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

PubMed

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

2013-07-03

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

Neural network-based multiple robot simultaneous localization and mapping.

PubMed

Saeedi, Sajad; Paull, Liam; Trentini, Michael; Li, Howard

2011-12-01

In this paper, a decentralized platform for simultaneous localization and mapping (SLAM) with multiple robots is developed. Each robot performs single robot view-based SLAM using an extended Kalman filter to fuse data from two encoders and a laser ranger. To extend this approach to multiple robot SLAM, a novel occupancy grid map fusion algorithm is proposed. Map fusion is achieved through a multistep process that includes image preprocessing, map learning (clustering) using neural networks, relative orientation extraction using norm histogram cross correlation and a Radon transform, relative translation extraction using matching norm vectors, and then verification of the results. The proposed map learning method is a process based on the self-organizing map. In the learning phase, the obstacles of the map are learned by clustering the occupied cells of the map into clusters. The learning is an unsupervised process which can be done on the fly without any need to have output training patterns. The clusters represent the spatial form of the map and make further analyses of the map easier and faster. Also, clusters can be interpreted as features extracted from the occupancy grid map so the map fusion problem becomes a task of matching features. Results of the experiments from tests performed on a real environment with multiple robots prove the effectiveness of the proposed solution.

An evaluation of attention models for use in SLAM

NASA Astrophysics Data System (ADS)

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.

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

PubMed

Lee, Donghwa; Myung, Hyun

2014-07-11

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

Scale Estimation and Correction of the Monocular Simultaneous Localization and Mapping (SLAM) Based on Fusion of 1D Laser Range Finder and Vision Data.

PubMed

Zhang, Zhuang; Zhao, Rujin; Liu, Enhai; Yan, Kun; Ma, Yuebo

2018-06-15

This article presents a new sensor fusion method for visual simultaneous localization and mapping (SLAM) through integration of a monocular camera and a 1D-laser range finder. Such as a fusion method provides the scale estimation and drift correction and it is not limited by volume, e.g., the stereo camera is constrained by the baseline and overcomes the limited depth range problem associated with SLAM for RGBD cameras. We first present the analytical feasibility for estimating the absolute scale through the fusion of 1D distance information and image information. Next, the analytical derivation of the laser-vision fusion is described in detail based on the local dense reconstruction of the image sequences. We also correct the scale drift of the monocular SLAM using the laser distance information which is independent of the drift error. Finally, application of this approach to both indoor and outdoor scenes is verified by the Technical University of Munich dataset of RGBD and self-collected data. We compare the effects of the scale estimation and drift correction of the proposed method with the SLAM for a monocular camera and a RGBD camera.

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

PubMed Central

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

2013-01-01

Simultaneous localization and mapping (SLAM) is an important problem to solve in robotics theory in order to build truly autonomous mobile robots. This work presents a novel method for implementing a SLAM system based on a single camera sensor. The SLAM with a single camera, or monocular SLAM, is probably one of the most complex SLAM variants. In this case, a single camera, which is freely moving through its environment, represents the sole sensor input to the system. The sensors have a large impact on the algorithm used for SLAM. Cameras are used more frequently, because they provide a lot of information and are well adapted for embedded systems: they are light, cheap and power-saving. Nevertheless, and unlike range sensors, which provide range and angular information, a camera is a projective sensor providing only angular measurements of image features. Therefore, depth information (range) cannot be obtained in a single step. In this case, special techniques for feature system-initialization are needed in order to enable the use of angular sensors (as cameras) in SLAM systems. The main contribution of this work is to present a novel and robust scheme for incorporating and measuring visual features in filtering-based monocular SLAM systems. The proposed method is based in a two-step technique, which is intended to exploit all the information available in angular measurements. Unlike previous schemes, the values of parameters used by the initialization technique are derived directly from the sensor characteristics, thus simplifying the tuning of the system. The experimental results show that the proposed method surpasses the performance of previous schemes. PMID:23823972

Towards Unmanned Systems for Dismounted Operations in the Canadian Forces

DTIC Science & Technology

2011-01-01

LIDAR , and RADAR) and lower power/mass, passive imaging techniques such as structure from motion and simultaneous localisation and mapping ( SLAM ...sensors and learning algorithms. 5.1.2 Simultaneous localisation and mapping SLAM algorithms concurrently estimate a robot pose and a map of unique...locations and vehicle pose are part of the SLAM state vector and are estimated in each update step. AISS developed a monocular camera-based SLAM

