myocarditis and its impact on disease outcomes in SLE patients. SLE patients aged > or = 16 yrs, disease duration NAture vs nurture), a multiethnic US cohort, were studied. Myocarditis was defined as per the category 3 of the pericarditis/myocarditis item of the SLAM-Revised (SLAM-R). Patients with concurrent pericardial involvement were excluded. Patients with myocarditis were compared with those without myocarditis or its sequelae in the preceding year. The association between myocarditis and baseline variables (T(0)) was first examined. The impact of myocarditis on disease activity over time (SLAM-R), damage accrual [SLICC Damage Index (SDI)] at last visit (T(L)) and mortality was evaluated. Fifty-three of the 496 patients studied had myocarditis. African American ethnicity [Odds ratio (OR) = 12.6; 95% CI 1.6, 97.8] and SLAM-R at diagnosis (OR = 1.1, 95% CI 1.0, 1.1) were significantly and independently associated with myocarditis. Myocarditis did not predict disease activity over time, but approached significance as a predictor of SDI at T(L) in multivariable analyses P = 0.051. Kaplan-Meier curves indicated that myocarditis was associated with shorter survival (log-rank = 4.87, P = 0.02), particularly in patients with > or = 5 yrs disease; however, myocarditis was not retained in the Cox proportional hazards regression model. Ethnicity and disease activity at diagnosis were associated with the occurrence of myocarditis in SLE. Myocarditis did not significantly impact on disease activity over time, but impacts some on damage accrual and survival, reflecting overall the more severe disease those patients experience.

  11. 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 challen...... invariant feature transformation SIFT feature detection and matching, random sampling consensus RANSAC , and least square 3D point sets ?tting. Experimental results are provided to demonstrate the effectiveness of the techniques developed....

  12. Good Teachers (the Movie You Will Never See)

    Science.gov (United States)

    Gillard, Colleen

    2012-01-01

    It began with a trip to the cinema to see Cameron Diaz in her new comedy, "Bad Teacher." It was a bad choice. Not a great flick, but as a parody of bad employees, in terms of things that can get one fired--drugs, alcohol , cheating, foul language, inappropriate sexual behavior--Diaz slams pedal to the metal. She nips out of airline booze bottles…

  13. Utilizing Robot Operating System (ROS) in Robot Vision and Control

    Science.gov (United States)

    2015-09-01

    Palmer, “Development of a navigation system for semi-autonomous operation of wheelchairs,” in Proc. of the 8th IEEE/ASME Int. Conf. on Mechatronic ...and Embedded Systems and Applications, Suzhou, China, 2012, pp. 257-262. [30] G. Grisetti, C. Stachniss, and W. Burgard, “Improving grid-based SLAM...OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL by Joshua S. Lum September 2015 Thesis Advisor: Xiaoping Yun Co-Advisor: Zac Staples

  14. Colour reconstruction of underwater images

    OpenAIRE

    Hoth, Julian; Kowalczyk, Wojciech

    2017-01-01

    Objects look very different in the underwater environment compared to their appearance in sunlight. Images with correct colouring simplify the detection of underwater objects and may allow the use of visual SLAM algorithms developed for land-based robots underwater. Hence, image processing is required. Current algorithms focus on the colour reconstruction of scenery at diving depth where different colours can still be distinguished. At greater depth this is not the case. In this study it is i...

  15. Ship Detection and Measurement of Ship Motion by Multi-Aperture Synthetic Aperture Radar

    Science.gov (United States)

    2014-06-01

    otherwise they would break. Both transverse and torsional modes are present and are driven by the ship structure, the shape of the sea surface, bow slamming...used, the ship’s loading and the ship’s operation [11], [16]. Very large vessels are the most flexible . The schematic shown in Figure 4 [12] provides...different orientations and thin (with respect to a radar wavelength) rods and cables act as linear diffraction centers. The orientation of the

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

    Science.gov (United States)

    2012-05-31

    slamming area or superstructure, hull or deck, using hand lamination , infusion or prepreg . If looking for reliable processing, M-Foam delivers through...resin infusion, hand lamination and prepreg processing and offer on-site support and structural engineering for Corecell customers. This combination...foam cored laminates • Impact resistance of foam cored sandwich panels with an interleaved layer. Composites, Non-Destructive Testing UU UU UU UU 685

  17. 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.

  18. 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.

  19. Annual Technical Symposium (28th): Achieving Technical and Management Excellence. Held in Arlington, Virginia on April 11, 1991,

    Science.gov (United States)

    1991-04-11

    Y R G Y Y G Green (G) - Meets or exaeet& requirements. Yellow (Y) - Meets requirements marginally. Red (R) - Falls to meet requirements. Figure S...tactical diameter in- Behavor Over Shoals creases as depth decreases, in some cases to twice the diameter than for deep water. The obvious corollary is, The...can be accomplished in a with the slam. reasonable time only for the simpler cases. Green sea loads, which may be from either heavy spray, or large

  20. 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)

  1. 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)

  2. Ceramic Gas Turbine Engine Demonstration Program

    Science.gov (United States)

    1982-05-01

    of Radiographs 124 5.2.3 Ultrasonic NDE 127 5.2.4 Scanning Laser Acoustic Microscopy 132 5.2.5 Microwave NDE 134 5.2.6 Neutron Radiography 134 5.2.7...microwaves, and scanning loser acoustic microscopy (SLAM) were evaluated using the standards containing known defects. Component shape standards...mounted in a carousel and rotated in the high velocity combustor gases. The temperature is measured by an infrared pyrometer 95 TABLE 4-3. SUMMARY OF

  3. Standardized Laboratory Test Requirements for Hardening Equipment to Withstand Wave Impact Shock in Small High Speed Craft

    Science.gov (United States)

    2017-02-06

    axes. DRAFT NSWCCD-80-TR-2017/002 8 REFERENCES 1. Du Cane, P., The Planing Performance, Pressures , and Stresses in a High -Speed...Characterization of Individual Wave Slam Acceleration Responses for High Speed Craft, Proceedings of the 29 th American Towing Tank Conference...Methodologies for Small High -Speed Craft Structure, Equipment, Shock Isolation Seats, and Human Performance At-Sea, 10 th Symposium on High

  4. Real Time Vision System for Obstacle Detection and Localization on FPGA

    OpenAIRE

    Alhamwi , Ali; Vandeportaele , Bertrand; Piat , Jonathan

    2015-01-01

    International audience; Obstacle detection is a mandatory function for a robot navigating in an indoor environment especially when interaction with humans is done in a cluttered environment. Commonly used vision-based solutions like SLAM (Simultaneous Localization and Mapping) or optical flow tend to be computation intensive and require powerful computation resources to meet low speed real-time constraints. Solutions using LIDAR (Light Detection And Ranging) sensors are more robust but not co...

  5. Visual Odometry and Place Recognition Fusion for Vehicle Position Tracking in Urban Environments.

    Science.gov (United States)

    Ouerghi, Safa; Boutteau, Rémi; Savatier, Xavier; Tlili, Fethi

    2018-03-22

    In this paper, we address the problem of vehicle localization in urban environments. We rely on visual odometry, calculating the incremental motion, to track the position of the vehicle and on place recognition to correct the accumulated drift of visual odometry, whenever a location is recognized. The algorithm used as a place recognition module is SeqSLAM, addressing challenging environments and achieving quite remarkable results. Specifically, we perform the long-term navigation of a vehicle based on the fusion of visual odometry and SeqSLAM. The template library for this latter is created online using navigation information from the visual odometry module. That is, when a location is recognized, the corresponding information is used as an observation of the filter. The fusion is done using the EKF and the UKF, the well-known nonlinear state estimation methods, to assess the superior alternative. The algorithm is evaluated using the KITTI dataset and the results show the reduction of the navigation errors by loop-closure detection. The overall position error of visual odometery with SeqSLAM is 0.22% of the trajectory, which is much smaller than the navigation errors of visual odometery alone 0.45%. In addition, despite the superiority of the UKF in a variety of estimation problems, our results indicate that the UKF performs as efficiently as the EKF at the expense of an additional computational overhead. This leads to the conclusion that the EKF is a better choice for fusing visual odometry and SeqSlam in a long-term navigation context.

  6. Adaptyvaus 2d pozicionavimo metodo autonominiam robotui tyrimas

    OpenAIRE

    Senvaitis, Vytautas

    2016-01-01

    Overview SLAM algorithm, laser distance scanner working principle, EKF and UKF filters in analytical part. EKF mathematical models are implemented for autonomous robot whit two-wheel drive and for laser distance scanner. EKF and UKF filters are compared. 2D robot positioning with EKF filter are modeled and simulated in MATALB and STM32 microcontroller with DSP library. MATLAB and STM32 are compared in speed test. Analyzing EKF filter working. Design and construct autonomous robot experimental...