Concurrent Initialization for Bearing-Only SLAM

PubMed Central

Munguía, Rodrigo; Grau, Antoni

2010-01-01

Simultaneous Localization and Mapping (SLAM) is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. Early SLAM approaches focused on the use of range sensors as sonar rings or lasers. However, cameras have become more and more used, because they yield a lot of information and are well adapted for embedded systems: they are light, cheap and power saving. Unlike range sensors which provide range and angular information, a camera is a projective sensor which measures the bearing of images features. Therefore depth information (range) cannot be obtained in a single step. This fact has propitiated the emergence of a new family of SLAM algorithms: the Bearing-Only SLAM methods, which mainly rely in especial techniques for features system-initialization in order to enable the use of bearing sensors (as cameras) in SLAM systems. In this work a novel and robust method, called Concurrent Initialization, is presented which is inspired by having the complementary advantages of the Undelayed and Delayed methods that represent the most common approaches for addressing the problem. The key is to use concurrently two kinds of feature representations for both undelayed and delayed stages of the estimation. The simulations results show that the proposed method surpasses the performance of previous schemes. PMID:22294884

Topological visual mapping in robotics.

PubMed

Romero, Anna; Cazorla, Miguel

2012-08-01

A key problem in robotics is the construction of a map from its environment. This map could be used in different tasks, like localization, recognition, obstacle avoidance, etc. Besides, the simultaneous location and mapping (SLAM) problem has had a lot of interest in the robotics community. This paper presents a new method for visual mapping, using topological instead of metric information. For that purpose, we propose prior image segmentation into regions in order to group the extracted invariant features in a graph so that each graph defines a single region of the image. Although others methods have been proposed for visual SLAM, our method is complete, in the sense that it makes all the process: it presents a new method for image matching; it defines a way to build the topological map; and it also defines a matching criterion for loop-closing. The matching process will take into account visual features and their structure using the graph transformation matching (GTM) algorithm, which allows us to process the matching and to remove out the outliers. Then, using this image comparison method, we propose an algorithm for constructing topological maps. During the experimentation phase, we will test the robustness of the method and its ability constructing topological maps. We have also introduced new hysteresis behavior in order to solve some problems found building the graph.

Accurate Mobile Urban Mapping via Digital Map-Based SLAM †

PubMed Central

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

2016-01-01

This paper presents accurate urban map generation using digital map-based Simultaneous Localization and Mapping (SLAM). Throughout this work, our main objective is generating a 3D and lane map aiming for sub-meter accuracy. In conventional mapping approaches, achieving extremely high accuracy was performed by either (i) exploiting costly airborne sensors or (ii) surveying with a static mapping system in a stationary platform. Mobile scanning systems recently have gathered popularity but are mostly limited by the availability of the Global Positioning System (GPS). We focus on the fact that the availability of GPS and urban structures are both sporadic but complementary. By modeling both GPS and digital map data as measurements and integrating them with other sensor measurements, we leverage SLAM for an accurate mobile mapping system. Our proposed algorithm generates an efficient graph SLAM and achieves a framework running in real-time and targeting sub-meter accuracy with a mobile platform. Integrated with the SLAM framework, we implement a motion-adaptive model for the Inverse Perspective Mapping (IPM). Using motion estimation derived from SLAM, the experimental results show that the proposed approaches provide stable bird’s-eye view images, even with significant motion during the drive. Our real-time map generation framework is validated via a long-distance urban test and evaluated at randomly sampled points using Real-Time Kinematic (RTK)-GPS. PMID:27548175

Environment exploration and SLAM experiment research based on ROS

NASA Astrophysics Data System (ADS)

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

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

NASA Astrophysics Data System (ADS)

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 are required for the general motion of the sensor (e.g. static periods).

Occupancy Grid Map Merging Using Feature Maps

DTIC Science & Technology

2010-11-01

each robot begins exploring at different starting points, once two robots can communicate, they send their odometry data, LIDAR observations, and maps...robots [11]. Moreover, it is relevant to mention that significant success has been achieved in solving SLAM problems when using hybrid maps [12...represents the environment by parametric features. Our method is capable of representing a LIDAR scanned environment map in a parametric fashion. In general

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

PubMed

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

2014-12-05

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

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

PubMed Central

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

2014-01-01

This paper presents a performance analysis of two open-source, laser scanner-based Simultaneous Localization and Mapping (SLAM) techniques (i.e., Gmapping and Hector SLAM) using a Microsoft Kinect to replace the laser sensor. Furthermore, the paper proposes a new system integration approach whereby a Linux virtual machine is used to run the open source SLAM algorithms. The experiments were conducted in two different environments; a small room with no features and a typical office corridor with desks and chairs. Using the data logged from real-time experiments, each SLAM technique was simulated and tested with different parameter settings. The results show that the system is able to achieve real time SLAM operation. The system implementation offers a simple and reliable way to compare the performance of Windows-based SLAM algorithm with the algorithms typically implemented in a Robot Operating System (ROS). The results also indicate that certain modifications to the default laser scanner-based parameters are able to improve the map accuracy. However, the limited field of view and range of Kinect's depth sensor often causes the map to be inaccurate, especially in featureless areas, therefore the Kinect sensor is not a direct replacement for a laser scanner, but rather offers a feasible alternative for 2D SLAM tasks. PMID:25490595

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

PubMed

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

2012-01-01

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

An Adaptive Scheme for Robot Localization and Mapping with Dynamically Configurable Inter-Beacon Range Measurements

PubMed Central

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

2014-01-01

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. PMID:24776938

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

PubMed

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.

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

PubMed Central

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

2017-01-01

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. PMID:28397758

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

NASA Astrophysics Data System (ADS)

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.

Curveslam: Utilizing Higher Level Structure In Stereo Vision-Based Navigation

DTIC Science & Technology

2012-01-01

consider their applica- tion to SLAM . The work of [31] [32] develops a spline-based SLAM framework, but this is only for application to LIDAR -based SLAM ...Existing approaches to visual Simultaneous Localization and Mapping ( SLAM ) typically utilize points as visual feature primitives to represent landmarks...regions of interest. Further, previous SLAM techniques that propose the use of higher level structures often place constraints on the environment, such as

Multi-Autonomous Ground-robotic International Challenge (MAGIC) 2010

DTIC Science & Technology

2010-12-14

SLAM technique since this setup, having a LIDAR with long-range high-accuracy measurement capability, allows accurate localization and mapping more...achieve the accuracy of 25cm due to the use of multi-dimensional information. OGM is, similarly to SLAM , carried out by using LIDAR data. The OGM...a result of the development and implementation of the hybrid feature-based/scan-matching Simultaneous Localization and Mapping ( SLAM ) technique, the

Visual EKF-SLAM from Heterogeneous Landmarks †

PubMed Central

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

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

PubMed

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.

MonoSLAM: real-time single camera SLAM.

PubMed

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.

Radar Based Navigation in Unknown Terrain

DTIC Science & Technology

2012-12-31

localization and mapping ( SLAM ) approach. The radar processing algorithms detect strong, persistent, and stationary reflectors embedded in the...Global System for Mobile Communications . . . . . . . . . 2 LIDAR Light Detection and Ranging . . . . . . . . . . . . . . . . 2 SAR Synthetic Aperture...22 SLAM Simultaneous Localization and Mapping . . . . . . . . . . 25 FDM Frequency Division Multiplexing

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

PubMed Central

Dorado, Iago; Gesto, Manuel; Arias, Pedro; Lorenzo, Henrique

2018-01-01

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. PMID:29498715

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

DTIC Science & Technology

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

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

PubMed Central

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

2010-01-01

In this paper we present an approach to the Simultaneous Localization and Mapping (SLAM) problem using a team of autonomous vehicles equipped with vision sensors. The SLAM problem considers the case in which a mobile robot is equipped with a particular sensor, moves along the environment, obtains measurements with its sensors and uses them to construct a model of the space where it evolves. In this paper we focus on the case where several robots, each equipped with its own sensor, are distributed in a network and view the space from different vantage points. In particular, each robot is equipped with a stereo camera that allow the robots to extract visual landmarks and obtain relative measurements to them. We propose an algorithm that uses the measurements obtained by the robots to build a single accurate map of the environment. The map is represented by the three-dimensional position of the visual landmarks. In addition, we consider that each landmark is accompanied by a visual descriptor that encodes its visual appearance. The solution is based on a Rao-Blackwellized particle filter that estimates the paths of the robots and the position of the visual landmarks. The validity of our proposal is demonstrated by means of experiments with a team of real robots in a office-like indoor environment. PMID:22399930

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

PubMed

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

2010-01-01

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

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

PubMed

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

2011-01-01

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

Loose fusion based on SLAM and IMU for indoor environment

NASA Astrophysics Data System (ADS)

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.