  7. Forum on unsteady flow - 1985

    International Nuclear Information System (INIS)

    Rothe, P.H.

    1985-01-01

    This book presents the papers given at a conference on fluid flow and hydraulics. Topics considered at the conference included a numerical study of pressure transients in a borehole due to pipe movement, laminar fluid transients in conduits of unconventional shape, water hammer analysis needs in nuclear power plant design, modeling blockage in unsteady slurry flow in conduits, and check valve slamming in a BWR feedwater system following a postulated pipe break

  8. Local mechanical spectroscopy with nanometer-scale lateral resolution

    Science.gov (United States)

    Oulevey, F.; Gremaud, G.; Sémoroz, A.; Kulik, A. J.; Burnham, N. A.; Dupas, E.; Gourdon, D.

    1998-05-01

    A new technique has been developed to probe the viscoelastic and anelastic properties of submicron phases of inhomogeneous materials. The measurement gives information related to the internal friction and to the variations of the dynamic modulus of nanometer-sized volumes. It is then the nanoscale equivalent to mechanical spectroscopy, a well-known macroscopic technique for materials studies, also sometimes called dynamic mechanical (thermal) analysis. The technique is based on a scanning force microscope, using the principle of scanning local-acceleration microscopy (SLAM), and allows the sample temperature to be changed. It is called variable-temperature SLAM, abbreviated T-SLAM. According to a recent proposition to systematize names of scanning probe microscope based methods, this technique should be included in the family of "mechanothermal analysis with scanning microscopy." It is suited for studying defect dynamics in nanomaterials and composites by locating the dissipative mechanisms in submicron phases. The primary and secondary relaxations, as well as the viscoplasticity, were observed in bulk PVC. The wide range of phenomena demonstrate the versatility of the technique. A still unexplained increase of the stiffness with increasing temperature was observed just below the glass transition. All of these observations, although their interpretation in terms of physical events is still tentative, are in agreement with global studies. This technique also permits one to image the variations of the local elasticity or of the local damping at a fixed temperature. This enables the study of, for instance, the homogeneity of phase transitions in multiphased materials, or of the interface morphologies and properties. As an illustration, the homogeneity of the glass transition temperature of PVC in a 50/50 wt % PVC/PB polymer blend has been demonstrated. Due to the small size of the probed volume, T-SLAM gives information on the mechanical properties of the near

  9. Estimating Rain Attenuation In Satellite Communication Links

    Science.gov (United States)

    Manning, R. M.

    1991-01-01

    Attenuation computed with help of statistical model and meteorological data. NASA Lewis Research Center Satellite Link Attenuation Model (SLAM) program QuickBASIC computer program evaluating static and dynamic statistical assessment of impact of rain attenuation on communication link established between Earth terminal and geosynchronous satellite. Application in specification, design, and assessment of satellite communication links for any terminal location in continental United States. Written in Microsoft QuickBASIC.

  10. [Lung transplantation in sporadic lymphangioleiomyomatosis: study of 7 cases].

    Science.gov (United States)

    Ansótegui Barrera, Emilio; Mancheño Franch, Nuria; Peñalver Cuesta, Juan Carlos; Vera-Sempere, Francisco; Padilla Alarcón, José

    2013-10-19

    Sporadic lymphangioleiomyomatosis (S-LAM) is a rare disease that affects only women. It is characterized by an abnormal proliferation of immature smooth muscle cells (LAM cells) that grow in an aberrant manner in the airway, parenchymal lung lymph and blood vessels, determining the onset of pulmonary cystic lesions. The disease has no treatment, progressing to respiratory failure, and lung transplantation (LT) may be a treatment option at this stage. Our goal was to study 7 patients undergoing LT for S-LAM. We studied a series of clinical and demographic characteristics, diagnostic modality and post-transplant outcomes. We performed a descriptive analysis of the series. The Kaplan-Meier method was used to estimate survival. The mean age of onset of symptoms was 35 years, the diagnosis of 37 years and that of LT 38 years. The most common symptom was dyspnea. Four patients had a history of pneumothorax and pleural effusion. The mean forced expiratory volume in one second was 32.7% and the diffusing capacity for carbon monoxide was 29%. All patients were subjected to LT and survival was 100, 85.7 and 57.1% at one, 3 and 5 years, respectively. Three died of bronchiolitis obliterans and 2 necropsies did not show evidence of disease recurrence. LT is a therapeutic option in patients with S-LAM with an advanced respiratory functional impairment. Copyright © 2013 Elsevier España, S.L. All rights reserved.

  11. Lethal canine distemper virus outbreak in cynomolgus monkeys in Japan in 2008.

    Science.gov (United States)

    Sakai, Kouji; Nagata, Noriyo; Ami, Yasushi; Seki, Fumio; Suzaki, Yuriko; Iwata-Yoshikawa, Naoko; Suzuki, Tadaki; Fukushi, Shuetsu; Mizutani, Tetsuya; Yoshikawa, Tomoki; Otsuki, Noriyuki; Kurane, Ichiro; Komase, Katsuhiro; Yamaguchi, Ryoji; Hasegawa, Hideki; Saijo, Masayuki; Takeda, Makoto; Morikawa, Shigeru

    2013-01-01

    Canine distemper virus (CDV) has recently expanded its host range to nonhuman primates. A large CDV outbreak occurred in rhesus monkeys at a breeding farm in Guangxi Province, China, in 2006, followed by another outbreak in rhesus monkeys at an animal center in Beijing in 2008. In 2008 in Japan, a CDV outbreak also occurred in cynomolgus monkeys imported from China. In that outbreak, 46 monkeys died from severe pneumonia during a quarantine period. A CDV strain (CYN07-dV) was isolated in Vero cells expressing dog signaling lymphocyte activation molecule (SLAM). Phylogenic analysis showed that CYN07-dV was closely related to the recent CDV outbreaks in China, suggesting continuing chains of CDV infection in monkeys. In vitro, CYN07-dV uses macaca SLAM and macaca nectin4 as receptors as efficiently as dog SLAM and dog nectin4, respectively. CYN07-dV showed high virulence in experimentally infected cynomolgus monkeys and excreted progeny viruses in oral fluid and feces. These data revealed that some of the CDV strains, like CYN07-dV, have the potential to cause acute systemic infection in monkeys.

  12. 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.

  13. The Place of Necmettin Erbakan’s Spiritual Development in Islamic Economy and its Relation with Social Capital and Asymmetric Information

    Directory of Open Access Journals (Sweden)

    İrfan ERSİN

    2016-04-01

    Full Text Available Education is very important issue in İslam to develop a Muslim individual who should well learn the İslam for living his life according to İslamic rules. This order is also important in the economic life. A Muslim individual should concern halal and haram and avoid derivation an improper personal benefit. Erbakan mentions this subject with the ethical economic development. According to Erbakan, the ethical economic development is that a Muslim indivudial should act according economic laws of İslam. Erbakan also states that the material development cannot actualise without the ethical economic development for which the number of quran courses, İslamic institutes and imam hatip school should increase to educate Muslims İslamically. Thus, an economic system could constuct through which Muslims can acquire İslamic mind, avoid harams and derivation an improper personal benefit, give infaq and sadaqah. The terms of the ethical economic development of Erbakan is just opposite of the homo economicus. Some İslamic scholars mention the ethical economic development of Erbakan as homo İslamicus. There is a close relationship between the ethical economic development and the homo İslamicus. This relationship is analyzed in the study in terms of social capital and asymmetric information.

  14. 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.

  15. 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.

  16. Next-generation nozzle check valve significantly reduces operating costs

    Energy Technology Data Exchange (ETDEWEB)

    Roorda, O. [SMX International, Toronto, ON (Canada)

    2009-01-15

    Check valves perform an important function in preventing reverse flow and protecting plant and mechanical equipment. However, the variety of different types of valves and extreme differences in performance even within one type can change maintenance requirements and life cycle costs, amounting to millions of dollars over the typical 15-year design life of piping components. A next-generation non-slam nozzle check valve which prevents return flow has greatly reduced operating costs by protecting the mechanical equipment in a piping system. This article described the check valve varieties such as the swing check valve, a dual-plate check valve, and nozzle check valves. Advancements in optimized design of a non-slam nozzle check valve were also discussed, with particular reference to computer flow modelling such as computational fluid dynamics; computer stress modelling such as finite element analysis; and flow testing (using rapid prototype development and flow loop testing), both to improve dynamic performance and reduce hydraulic losses. The benefits of maximized dynamic performance and minimized pressure loss from the new designed valve were also outlined. It was concluded that this latest non-slam nozzle check valve design has potential applications in natural gas, liquefied natural gas, and oil pipelines, including subsea applications, as well as refineries, and petrochemical plants among others, and is suitable for horizontal and vertical installation. The result of this next-generation nozzle check valve design is not only superior performance, and effective protection of mechanical equipment but also minimized life cycle costs. 1 fig.