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

PubMed Central

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

2011-01-01

In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (TOA) estimation. SLAM algorithms recursively estimates the map of an environment and the pose (position and orientation) of a mobile robot within that environment. The comparative study presented here involves the performance analysis of implementing in parallel an UWB localization based system and a SLAM algorithm on a mobile robot navigating within an environment. Real time results as well as error analysis are also shown in this work. PMID:22319397

Robust Parallel Motion Estimation and Mapping with Stereo Cameras in Underground Infrastructure

NASA Astrophysics Data System (ADS)

Liu, Chun; Li, Zhengning; Zhou, Yuan

2016-06-01

Presently, we developed a novel robust motion estimation method for localization and mapping in underground infrastructure using a pre-calibrated rigid stereo camera rig. Localization and mapping in underground infrastructure is important to safety. Yet it's also nontrivial since most underground infrastructures have poor lighting condition and featureless structure. Overcoming these difficulties, we discovered that parallel system is more efficient than the EKF-based SLAM approach since parallel system divides motion estimation and 3D mapping tasks into separate threads, eliminating data-association problem which is quite an issue in SLAM. Moreover, the motion estimation thread takes the advantage of state-of-art robust visual odometry algorithm which is highly functional under low illumination and provides accurate pose information. We designed and built an unmanned vehicle and used the vehicle to collect a dataset in an underground garage. The parallel system was evaluated by the actual dataset. Motion estimation results indicated a relative position error of 0.3%, and 3D mapping results showed a mean position error of 13cm. Off-line process reduced position error to 2cm. Performance evaluation by actual dataset showed that our system is capable of robust motion estimation and accurate 3D mapping in poor illumination and featureless underground environment.

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

NASA Astrophysics Data System (ADS)

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.

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

NASA Astrophysics Data System (ADS)

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.

Algorithmic Approaches for Place Recognition in Featureless, Walled Environments

DTIC Science & Technology

2015-01-01

inertial measurement unit LIDAR light detection and ranging RANSAC random sample consensus SLAM simultaneous localization and mapping SUSAN smallest...algorithm 38 21 Typical input image for general junction based algorithm 39 22 Short exposure image of hallway junction taken by LIDAR 40 23...discipline of simultaneous localization and mapping ( SLAM ) has been studied intensively over the past several years. Many technical approaches

Review of ship slamming loads and responses

NASA Astrophysics Data System (ADS)

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.

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

NASA Astrophysics Data System (ADS)

Buyval, Alexander; Afanasyev, Ilya; Magid, Evgeni

2017-03-01

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

Registering Ground and Satellite Imagery for Visual Localization

DTIC Science & Technology

2012-08-01

reckoning, inertial, stereo, light detection and ranging ( LIDAR ), cellular radio, and visual. As no sensor or algorithm provides perfect localization in...by metric localization approaches to confine the region of a map that needs to be searched. Simultaneous Localization and Mapping ( SLAM ) (5, 6), using...estimate the metric location of the camera. Se et al. (7) use SIFT features for both appearance-based global localization and incremental 3D SLAM . Johns and

Advances in Simultaneous Localization and Mapping in Confined Underwater Environments Using Sonar and Optical Imaging

DTIC Science & Technology

2016-01-01

satisfying journeys in my life. I would like to thank Ryan for his guidance through the truly exciting world of mobile robotics and robotic perception. Thank...Multi-session and Multi-robot SLAM . . . . . . . . . . . . . . . 15 1.3.3 Robust Techniques for SLAM Backends . . . . . . . . . . . . . . 18 1.4 A...sonar. xv CHAPTER 1 Introduction 1.1 The Importance of SLAM in Autonomous Robotics Autonomous mobile robots are becoming a promising aid in a wide

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

NASA Astrophysics Data System (ADS)

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 important for vessel designers to determine the capacity of ships to resist random slamming loads, sloshing loading impact, grounding accidents and ships collisions.

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

NASA Astrophysics Data System (ADS)

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.

SLAMM: Visual monocular SLAM with continuous mapping using multiple maps

PubMed Central

Md. Sabri, Aznul Qalid; Loo, Chu Kiong; Mansoor, Ali Mohammed

2018-01-01

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. PMID:29702697

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

PubMed Central

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

2017-01-01

This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only (RO) Simultaneous Localization and Mapping (SLAM). Most existing RO-SLAM techniques consider beacons as passive devices disregarding the sensing, computational and communication capabilities with which they are actually endowed. SLAM is a resource-demanding task. Besides the technological constraints of the robot and beacons, many applications impose further resource consumption limitations. This paper presents a scalable distributed RO-SLAM scheme for resource-constrained operation. It is capable of exploiting robot-beacon cooperation in order to improve SLAM accuracy while meeting a given resource consumption bound expressed as the maximum number of measurements that are integrated in SLAM per iteration. The proposed scheme combines a Sparse Extended Information Filter (SEIF) SLAM method, in which each beacon gathers and integrates robot-beacon and inter-beacon measurements, and a distributed information-driven measurement allocation tool that dynamically selects the measurements that are integrated in SLAM, balancing uncertainty improvement and resource consumption. The scheme adopts a robot-beacon distributed approach in which each beacon participates in the selection, gathering and integration in SLAM of robot-beacon and inter-beacon measurements, resulting in significant estimation accuracies, resource-consumption efficiency and scalability. It has been integrated in an octorotor Unmanned Aerial System (UAS) and evaluated in 3D SLAM outdoor experiments. The experimental results obtained show its performance and robustness and evidence its advantages over existing methods. PMID:28425946

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

PubMed

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.

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

PubMed

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

2010-02-17

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). 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. 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 to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface. The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation.

Two Dimensional Positioning and Heading Solution for Flying Vehicles using a Line-Scanning Laser Radar (LADAR)

DTIC Science & Technology

2011-03-24

6 2.4.1 Reference Frames . . . . . . . . . . . . . . . . . 6 2.4.2 Line and Feature Extraction . . . . . . . . . . . 7 2.4.3 SLAM ...Positioning System . . . . . . . . . . . . . . . . . . 1 LADAR Laser Radar . . . . . . . . . . . . . . . . . . . . . . . . . . 1 LiDAR Light Detection and...Ranging . . . . . . . . . . . . . . . . 2 SLAM Simultaneous Localization and Mapping . . . . . . . . . . 2 ANT Advanced Navigation Technology

The Improved Locating Algorithm of Particle Filter Based on ROS Robot

NASA Astrophysics Data System (ADS)

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.

Team VaCAS Design and Development of Cooperative UGV System

DTIC Science & Technology

2011-02-04

Mapping ( SLAM ) [24]. Similar to such work, the technique to be used in the project will also (1) use the last reliably available data as the reference...Losada1, D., Matia1, F., Pedraza1, L., Jimenez A. and Galan, R., Consistency of SLAM -EKF Algorithms for Indoor Environments, Journal of Intelligent and...mounted on the UGV 1 include GPS for outdoor navigation, LiDAR for obstacle avoidance and mapping and camera for OOI detection and localization. UGVs 2

A Simple Hierarchical Pooling Data Structure for Loop Closure

DTIC Science & Technology

2016-10-16

ticated agglomerative schemes at a fraction of the effort. 1.1 Related work Loop closure is a key component in robotic mapping (SLAM) [37], autonomous...appearance-only slam-fab-map 2.0. In: Robotics : Science and Systems. vol. 5. Seattle, USA (2009) 7. Dong, J., Soatto, S.: Domain size pooling in local...detection with bags of binary words. In: Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ Intl. Conf. on. pp. 51–58. IEEE (2011) 9. Geiger, A

Learning Probabilistic Features for Robotic Navigation Using Laser Sensors

PubMed Central

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. PMID:25415377

Learning probabilistic features for robotic navigation using laser sensors.

PubMed

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.

Layout Slam with Model Based Loop Closure for 3d Indoor Corridor Reconstruction

NASA Astrophysics Data System (ADS)

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

2018-05-01

In this paper, we extend a recently proposed visual Simultaneous Localization and Mapping (SLAM) techniques, known as Layout SLAM, to make it robust against error accumulations, abrupt changes of camera orientation and miss-association of newly visited parts of the scene to the previously visited landmarks. To do so, we present a novel technique of loop closing based on layout model matching; i.e., both model information (topology and geometry of reconstructed models) and image information (photometric features) are used to address a loop-closure detection. The advantages of using the layout-related information in the proposed loop-closing technique are twofold. First, it imposes a metric constraint on the global map consistency and, thus, adjusts the mapping scale drifts. Second, it can reduce matching ambiguity in the context of indoor corridors, where the scene is homogenously textured and extracting sufficient amount of distinguishable point features is a challenging task. To test the impact of the proposed technique on the performance of Layout SLAM, we have performed the experiments on wide-angle videos captured by a handheld camera. This dataset was collected from the indoor corridors of a building at York University. The obtained results demonstrate that the proposed method successfully detects the instances of loops while producing very limited trajectory errors.