  17. Thiol-linked alkylation of RNA to assess expression dynamics.

    Science.gov (United States)

    Herzog, Veronika A; Reichholf, Brian; Neumann, Tobias; Rescheneder, Philipp; Bhat, Pooja; Burkard, Thomas R; Wlotzka, Wiebke; von Haeseler, Arndt; Zuber, Johannes; Ameres, Stefan L

    2017-12-01

    Gene expression profiling by high-throughput sequencing reveals qualitative and quantitative changes in RNA species at steady state but obscures the intracellular dynamics of RNA transcription, processing and decay. We developed thiol(SH)-linked alkylation for the metabolic sequencing of RNA (SLAM seq), an orthogonal-chemistry-based RNA sequencing technology that detects 4-thiouridine (s 4 U) incorporation in RNA species at single-nucleotide resolution. In combination with well-established metabolic RNA labeling protocols and coupled to standard, low-input, high-throughput RNA sequencing methods, SLAM seq enabled rapid access to RNA-polymerase-II-dependent gene expression dynamics in the context of total RNA. We validated the method in mouse embryonic stem cells by showing that the RNA-polymerase-II-dependent transcriptional output scaled with Oct4/Sox2/Nanog-defined enhancer activity, and we provide quantitative and mechanistic evidence for transcript-specific RNA turnover mediated by post-transcriptional gene regulatory pathways initiated by microRNAs and N 6 -methyladenosine. SLAM seq facilitates the dissection of fundamental mechanisms that control gene expression in an accessible, cost-effective and scalable manner.

  18. 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.

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

    Science.gov (United States)

    Aznar, Fidel; Pujol, Francisco A; Pujol, Mar; Rizo, Ramón; Pujol, María-José

    2014-01-01

    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.

  20. Using biomedical engineering and "hidden capital" to provide educational outreach to disadvantaged populations.

    Science.gov (United States)

    Drazan, John F; Scott, John M; Hoke, Jahkeen I; Ledet, Eric H

    2014-01-01

    A hands-on learning module called "Science of the Slam" is created that taps into the passions and interests of an under-represented group in the fields of Science, Technology, Engineering and Mathematics (STEM). This is achieved by examining the use of the scientific method to quantify the biomechanics of basketball players who are good at performing the slam dunk. Students already have an intrinsic understanding of the biomechanics of basketball however this "hidden capital" has never translated into the underlying STEM concepts. The effectiveness of the program is rooted in the exploitation of "hidden capital" within the field of athletics to inform and enhance athletic performance. This translation of STEM concepts to athletic performance provides a context and a motivation for students to study the STEM fields who are traditionally disengaged from the classic engineering outreach programs. "Science of the Slam" has the potential to serve as a framework for other researchers to engage under-represented groups in novel ways by tapping into shared interests between the researcher and disadvantaged populations.

  1. 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.

  2. 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.

  3. Spin State Estimation of Tumbling Small Bodies

    Science.gov (United States)

    Olson, Corwin; Russell, Ryan P.; Bhaskaran, Shyam

    2016-06-01

    It is expected that a non-trivial percentage of small bodies that future missions may visit are in non-principal axis rotation (i.e. "tumbling"). The primary contribution of this paper is the application of the Extended Kalman Filter (EKF) Simultaneous Localization and Mapping (SLAM) method to estimate the small body spin state, mass, and moments of inertia; the spacecraft position and velocity; and the surface landmark locations. The method uses optical landmark measurements, and an example scenario based on the Rosetta mission is used. The SLAM method proves effective, with order of magnitude decreases in the spacecraft and small body spin state errors after less than a quarter of the comet characterization phase. The SLAM method converges nicely for initial small body angular velocity errors several times larger than the true rates (effectively having no a priori knowledge of the angular velocity). Surface landmark generation and identification are not treated in this work, but significant errors in the initial body-fixed landmark positions are effectively estimated. The algorithm remains effective for a range of different truth spin states, masses, and center of mass offsets that correspond to expected tumbling small bodies throughout the solar system.

  4. Development of fast reactor containment safety analysis code, CONTAIN-LMR. (3) Improvement of sodium-concrete reaction model

    International Nuclear Information System (INIS)

    Kawaguchi, Munemichi; Doi, Daisuke; Seino, Hiroshi; Miyahara, Shinya

    2015-01-01

    A computer code, CONTAIN-LMR, is an integrated analysis tool to predict the consequence of severe accident in a liquid metal fast reactor. Because a sodium-concrete reaction behavior is one of the most important phenomena in the accident, a Sodium-Limestone Concrete Ablation Model (SLAM) has been developed and installed into the original CONTAIN code at Sandia National Laboratories (SNL) in the U.S. The SLAM treats chemical reaction kinetics between the sodium and the concrete compositions mechanistically using a three-region model, containing a pool (sodium and reaction debris) region, a dry (boundary layer (B/L) and dehydrated concrete) region, and a wet (hydrated concrete) region, the application is limited to the reaction between sodium and limestone concrete. In order to apply SLAM to the reaction between sodium and siliceous concrete which is an ordinary structural concrete in Japan, the chemical reaction kinetics model has been improved to consider the new chemical reactions between sodium and silicon dioxide. The improved model was validated to analyze a series of sodium-concrete experiments which were conducted in Japan Atomic Energy Agency (JAEA). It has been found that relatively good agreement between calculation and experimental results is obtained and the CONTAIN-LMR code has been validated with regard to the sodium-concrete reaction phenomena. (author)

  5. WASTES: Wastes system transportation and economic simulation: Version 2, Programmer's reference manual

    International Nuclear Information System (INIS)

    Buxbaum, M.E.; Shay, M.R.

    1986-11-01

    The WASTES Version II (WASTES II) Programmer's Reference Manual was written to document code development activities performed under the Monitored Retrievable Storage (MRS) Program at Pacific Northwest Laboratory (PNL). The manual will also serve as a valuable tool for programmers involved in maintenance of and updates to the WASTES II code. The intended audience for this manual are experienced FORTRAN programmers who have only a limited knowledge of nuclear reactor operation, the nuclear fuel cycle, or nuclear waste management practices. It is assumed that the readers of this manual have previously reviewed the WASTES II Users Guide published as PNL Report 5714. The WASTES II code is written in FORTRAN 77 as an extension to the SLAM commercial simulation package. The model is predominately a FORTRAN based model that makes extensive use of the SLAM file maintenance and time management routines. This manual documents the general manner in which the code is constructed and the interactions between SLAM and the WASTES subroutines. The functionality of each of the major WASTES subroutines is illustrated with ''block flow'' diagrams. The basic function of each of these subroutines, the algorithms used in them, and a discussion of items of particular note in the subroutine are reviewed in this manual. The items of note may include an assumption, a coding practice that particularly applies to a subroutine, or sections of the code that are particularly intricate or whose mastery may be difficult. The appendices to the manual provide extensive detail on the use of arrays, subroutines, included common blocks, parameters, variables, and files

  6. Recent advances in vibro-impact dynamics and collision of ocean vessels

    Science.gov (United States)

    Ibrahim, Raouf A.

    2014-11-01

    The treatment of ship impacts and collisions takes different approaches depending on the emphasis of each discipline. For example, dynamicists, physicist, and mathematicians are dealing with developing analytical models and mappings of vibro-impact systems. On the other hand, naval architects and ship designers are interested in developing design codes and structural assessments due to slamming loads, liquid sloshing impact loads in liquefied natural gas tanks and ship grounding accidents. The purpose of this review is to highlight the main differences of the two disciplines. It begins with a brief account of the theory of vibro-impact dynamics based on modeling and mapping of systems experiencing discontinuous changes in their state of motion due to collision. The main techniques used in modeling include power-law phenomenological modeling, Hertzian modeling, and non-smooth coordinate transformations originally developed by Zhuravlev and Ivanov. In view of their effectiveness, both Zhuravlev and Ivanov non-smooth coordinate transformations will be described and assessed for the case of ship roll dynamics experiencing impact with rigid barriers. These transformations have the advantage of converting the vibro-impact oscillator into an oscillator without barriers such that the corresponding equation of motion does not contain any impact term. One of the recent results dealing with the coefficient of restitution is that its value monotonically decreases with the impact velocity and not unique but random in nature. Slamming loads and grounding events of ocean waves acting on the bottom of high speed vessels will be assessed with reference to the ship structural damage. It will be noticed that naval architects and marine engineers are treating these problems using different approaches from those used by dynamicists. The problem of sloshing impact in liquefied natural gas cargo and related problems will be assessed based on the numerical and experimental results. It is

  7. Canine distemper virus in the Serengeti ecosystem: molecular adaptation to different carnivore species.

    Science.gov (United States)

    Nikolin, Veljko M; Olarte-Castillo, Ximena A; Osterrieder, Nikolaus; Hofer, Heribert; Dubovi, Edward; Mazzoni, Camila J; Brunner, Edgar; Goller, Katja V; Fyumagwa, Robert D; Moehlman, Patricia D; Thierer, Dagmar; East, Marion L

    2017-04-01

    Was the 1993/1994 fatal canine distemper virus (CDV) epidemic in lions and spotted hyaenas in the Serengeti ecosystem caused by the recent spillover of a virulent domestic dog strain or one well adapted to these noncanids? We examine this question using sequence data from 13 'Serengeti' strains including five complete genomes obtained between 1993 and 2011. Phylogenetic and haplotype network analyses reveal that strains from noncanids during the epidemic were more closely related to each other than to those from domestic or wild canids. All noncanid 'Serengeti' strains during the epidemic encoded: (1) one novel substitution G134S in the CDV-V protein; and (2) the rare amino acid combination 519I/549H at two sites under positive selection in the region of the CDV-H protein that binds to SLAM (CD 150) host cell receptors. Worldwide, only a few noncanid strains in the America II lineage encode CDV-H 519I/549H. All canid 'Serengeti' strains during the epidemic coded CDV-V 134G, and CDV-H 519R/549Y, or 519R/549H. A functional assay of cell entry revealed the highest performance by CDV-H proteins encoding 519I/549H in cells expressing lion SLAM receptors, and the highest performance by proteins encoding 519R/549Y, typical of dog strains worldwide, in cells expressing dog SLAM receptors. Our findings are consistent with an epidemic in lions and hyaenas caused by CDV variants better adapted to noncanids than canids, but not with the recent spillover of a dog strain. Our study reveals a greater complexity of CDV molecular epidemiology in multihost environments than previously thought. © 2016 John Wiley & Sons Ltd.

  8. [Use of psychostimulants in a sexual context: Analysis of cases reported to the French network of Addictovigilance Centers].

    Science.gov (United States)

    Batisse, Anne; Peyrière, Hélène; Eiden, Céline; Courné, Marie-Anne; Djezzar, Samira

    2016-10-01

    The "SLAM" phenomenon is an increasingly popular practice, in Paris and London gay scene, defined by 3 characteristics: injection, sexual party and psychostimulant drugs. The French Medical Agency requested a risk assessment of "SLAM" and more broadly of the use of psychostimulants in a sexual context, by the analysis of complications related to this practice notified to the French Network of Addictovigilance Centers. All cases of complications related to "SLAM" practice, including cases of abuse or dependence, and somatic and psychiatric complications, were analysed. Between January 2008 to December 2013, 51 cases were collected. Users were exclusively men, with a mean age of 40 years, having psychostimulants exposure in a sexual context, mainly in men who have sex with men (MSM) context (100%, n=35). The prevalence of human immunodeficiency virus (HIV) infection was 82% (n=32) with a high level of HIV/hepatitis C virus (HCV) co-infection (50%, n=16). The main psychostimulants reported are synthetic cathinones (89.5%). Cathinones users tended to be polydrug users: 62% also reported use other than psychoactive substances (gamma-butyrolactone [GBL], ketamine, methylenedioxyméthamphetamine [MDMA], lysergic acid diethylamide [LSD]…). The main complications were psychiatric disorders in 50% (psychotic symptoms, agitation, anxiety, suicidal ideas or attempt and forensic problems), acute intoxication in 25% (including 3 deaths), dependence and abuse in 17% and infectious complications in 8% (viral seroconversion). Health professionals as well as users should be aware of the physical (cardiovascular) and behavioural (psychic, fast dependence syndrome) toxicity of cathinones. Risk reduction policy must be targeted to the population of MSM with specific interventions both on risky sexual behavior and substance use. Copyright © 2016 Société française de pharmacologie et de thérapeutique. Published by Elsevier Masson SAS. All rights reserved.

  9. Molecular Pathogenesis of EBV Susceptibility in XLP as Revealed by Analysis of Female Carriers with Heterozygous Expression of SAP

    Science.gov (United States)

    Palendira, Umaimainthan; Low, Carol; Chan, Anna; Hislop, Andrew D.; Ho, Edwin; Phan, Tri Giang; Deenick, Elissa; Cook, Matthew C.; Riminton, D. Sean; Choo, Sharon; Loh, Richard; Alvaro, Frank; Booth, Claire; Gaspar, H. Bobby; Moretta, Alessandro; Khanna, Rajiv; Rickinson, Alan B.; Tangye, Stuart G.

    2011-01-01

    X-linked lymphoproliferative disease (XLP) is a primary immunodeficiency caused by mutations in SH2D1A which encodes SAP. SAP functions in signalling pathways elicited by the SLAM family of leukocyte receptors. A defining feature of XLP is exquisite sensitivity to infection with EBV, a B-lymphotropic virus, but not other viruses. Although previous studies have identified defects in lymphocytes from XLP patients, the unique role of SAP in controlling EBV infection remains unresolved. We describe a novel approach to this question using female XLP carriers who, due to random X-inactivation, contain both SAP+ and SAP− cells. This represents the human equivalent of a mixed bone marrow chimera in mice. While memory CD8+ T cells specific for CMV and influenza were distributed across SAP+ and SAP− populations, EBV-specific cells were exclusively SAP+. The preferential recruitment of SAP+ cells by EBV reflected the tropism of EBV for B cells, and the requirement for SAP expression in CD8+ T cells for them to respond to Ag-presentation by B cells, but not other cell types. The inability of SAP− clones to respond to Ag-presenting B cells was overcome by blocking the SLAM receptors NTB-A and 2B4, while ectopic expression of NTB-A on fibroblasts inhibited cytotoxicity of SAP− CD8+ T cells, thereby demonstrating that SLAM receptors acquire inhibitory function in the absence of SAP. The innovative XLP carrier model allowed us to unravel the mechanisms underlying the unique susceptibility of XLP patients to EBV infection in the absence of a relevant animal model. We found that this reflected the nature of the Ag-presenting cell, rather than EBV itself. Our data also identified a pathological signalling pathway that could be targeted to treat patients with severe EBV infection. This system may allow the study of other human diseases where heterozygous gene expression from random X-chromosome inactivation can be exploited. PMID:22069374

  10. The Adaptor Protein SAP Directly Associates with CD3ζ Chain and Regulates T Cell Receptor Signaling

    Science.gov (United States)

    Proust, Richard; Bertoglio, Jacques; Gesbert, Franck

    2012-01-01

    Mutations altering the gene encoding the SLAM associated protein (SAP) are responsible for the X-linked lymphoproliferative disease or XLP1. Its absence is correlated with a defective NKT cells development, a decrease in B cell functions and a reduced T cells and NK cells cytotoxic activities, thus leading to an immunodeficiency syndrome. SAP is a small 128 amino-acid long protein that is almost exclusively composed of an SH2 domain. It has been shown to interact with the CD150/SLAM family of receptors, and in a non-canonical manner with SH3 containing proteins such as Fyn, βPIX, PKCθ and Nck1. It would thus play the role of a minimal adaptor protein. It has been shown that SAP plays an important function in the activation of T cells through its interaction with the SLAM family of receptors. Therefore SAP defective T cells display a reduced activation of signaling events downstream of the TCR-CD3 complex triggering. In the present work, we evidence that SAP is a direct interactor of the CD3ζ chain. This direct interaction occurs through the first ITAM of CD3ζ, proximal to the membrane. Additionally, we show that, in the context of the TCR-CD3 signaling, an Sh-RNA mediated silencing of SAP is responsible for a decrease of several canonical T cell signaling pathways including Erk, Akt and PLCγ1 and to a reduced induction of IL-2 and IL-4 mRNA. Altogether, we show that SAP plays a central function in the T cell activation processes through a direct association with the CD3 complex. PMID:22912825

  11. 2B4-SAP signaling is required for the priming of naive CD8+ T cells by antigen-expressing B cells and B lymphoma cells

    Science.gov (United States)