SLAM algorithm applied to robotics assistance for navigation in unknown environments

PubMed Central

2010-01-01

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 to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface. Conclusions The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation. PMID:20163735

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

NASA Astrophysics Data System (ADS)

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.

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

NASA Astrophysics Data System (ADS)

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.

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

PubMed Central

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. PMID:22346682

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

PubMed

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.

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

PubMed

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.

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

NASA Astrophysics Data System (ADS)

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.

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

PubMed

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.

RGB-D SLAM Combining Visual Odometry and Extended Information Filter

PubMed Central

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

2015-01-01

In this paper, we present a novel RGB-D SLAM system based on visual odometry and an extended information filter, which does not require any other sensors or odometry. In contrast to the graph optimization approaches, this is more suitable for online applications. A visual dead reckoning algorithm based on visual residuals is devised, which is used to estimate motion control input. In addition, we use a novel descriptor called binary robust appearance and normals descriptor (BRAND) to extract features from the RGB-D frame and use them as landmarks. Furthermore, considering both the 3D positions and the BRAND descriptors of the landmarks, our observation model avoids explicit data association between the observations and the map by marginalizing the observation likelihood over all possible associations. Experimental validation is provided, which compares the proposed RGB-D SLAM algorithm with just RGB-D visual odometry and a graph-based RGB-D SLAM algorithm using the publicly-available RGB-D dataset. The results of the experiments demonstrate that our system is quicker than the graph-based RGB-D SLAM algorithm. PMID:26263990

A robotic orbital emulator with lidar-based SLAM and AMCL for multiple entity pose estimation

NASA Astrophysics Data System (ADS)

Shen, Dan; Xiang, Xingyu; Jia, Bin; Wang, Zhonghai; Chen, Genshe; Blasch, Erik; Pham, Khanh

2018-05-01

This paper revises and evaluates an orbital emulator (OE) for space situational awareness (SSA). The OE can produce 3D satellite movements using capabilities generated from omni-wheeled robot and robotic arm motions. The 3D motion of satellite is partitioned into the movements in the equatorial plane and the up-down motions in the vertical plane. The 3D actions are emulated by omni-wheeled robot models while the up-down motions are performed by a stepped-motorcontrolled- ball along a rod (robotic arm), which is attached to the robot. Lidar only measurements are used to estimate the pose information of the multiple robots. SLAM (simultaneous localization and mapping) is running on one robot to generate the map and compute the pose for the robot. Based on the SLAM map maintained by the robot, the other robots run the adaptive Monte Carlo localization (AMCL) method to estimate their poses. The controller is designed to guide the robot to follow a given orbit. The controllability is analyzed by using a feedback linearization method. Experiments are conducted to show the convergence of AMCL and the orbit tracking performance.

Simultaneous Localization and Mapping with Iterative Sparse Extended Information Filter for Autonomous Vehicles.

PubMed

He, Bo; Liu, Yang; Dong, Diya; Shen, Yue; Yan, Tianhong; Nian, Rui

2015-08-13

In this paper, a novel iterative sparse extended information filter (ISEIF) was proposed to solve the simultaneous localization and mapping problem (SLAM), which is very crucial for autonomous vehicles. The proposed algorithm solves the measurement update equations with iterative methods adaptively to reduce linearization errors. With the scalability advantage being kept, the consistency and accuracy of SEIF is improved. Simulations and practical experiments were carried out with both a land car benchmark and an autonomous underwater vehicle. Comparisons between iterative SEIF (ISEIF), standard EKF and SEIF are presented. All of the results convincingly show that ISEIF yields more consistent and accurate estimates compared to SEIF and preserves the scalability advantage over EKF, as well.

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

PubMed

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.

Simultaneous Localization and Mapping with Iterative Sparse Extended Information Filter for Autonomous Vehicles

PubMed Central

He, Bo; Liu, Yang; Dong, Diya; Shen, Yue; Yan, Tianhong; Nian, Rui

2015-01-01

In this paper, a novel iterative sparse extended information filter (ISEIF) was proposed to solve the simultaneous localization and mapping problem (SLAM), which is very crucial for autonomous vehicles. The proposed algorithm solves the measurement update equations with iterative methods adaptively to reduce linearization errors. With the scalability advantage being kept, the consistency and accuracy of SEIF is improved. Simulations and practical experiments were carried out with both a land car benchmark and an autonomous underwater vehicle. Comparisons between iterative SEIF (ISEIF), standard EKF and SEIF are presented. All of the results convincingly show that ISEIF yields more consistent and accurate estimates compared to SEIF and preserves the scalability advantage over EKF, as well. PMID:26287194