    2017-01-01

    ABSTRACT Mutations in SH2D1A gene that encodes SAP (SLAM-associated protein) result in X-linked lymphoproliferative disease (XLP), a rare primary immunodeficiency disease defined by exquisite sensitivity to the B-lymphotropic Epstein–Barr virus (EBV) and B cell lymphomas. However, the precise mechanism of how the loss of SAP function contributes to extreme vulnerability to EBV and the development of B cell lymphomas remains unclear. Here, we investigate the hypothesis that SAP is critical for CD8+ T cell immune surveillance of antigen (Ag)-expressing B cells or B lymphoma cells under conditions of defined T cell receptor (TCR) signaling. Sh2d1a−/− CD8+ T cells exhibited greatly diminished proliferation relative to wild type when Ag-presenting-B cells or -B lymphoma cells served as the primary Ag-presenting cell (APC). By contrast, Sh2d1a−/− CD8+ T cells responded equivalently to wild-type CD8+ T cells when B cell-depleted splenocytes, melanoma cells or breast carcinoma cells performed Ag presentation. Through application of signaling lymphocyte activation molecule (SLAM) family receptor blocking antibodies or SLAM family receptor-deficient CD8+ T cells and APCs, we found that CD48 engagement on the B cell surface by 2B4 is crucial for initiating SAP-dependent signaling required for the Ag-driven CD8+ T cell proliferation and differentiation. Altogether, a pivotal role for SAP in promoting the expansion and differentiation of B cell-primed viral-specific naive CD8+ T cells may explain the selective immune deficiency of XLP patients to EBV and B cell lymphomas. PMID:28344876

  12. 2B4-SAP signaling is required for the priming of naive CD8+ T cells by antigen-expressing B cells and B lymphoma cells.

    Science.gov (United States)

    Huang, Yu-Hsuan; Tsai, Kevin; Tan, Sara Y; Kang, Sohyeong; Ford, Mandy L; Harder, Kenneth W; Priatel, John J

    2017-01-01

    Mutations in SH2D1A gene that encodes SAP (SLAM-associated protein) result in X-linked lymphoproliferative disease (XLP), a rare primary immunodeficiency disease defined by exquisite sensitivity to the B-lymphotropic Epstein-Barr virus (EBV) and B cell lymphomas. However, the precise mechanism of how the loss of SAP function contributes to extreme vulnerability to EBV and the development of B cell lymphomas remains unclear. Here, we investigate the hypothesis that SAP is critical for CD8 + T cell immune surveillance of antigen (Ag)-expressing B cells or B lymphoma cells under conditions of defined T cell receptor (TCR) signaling. Sh2d1a - / - CD8 + T cells exhibited greatly diminished proliferation relative to wild type when Ag-presenting-B cells or -B lymphoma cells served as the primary Ag-presenting cell (APC). By contrast, Sh2d1a - / - CD8 + T cells responded equivalently to wild-type CD8 + T cells when B cell-depleted splenocytes, melanoma cells or breast carcinoma cells performed Ag presentation. Through application of signaling lymphocyte activation molecule (SLAM) family receptor blocking antibodies or SLAM family receptor-deficient CD8 + T cells and APCs, we found that CD48 engagement on the B cell surface by 2B4 is crucial for initiating SAP-dependent signaling required for the Ag-driven CD8 + T cell proliferation and differentiation. Altogether, a pivotal role for SAP in promoting the expansion and differentiation of B cell-primed viral-specific naive CD8 + T cells may explain the selective immune deficiency of XLP patients to EBV and B cell lymphomas.

  13. Morbillivirus receptors and tropism: multiple pathways for infection

    Directory of Open Access Journals (Sweden)

    Hiroki eSato

    2012-03-01

    Full Text Available Morbilliviruses, which include measles virus (MeV, canine distemper virus, and rinderpest virus, are among the most important pathogens in their respective hosts and cause severe syndromes. Morbilliviruses are enveloped viruses with 2 envelope proteins, one of which is hemagglutinin (H protein, which plays a role in binding to cellular receptors. During morbillivirus infection, the virus initially targets lymphoid cells and replicates efficiently in the lymph nodes. The principal cellular receptor for morbillivirus is signaling lymphocyte activation molecule (SLAM, also called CD150, which is exclusively expressed on immune cells. This feature reflects the strong lymphoid cell tropism and viral spread in the infected body. Morbillivirus infection, however, affects various tissues in the body, including the lung, kidney, gastrointestinal tract, vascular endothelium, and brain. Thus, other receptors for morbilliviruses in addition to SLAM might exist. Recently, nectin-4 has been identified as a novel epithelial cell receptor for MeV. The expression of nectin-4 is localized to polarized epithelial cells, and this localization supports the notion of cell tropism since MeV also grows well in the epithelial cells of the respiratory tract. Although 2 major receptors for lymphoid and epithelial cells in natural infection have been identified, morbillivirus can still infect many other types of cells with low infectivity, suggesting the existence of inefficient but ubiquitously expressed receptors. We have identified other molecules that are implicated in morbillivirus infection of SLAM-negative cells by alternative mechanisms. These findings indicate that morbillivirus utilizes multiple pathways for establishment of infection. These studies will advance our understanding of morbillivirus tropism and pathogenesis.

  14. Canine Distemper Virus Infects Canine Keratinocytes and Immune Cells by Using Overlapping and Distinct Regions Located on One Side of the Attachment Protein▿

    Science.gov (United States)

    Langedijk, Johannes P. M.; Janda, Jozef; Origgi, Francesco C.; Örvell, Claes; Vandevelde, Marc; Zurbriggen, Andreas; Plattet, Philippe

    2011-01-01

    The morbilliviruses measles virus (MeV) and canine distemper virus (CDV) both rely on two surface glycoproteins, the attachment (H) and fusion proteins, to promote fusion activity for viral cell entry. Growing evidence suggests that morbilliviruses infect multiple cell types by binding to distinct host cell surface receptors. Currently, the only known in vivo receptor used by morbilliviruses is CD150/SLAM, a molecule expressed in certain immune cells. Here we investigated the usage of multiple receptors by the highly virulent and demyelinating CDV strain A75/17. We based our study on the assumption that CDV-H may interact with receptors similar to those for MeV, and we conducted systematic alanine-scanning mutagenesis on CDV-H throughout one side of the β-propeller documented in MeV-H to contain multiple receptor-binding sites. Functional and biochemical assays performed with SLAM-expressing cells and primary canine epithelial keratinocytes identified 11 residues mutation of which selectively abrogated fusion in keratinocytes. Among these, four were identical to amino acids identified in MeV-H as residues contacting a putative receptor expressed in polarized epithelial cells. Strikingly, when mapped on a CDV-H structural model, all residues clustered in or around a recessed groove located on one side of CDV-H. In contrast, reported CDV-H mutants with SLAM-dependent fusion deficiencies were characterized by additional impairments to the promotion of fusion in keratinocytes. Furthermore, upon transfer of residues that selectively impaired fusion induction in keratinocytes into the CDV-H of the vaccine strain, fusion remained largely unaltered. Taken together, our results suggest that a restricted region on one side of CDV-H contains distinct and overlapping sites that control functional interaction with multiple receptors. PMID:21849439

  15. Development of an Immunoperoxidase Monolayer Assay for the Detection of Antibodies against Peste des Petits Ruminants Virus Based on BHK-21 Cell Line Stably Expressing the Goat Signaling Lymphocyte Activation Molecule.

    Directory of Open Access Journals (Sweden)

    Jialin Zhang

    Full Text Available From 2013 to 2015, peste des petits ruminants (PPR broke out in more than half of the provinces of China; thus, the application and development of diagnostic methods are very important for the control of PPR. Here, an immunoperoxidase monolayer assay (IPMA was developed to detect antibodies against PPR. However, during IPMA development, we found that Vero cells were not the appropriate choice because staining results were not easily observed. Therefore, we first established a baby hamster kidney-goat signaling lymphocyte activation molecule (BHK-SLAM cell line that could stably express goat SLAM for at least 20 generations. Compared with Vero cells, the PPR-mediated cytopathic effect occurred earlier in BHK-SLAM cells, and large syncytia appeared after virus infection. Based on this cell line and recombinant PPR virus expressing the green fluorescent protein (GFP (rPPRV-GFP, an IPMA for PPR diagnosis was developed. One hundred and ninety-eight PPR serum samples from goats or sheep were tested by the IPMA and virus neutralization test (VNT. Compared with the VNT, the sensitivity and specificity of the IPMA were 91% and 100%, respectively, and the coincidence rate of the two methods was 95.5%. The IPMA assay could be completed in 4 h, compared with more than 6 d for the VNT using rPPRV-GFP, and it is easily performed, as the staining results can be observed under a microscope. Additionally, unlike the VNT, the IPMA does not require antigen purification, which will reduce its cost. In conclusion, the established IPMA will be an alternative method that replaces the VNT for detecting antibodies against PPRV in the field.

  16. Molecular pathogenesis of EBV susceptibility in XLP as revealed by analysis of female carriers with heterozygous expression of SAP.

    Directory of Open Access Journals (Sweden)

    Umaimainthan Palendira

    2011-11-01

    Full Text Available X-linked lymphoproliferative disease (XLP is a primary immunodeficiency caused by mutations in SH2D1A which encodes SAP. SAP functions in signalling pathways elicited by the SLAM family of leukocyte receptors. A defining feature of XLP is exquisite sensitivity to infection with EBV, a B-lymphotropic virus, but not other viruses. Although previous studies have identified defects in lymphocytes from XLP patients, the unique role of SAP in controlling EBV infection remains unresolved. We describe a novel approach to this question using female XLP carriers who, due to random X-inactivation, contain both SAP(+ and SAP(- cells. This represents the human equivalent of a mixed bone marrow chimera in mice. While memory CD8(+ T cells specific for CMV and influenza were distributed across SAP(+ and SAP(- populations, EBV-specific cells were exclusively SAP(+. The preferential recruitment of SAP(+ cells by EBV reflected the tropism of EBV for B cells, and the requirement for SAP expression in CD8(+ T cells for them to respond to Ag-presentation by B cells, but not other cell types. The inability of SAP(- clones to respond to Ag-presenting B cells was overcome by blocking the SLAM receptors NTB-A and 2B4, while ectopic expression of NTB-A on fibroblasts inhibited cytotoxicity of SAP(- CD8(+ T cells, thereby demonstrating that SLAM receptors acquire inhibitory function in the absence of SAP. The innovative XLP carrier model allowed us to unravel the mechanisms underlying the unique susceptibility of XLP patients to EBV infection in the absence of a relevant animal model. We found that this reflected the nature of the Ag-presenting cell, rather than EBV itself. Our data also identified a pathological signalling pathway that could be targeted to treat patients with severe EBV infection. This system may allow the study of other human diseases where heterozygous gene expression from random X-chromosome inactivation can be exploited.

  17. A Fast Robot Identification and Mapping Algorithm Based on Kinect Sensor

    Directory of Open Access Journals (Sweden)

    Liang Zhang

    2015-08-01

    Full Text Available Internet of Things (IoT is driving innovation in an ever-growing set of application domains such as intelligent processing for autonomous robots. For an autonomous robot, one grand challenge is how to sense its surrounding environment effectively. The Simultaneous Localization and Mapping with RGB-D Kinect camera sensor on robot, called RGB-D SLAM, has been developed for this purpose but some technical challenges must be addressed. Firstly, the efficiency of the algorithm cannot satisfy real-time requirements; secondly, the accuracy of the algorithm is unacceptable. In order to address these challenges, this paper proposes a set of novel improvement methods as follows. Firstly, the ORiented Brief (ORB method is used in feature detection and descriptor extraction. Secondly, a bidirectional Fast Library for Approximate Nearest Neighbors (FLANN k-Nearest Neighbor (KNN algorithm is applied to feature match. Then, the improved RANdom SAmple Consensus (RANSAC estimation method is adopted in the motion transformation. In the meantime, high precision General Iterative Closest Points (GICP is utilized to register a point cloud in the motion transformation optimization. To improve the accuracy of SLAM, the reduced dynamic covariance scaling (DCS algorithm is formulated as a global optimization problem under the G2O framework. The effectiveness of the improved algorithm has been verified by testing on standard data and comparing with the ground truth obtained on Freiburg University’s datasets. The Dr Robot X80 equipped with a Kinect camera is also applied in a building corridor to verify the correctness of the improved RGB-D SLAM algorithm. With the above experiments, it can be seen that the proposed algorithm achieves higher processing speed and better accuracy.

  18. A Fast Robot Identification and Mapping Algorithm Based on Kinect Sensor.

    Science.gov (United States)

    Zhang, Liang; Shen, Peiyi; Zhu, Guangming; Wei, Wei; Song, Houbing

    2015-08-14

    Internet of Things (IoT) is driving innovation in an ever-growing set of application domains such as intelligent processing for autonomous robots. For an autonomous robot, one grand challenge is how to sense its surrounding environment effectively. The Simultaneous Localization and Mapping with RGB-D Kinect camera sensor on robot, called RGB-D SLAM, has been developed for this purpose but some technical challenges must be addressed. Firstly, the efficiency of the algorithm cannot satisfy real-time requirements; secondly, the accuracy of the algorithm is unacceptable. In order to address these challenges, this paper proposes a set of novel improvement methods as follows. Firstly, the ORiented Brief (ORB) method is used in feature detection and descriptor extraction. Secondly, a bidirectional Fast Library for Approximate Nearest Neighbors (FLANN) k-Nearest Neighbor (KNN) algorithm is applied to feature match. Then, the improved RANdom SAmple Consensus (RANSAC) estimation method is adopted in the motion transformation. In the meantime, high precision General Iterative Closest Points (GICP) is utilized to register a point cloud in the motion transformation optimization. To improve the accuracy of SLAM, the reduced dynamic covariance scaling (DCS) algorithm is formulated as a global optimization problem under the G2O framework. The effectiveness of the improved algorithm has been verified by testing on standard data and comparing with the ground truth obtained on Freiburg University's datasets. The Dr Robot X80 equipped with a Kinect camera is also applied in a building corridor to verify the correctness of the improved RGB-D SLAM algorithm. With the above experiments, it can be seen that the proposed algorithm achieves higher processing speed and better accuracy.

  19. Vision-aided inertial navigation system for robotic mobile mapping

    Science.gov (United States)

    Bayoud, Fadi; Skaloud, Jan

    2008-04-01

    A mapping system by vision-aided inertial navigation was developed for areas where GNSS signals are unreachable. In this framework, a methodology on the integration of vision and inertial sensors is presented, analysed and tested. The system employs the method of “SLAM: Simultaneous Localisation And Mapping” where the only external input available to the system at the beginning of the mapping mission is a number of features with known coordinates. SLAM is a term used in the robotics community to describe the problem of mapping the environment and at the same time using this map to determine the location of the mapping device. Differing from the robotics approach, the presented development stems from the frameworks of photogrammetry and kinematic geodesy that are merged in two filters that run in parallel: the Least-Squares Adjustment (LSA) for features coordinates determination and the Kalman filter (KF) for navigation correction. To test this approach, a mapping system-prototype comprising two CCD cameras and one Inertial Measurement Unit (IMU) is introduced. Conceptually, the outputs of the LSA photogrammetric resection are used as the external measurements for the KF that corrects the inertial navigation. The filtered position and orientation are subsequently employed in the photogrammetric intersection to map the surrounding features that are used as control points for the resection in the next epoch. We confirm empirically the dependency of navigation performance on the quality of the images and the number of tracked features, as well as on the geometry of the stereo-pair. Due to its autonomous nature, the SLAM's performance is further affected by the quality of IMU initialisation and the a-priory assumptions on error distribution. Using the example of the presented system we show that centimetre accuracy can be achieved in both navigation and mapping when the image geometry is optimal.

  20. Dynamic modelling of micropollutants in the integrated urban wastewater system

    DEFF Research Database (Denmark)

    Lindblom, Erik Ulfson

    hovedemne. Ved integreret modellering af stofferne pyren, der typisk findes i afstrømmet regnvand, og bisphenol-A, der forekommer ofte i spildevand, illustreres det at en forenklet konceptuel model kan bidrage til at øge procesforståelsen samt til at udvikle moniteringsprogrammer og emissions kontrol......-80% af middelværdien. Endelig diskuteres tilføjelser af specifikke processer til eksisterende aktiv slam modeller, og en Monod vækst- og nedbrydningsmodel baseret på et enkelt substrat er udviklet og anvendt til at beskrive nedbrydning af det østrogene stof bisphenol-A i et pilotskala renseanlæg...