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

PubMed Central

Yuan, Xin; Martínez, José-Fernán; Eckert, Martina; López-Santidrián, Lourdes

2016-01-01

The main focus of this paper is on extracting features with SOund Navigation And Ranging (SONAR) sensing for further underwater landmark-based Simultaneous Localization and Mapping (SLAM). According to the characteristics of sonar images, in this paper, an improved Otsu threshold segmentation method (TSM) has been developed for feature detection. In combination with a contour detection algorithm, the foreground objects, although presenting different feature shapes, are separated much faster and more precisely than by other segmentation methods. Tests have been made with side-scan sonar (SSS) and forward-looking sonar (FLS) images in comparison with other four TSMs, namely the traditional Otsu method, the local TSM, the iterative TSM and the maximum entropy TSM. For all the sonar images presented in this work, the computational time of the improved Otsu TSM is much lower than that of the maximum entropy TSM, which achieves the highest segmentation precision among the four above mentioned TSMs. As a result of the segmentations, the centroids of the main extracted regions have been computed to represent point landmarks which can be used for navigation, e.g., with the help of an Augmented Extended Kalman Filter (AEKF)-based SLAM algorithm. The AEKF-SLAM approach is a recursive and iterative estimation-update process, which besides a prediction and an update stage (as in classical Extended Kalman Filter (EKF)), includes an augmentation stage. During navigation, the robot localizes the centroids of different segments of features in sonar images, which are detected by our improved Otsu TSM, as point landmarks. Using them with the AEKF achieves more accurate and robust estimations of the robot pose and the landmark positions, than with those detected by the maximum entropy TSM. Together with the landmarks identified by the proposed segmentation algorithm, the AEKF-SLAM has achieved reliable detection of cycles in the map and consistent map update on loop closure, which is shown in simulated experiments. PMID:27455279

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

PubMed

Yuan, Xin; Martínez, José-Fernán; Eckert, Martina; López-Santidrián, Lourdes

2016-07-22

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

BatSLAM: Simultaneous localization and mapping using biomimetic sonar.

PubMed

Steckel, Jan; Peremans, Herbert

2013-01-01

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

BatSLAM: Simultaneous Localization and Mapping Using Biomimetic Sonar

PubMed Central

Steckel, Jan; Peremans, Herbert

2013-01-01

We propose to combine a biomimetic navigation model which solves a simultaneous localization and mapping task with a biomimetic sonar mounted on a mobile robot to address two related questions. First, can robotic sonar sensing lead to intelligent interactions with complex environments? Second, can we model sonar based spatial orientation and the construction of spatial maps by bats? To address these questions we adapt the mapping module of RatSLAM, a previously published navigation system based on computational models of the rodent hippocampus. We analyze the performance of the proposed robotic implementation operating in the real world. We conclude that the biomimetic navigation model operating on the information from the biomimetic sonar allows an autonomous agent to map unmodified (office) environments efficiently and consistently. Furthermore, these results also show that successful navigation does not require the readings of the biomimetic sonar to be interpreted in terms of individual objects/landmarks in the environment. We argue that the system has applications in robotics as well as in the field of biology as a simple, first order, model for sonar based spatial orientation and map building. PMID:23365647

Robust feature tracking for endoscopic pose estimation and structure recovery

NASA Astrophysics Data System (ADS)

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

2013-03-01

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

Acceleration of planes segmentation using normals from previous frame

NASA Astrophysics Data System (ADS)

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.

Magician Simulator. A Realistic Simulator for Heterogenous Teams of Autonomous Robots

DTIC Science & Technology

2011-01-18

IMU, and LIDAR systems for identifying and tracking mobile OOI at long range (>20m), providing early warnings and allowing neutralization from a... LIDAR and Computer Vision template-based feature tracking approaches. Mapping was solved through Multi-Agent particle-filter based Simultaneous...Locali- zation and Mapping ( SLAM ). Our system contains two maps, a physical map and an influence map (location of hostile OOI, explored and unexplored

Graph Structure-Based Simultaneous Localization and Mapping Using a Hybrid Method of 2D Laser Scan and Monocular Camera Image in Environments with Laser Scan Ambiguity