  1. Validation of Numerical Predictions of the Impact Forces and Hydrodynamics of a Deep-V Planing Hull

    Science.gov (United States)

    2012-12-01

    technique. NFA uses an implicit subgrid- scale model that is built into the treatment of the convective terms in the momentum equations [14]. A...delivered to SAIC under the Navy DASS (Dynamic Assessment of Surface Ship) 8 NSWCCD-50-TR-2012/040 project in 1998. SLAM2D has two solution methods: (1...is in knots-ft-1/2]. Model Scale Pressure [psi] -0.04 0.0 004 0.08 0.12 0.16 Figure 25. Pressures on hull for CA=0.608, L/b=4 and

  2. Improving Robustness against Environmental Sounds for Directing Attention of Social Robots

    DEFF Research Database (Denmark)

    Thomsen, Nicolai Bæk; Tan, Zheng-Hua; Lindberg, Børge

    2015-01-01

    This paper presents a multi-modal system for finding out where to direct the attention of a social robot in a dialog scenario, which is robust against environmental sounds (door slamming, phone ringing etc.) and short speech segments. The method is based on combining voice activity detection (VAD......) and sound source localization (SSL) and furthermore apply post-processing to SSL to filter out short sounds. The system is tested against a baseline system in four different real-world experiments, where different sounds are used as interfering sounds. The results are promising and show a clear improvement....

  3. Efficient generation of 3D surfel maps using RGB–D sensors

    Directory of Open Access Journals (Sweden)

    Wilkowski Artur

    2016-03-01

    Full Text Available The article focuses on the problem of building dense 3D occupancy maps using commercial RGB-D sensors and the SLAM approach. In particular, it addresses the problem of 3D map representations, which must be able both to store millions of points and to offer efficient update mechanisms. The proposed solution consists of two such key elements, visual odometry and surfel-based mapping, but it contains substantial improvements: storing the surfel maps in octree form and utilizing a frustum culling-based method to accelerate the map update step. The performed experiments verify the usefulness and efficiency of the developed system.

  4. Sub-Saharan Africa Report.

    Science.gov (United States)

    1987-01-16

    expensive yen hits Nissan , Samcor’s MMI products and its 97 Japanese-sourced small Ford cars and bakkies, Honda and Toyota . The rand’s weakness...there." He slammed the Toyota pick-up through its gears, swore at a slow driver as he roared past, and grinned as the two army escorts were thrown...for sale, compared with $9 million in mid-year—and by reports that government has had insufficient funds available to cover past successful bids

  5. Power Absorption by Closely Spaced Point Absorbers in Constrained Conditions

    DEFF Research Database (Denmark)

    De Backer, G.; Vantorre, M.; Beels, C.

    2010-01-01

    The performance of an array of closely spaced point absorbers is numerically assessed in a frequency domain model Each point absorber is restricted to the heave mode and is assumed to have its own linear power take-off (PTO) system Unidirectional irregular incident waves are considered......, representing the wave climate at Westhinder on the Belgian Continental Shelf The impact of slamming, stroke and force restrictions on the power absorption is evaluated and optimal PTO parameters are determined For multiple bodies optimal control parameters (CP) are not only dependent on the incoming waves...

  6. Quantifying Mitigation Characteristics of Shock Isolation Seats in a Wave Impact Environment

    Science.gov (United States)

    2015-01-01

    thank Dr. Jack L. Price , Director of Research, Naval Surface Warfare Center, Carderock Division for overall management of wave slam phenomenology...of the Z and X acceleration vectors is used as an indicator of the change in impact angle for different types of wave impacts (i.e., skimming on a...acceleration vector is on the order of 87.7 degrees from the deck surface (or 2.3 degrees from normal to the deck, as in skimming a wave crest or

  7. Experiments and computation of onshore breaking solitary waves

    DEFF Research Database (Denmark)

    Jensen, A.; Mayer, Stefan; Pedersen, G.K.

    2005-01-01

    This is a combined experimental and computational study of solitary waves that break on-shore. Velocities and accelerations are measured by a two-camera PIV technique and compared to theoretical values from an Euler model with a VOF method for the free surface. In particular, the dynamics of a so......-called collapsing breaker is scrutinized and the closure between the breaker and the beach is found to be akin to slamming. To the knowledge of the authors, no velocity measurements for this kind of breaker have been previously reported....

  8. A critique of current developments in simultaneous localization and mapping

    Directory of Open Access Journals (Sweden)

    Shoudong Huang

    2016-10-01

    Full Text Available The number of research publications dealing with the simultaneous localization and mapping problem has grown significantly over the past 15 years. Many fundamental and practical aspects of simultaneous localization and mapping have been addressed, and some efficient algorithms and practical solutions have been demonstrated. The aim of this paper is to provide a critical review of current theoretical understanding of the fundamental properties of the SLAM problem, such as observability, convergence, achievable accuracy and consistency. Recent research outcomes associated with these topics are briefly discussed together with potential future research directions.

  9. All-cause mortality among people with serious mental illness (SMI, substance use disorders, and depressive disorders in southeast London: a cohort study

    Directory of Open Access Journals (Sweden)

    Lee William

    2010-09-01

    Full Text Available Abstract Background Higher mortality has been found for people with serious mental illness (SMI, including schizophrenia, schizoaffective disorders, and bipolar affective disorder at all age groups. Our aim was to characterize vulnerable groups for excess mortality among people with SMI, substance use disorders, depressive episode, and recurrent depressive disorder. Methods A case register was developed at the South London and Maudsley National Health Services Foundation Trust (NHS SLAM, accessing full electronic clinical records on over 150,000 mental health service users as a well-defined cohort since 2006. The Case Register Interactive Search (CRIS system enabled searching and retrieval of anonymised information since 2008. Deaths were identified by regular national tracing returns after 2006. Standardized mortality ratios (SMRs were calculated for the period 2007 to 2009 using SLAM records for this period and the expected number of deaths from age-specific mortality statistics for the England and Wales population in 2008. Data were stratified by gender, ethnicity, and specific mental disorders. Results A total of 31,719 cases, aged 15 years old or more, active between 2007-2009 and with mental disorders of interest prior to 2009 were detected in the SLAM case register. SMRs were 2.15 (95% CI: 1.95-2.36 for all SMI with genders combined, 1.89 (1.64-2.17 for women and 2.47 (2.17-2.80 for men. In addition, highest mortality risk was found for substance use disorders (SMR = 4.17; 95% CI: 3.75-4.64. Age- and gender-standardised mortality ratios by ethnic group revealed huge fluctuations, and SMRs for all disorders diminished in strength with age. The main limitation was the setting of secondary mental health care provider in SLAM. Conclusions Substantially higher mortality persists in people with serious mental illness, substance use disorders and depressive disorders. Furthermore, mortality risk differs substantially with age, diagnosis, gender

  10. Lafargue de Grangeneuve Loïc, Politique du hip-hop. Action publique et cultures urbaines

    Directory of Open Access Journals (Sweden)

    Emmanuel Négrier

    2010-11-01

    Full Text Available L’ouvrage de Loïc Lafargue de Grangeneuve s’inscrit dans une recherche amorcée dans le cadre de sa thèse, qui portait sur les processus d’institutionnalisation des cultures urbaines dans le champ des politiques culturelles. Son travail est centré sur l’interaction entre, d’une part, les représentants de la culture hip-hop (rap, slam, danse hip-hop, graffiti… et d’autre part les institutions publiques : directions régionales des affaires culturelles (DRAC, responsables de la politique de la ...

  11. Stochastic simulation of off-shore oil terminal systems

    International Nuclear Information System (INIS)

    Frankel, E.G.; Oberle, J.

    1991-01-01

    To cope with the problem of uncertainty and conditionality in the planning, design, and operation of offshore oil transshipment terminal systems, a conditional stochastic simulation approach is presented. Examples are shown, using SLAM II, a computer simulation language based on GERT, a conditional stochastic network analysis methodology in which use of resources such as time and money are expressed by the moment generating function of the statistics of the resource requirements. Similarly each activity has an associated conditional probability of being performed and/or of requiring some of the resources. The terminal system is realistically represented by modelling the statistics of arrivals, loading and unloading times, uncertainties in costs and availabilities, etc

  12. Acceleration of planes segmentation using normals from previous frame

    Science.gov (United States)

    Gritsenko, Pavel; Gritsenko, Igor; Seidakhmet, Askar; Abduraimov, Azizbek

    2017-12-01

    One of the major problem in integration process of robots is to make them able to function in a human environment. In terms of computer vision, the major feature of human made rooms is the presence of planes [1, 2, 20, 21, 23]. In this article, we will present an algorithm dedicated to increase speed of a plane segmentation. The algorithm uses information about location of a plane and its normal vector to speed up the segmentation process in the next frame. In conjunction with it, we will address such aspects of ICP SLAM as performance and map representation.

  13. The fusion protein of wild-type canine distemper virus is a major determinant of persistent infection

    International Nuclear Information System (INIS)

    Plattet, Philippe; Rivals, Jean-Paul; Zuber, BenoIt; Brunner, Jean-Marc; Zurbriggen, Andreas; Wittek, Riccardo

    2005-01-01

    The wild-type A75/17 canine distemper virus (CDV) strain induces a persistent infection in the central nervous system but infects cell lines very inefficiently. In contrast, the genetically more distant Onderstepoort CDV vaccine strain (OP-CDV) induces extensive syncytia formation. Here, we investigated the roles of wild-type fusion (F WT ) and attachment (H WT ) proteins in Vero cells expressing, or not, the canine SLAM receptor by transfection experiments and by studying recombinants viruses expressing different combinations of wild-type and OP-CDV glycoproteins. We show that low fusogenicity is not due to a defect of the envelope proteins to reach the cell surface and that H WT determines persistent infection in a receptor-dependent manner, emphasizing the role of SLAM as a potent enhancer of fusogenicity. However, importantly, F WT reduced cell-to-cell fusion independently of the cell surface receptor, thus demonstrating that the fusion protein of the neurovirulent A75/17-CDV strain plays a key role in determining persistent infection

  14. A pose estimation method for unmanned ground vehicles in GPS denied environments

    Science.gov (United States)

    Tamjidi, Amirhossein; Ye, Cang

    2012-06-01

    This paper presents a pose estimation method based on the 1-Point RANSAC EKF (Extended Kalman Filter) framework. The method fuses the depth data from a LIDAR and the visual data from a monocular camera to estimate the pose of a Unmanned Ground Vehicle (UGV) in a GPS denied environment. Its estimation framework continuy updates the vehicle's 6D pose state and temporary estimates of the extracted visual features' 3D positions. In contrast to the conventional EKF-SLAM (Simultaneous Localization And Mapping) frameworks, the proposed method discards feature estimates from the extended state vector once they are no longer observed for several steps. As a result, the extended state vector always maintains a reasonable size that is suitable for online calculation. The fusion of laser and visual data is performed both in the feature initialization part of the EKF-SLAM process and in the motion prediction stage. A RANSAC pose calculation procedure is devised to produce pose estimate for the motion model. The proposed method has been successfully tested on the Ford campus's LIDAR-Vision dataset. The results are compared with the ground truth data of the dataset and the estimation error is ~1.9% of the path length.

  15. 3D indoor modeling using a hand-held embedded system with multiple laser range scanners

    Science.gov (United States)

    Hu, Shaoxing; Wang, Duhu; Xu, Shike

    2016-10-01

    Accurate three-dimensional perception is a key technology for many engineering applications, including mobile mapping, obstacle detection and virtual reality. In this article, we present a hand-held embedded system designed for constructing 3D representation of structured indoor environments. Different from traditional vehicle-borne mobile mapping methods, the system presented here is capable of efficiently acquiring 3D data while an operator carrying the device traverses through the site. It consists of a simultaneous localization and mapping(SLAM) module, a 3D attitude estimate module and a point cloud processing module. The SLAM is based on a scan matching approach using a modern LIDAR system, and the 3D attitude estimate is generated by a navigation filter using inertial sensors. The hardware comprises three 2D time-flight laser range finders and an inertial measurement unit(IMU). All the sensors are rigidly mounted on a body frame. The algorithms are developed on the frame of robot operating system(ROS). The 3D model is constructed using the point cloud library(PCL). Multiple datasets have shown robust performance of the presented system in indoor scenarios.

  16. An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping

    Directory of Open Access Journals (Sweden)

    Xiaoji Niu

    2017-01-01

    Full Text Available Multisensors (LiDAR/IMU/CAMERA integrated Simultaneous Location and Mapping (SLAM technology for navigation and mobile mapping in a GNSS-denied environment, such as indoor areas, dense forests, or urban canyons, becomes a promising solution. An online (real-time version of such system can extremely extend its applications, especially for indoor mobile mapping. However, the real-time response issue of multisensors is a big challenge for an online SLAM system, due to the different sampling frequencies and processing time of different algorithms. In this paper, an online Extended Kalman Filter (EKF integrated algorithm of LiDAR scan matching and IMU mechanization for Unmanned Ground Vehicle (UGV indoor navigation system is introduced. Since LiDAR scan matching is considerably more time consuming than the IMU mechanism, the real-time synchronous issue is solved via a one-step-error-state-transition method in EKF. Stationary and dynamic field tests had been performed using a UGV platform along typical corridor of office building. Compared to the traditional sequential postprocessed EKF algorithm, the proposed method can significantly mitigate the time delay of navigation outputs under the premise of guaranteeing the positioning accuracy, which can be used as an online navigation solution for indoor mobile mapping.

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

    Directory of Open Access Journals (Sweden)

    Jian Tang

    2015-07-01

    Full Text Available 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.

  18. Robust Manhattan Frame Estimation From a Single RGB-D Image

    KAUST Repository

    Bernard Ghanem; Heilbron, Fabian Caba; Niebles, Juan Carlos; Thabet, Ali Kassem

    2015-01-01

    This paper proposes a new framework for estimating the Manhattan Frame (MF) of an indoor scene from a single RGB-D image. Our technique formulates this problem as the estimation of a rotation matrix that best aligns the normals of the captured scene to a canonical world axes. By introducing sparsity constraints, our method can simultaneously estimate the scene MF, the surfaces in the scene that are best aligned to one of three coordinate axes, and the outlier surfaces that do not align with any of the axes. To test our approach, we contribute a new set of annotations to determine ground truth MFs in each image of the popular NYUv2 dataset. We use this new benchmark to experimentally demonstrate that our method is more accurate, faster, more reliable and more robust than the methods used in the literature. We further motivate our technique by showing how it can be used to address the RGB-D SLAM problem in indoor scenes by incorporating it into and improving the performance of a popular RGB-D SLAM method.

  19. Affine-Invariant Geometric Constraints-Based High Accuracy Simultaneous Localization and Mapping

    Directory of Open Access Journals (Sweden)

    Gangchen Hua

    2017-01-01

    Full Text Available In this study we describe a new appearance-based loop-closure detection method for online incremental simultaneous localization and mapping (SLAM using affine-invariant-based geometric constraints. Unlike other pure bag-of-words-based approaches, our proposed method uses geometric constraints as a supplement to improve accuracy. By establishing an affine-invariant hypothesis, the proposed method excludes incorrect visual words and calculates the dispersion of correctly matched visual words to improve the accuracy of the likelihood calculation. In addition, camera’s intrinsic parameters and distortion coefficients are adequate for this method. 3D measuring is not necessary. We use the mechanism of Long-Term Memory and Working Memory (WM to manage the memory. Only a limited size of the WM is used for loop-closure detection; therefore the proposed method is suitable for large-scale real-time SLAM. We tested our method using the CityCenter and Lip6Indoor datasets. Our proposed method results can effectively correct the typical false-positive localization of previous methods, thus gaining better recall ratios and better precision.

  20. SAP expression in invariant NKT cells is required for cognate help to support B-cell responses.

    Science.gov (United States)

    Detre, Cynthia; Keszei, Marton; Garrido-Mesa, Natividad; Kis-Toth, Katalin; Castro, Wilson; Agyemang, Amma F; Veerapen, Natacha; Besra, Gurdyal S; Carroll, Michael C; Tsokos, George C; Wang, Ninghai; Leadbetter, Elizabeth A; Terhorst, Cox

    2012-07-05

    One of the manifestations of X-linked lymphoproliferative disease (XLP) is progressive agammaglobulinemia, caused by the absence of a functional signaling lymphocyte activation molecule (SLAM)-associated protein (SAP) in T, invariant natural killer T (NKT) cells and NK cells. Here we report that α-galactosylceramide (αGalCer) activated NKT cells positively regulate antibody responses to haptenated protein antigens at multiple checkpoints, including germinal center formation and affinity maturation. Whereas NKT cell-dependent B cell responses were absent in SAP(-/-).B6 mice that completely lack NKT cells, the small number of SAP-deficient NKT cells in SAP(-/-).BALB/c mice adjuvated antibody production, but not the germinal center reaction. To test the hypothesis that SAP-deficient NKT cells can facilitate humoral immunity, SAP was deleted after development in SAP(fl/fl).tgCreERT2.B6 mice. We find that NKT cell intrinsic expression of SAP is dispensable for noncognate helper functions, but is critical for providing cognate help to antigen-specific B cells. These results demonstrate that SLAM-family receptor-regulated cell-cell interactions are not limited to T-B cell conjugates. We conclude that in the absence of SAP, several routes of NKT cell-mediated antibody production are still accessible. The latter suggests that residual NKT cells in XLP patients might contribute to variations in dysgammaglobulinemia.