PubMed Central

Oh, Taekjun; Lee, Donghwa; Kim, Hyungjin; Myung, Hyun

2015-01-01

Localization is an essential issue for robot navigation, allowing the robot to perform tasks autonomously. However, in environments with laser scan ambiguity, such as long corridors, the conventional SLAM (simultaneous localization and mapping) algorithms exploiting a laser scanner may not estimate the robot pose robustly. To resolve this problem, we propose a novel localization approach based on a hybrid method incorporating a 2D laser scanner and a monocular camera in the framework of a graph structure-based SLAM. 3D coordinates of image feature points are acquired through the hybrid method, with the assumption that the wall is normal to the ground and vertically flat. However, this assumption can be relieved, because the subsequent feature matching process rejects the outliers on an inclined or non-flat wall. Through graph optimization with constraints generated by the hybrid method, the final robot pose is estimated. To verify the effectiveness of the proposed method, real experiments were conducted in an indoor environment with a long corridor. The experimental results were compared with those of the conventional GMappingapproach. The results demonstrate that it is possible to localize the robot in environments with laser scan ambiguity in real time, and the performance of the proposed method is superior to that of the conventional approach. PMID:26151203

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

PubMed Central

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

Multibeam 3D Underwater SLAM with Probabilistic Registration.

PubMed

Palomer, Albert; Ridao, Pere; Ribas, David

2016-04-20

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

Applying FastSLAM to Articulated Rovers

NASA Astrophysics Data System (ADS)

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.

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Vandewouw, Marlee M., E-mail: marleev@mie.utoronto

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, aremore » 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.« less

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

PubMed

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.

A Framework for the Development of Scalable Heterogeneous Robot Teams with Dynamically Distributed Processing

NASA Astrophysics Data System (ADS)

Martin, Adrian

As the applications of mobile robotics evolve it has become increasingly less practical for researchers to design custom hardware and control systems for each problem. This research presents a new approach to control system design that looks beyond end-of-lifecycle performance and considers control system structure, flexibility, and extensibility. Toward these ends the Control ad libitum philosophy is proposed, stating that to make significant progress in the real-world application of mobile robot teams the control system must be structured such that teams can be formed in real-time from diverse components. The Control ad libitum philosophy was applied to the design of the HAA (Host, Avatar, Agent) architecture: a modular hierarchical framework built with provably correct distributed algorithms. A control system for exploration and mapping, search and deploy, and foraging was developed to evaluate the architecture in three sets of hardware-in-the-loop experiments. First, the basic functionality of the HAA architecture was studied, specifically the ability to: a) dynamically form the control system, b) dynamically form the robot team, c) dynamically form the processing network, and d) handle heterogeneous teams. Secondly, the real-time performance of the distributed algorithms was tested, and proved effective for the moderate sized systems tested. Furthermore, the distributed Just-in-time Cooperative Simultaneous Localization and Mapping (JC-SLAM) algorithm demonstrated accuracy equal to or better than traditional approaches in resource starved scenarios, while reducing exploration time significantly. The JC-SLAM strategies are also suitable for integration into many existing particle filter SLAM approaches, complementing their unique optimizations. Thirdly, the control system was subjected to concurrent software and hardware failures in a series of increasingly complex experiments. Even with unrealistically high rates of failure the control system was able to successfully complete its tasks. The HAA implementation designed following the Control ad libitum philosophy proved to be capable of dynamic team formation and extremely robust against both hardware and software failure; and, due to the modularity of the system there is significant potential for reuse of assets and future extensibility. One future goal is to make the source code publically available and establish a forum for the development and exchange of new agents.

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

NASA Astrophysics Data System (ADS)

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.

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

PubMed Central

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. 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. PMID:26184206

Magician Simulator: A Realistic Simulator for Heterogenous Teams of Autonomous Robots. MAGIC 2010 Challenge

DTIC Science & Technology

2011-02-07

Sensor UGVs (SUGV) or Disruptor UGVs, depending on their payload. The SUGVs included vision, GPS/IMU, and LIDAR systems for identifying and tracking...employed by all the MAGICian research groups. Objects of interest were tracked using standard LIDAR and Computer Vision template-based feature...tracking approaches. Mapping was solved through Multi-Agent particle-filter based Simultaneous Locali- zation and Mapping ( SLAM ). Our system contains

University of Pennsylvania MAGIC 2010 Final Report

DTIC Science & Technology

2011-01-10

and mapping ( SLAM ) techniques are employed to build a local map of the environment surrounding the robot. Readings from the two complementary LIDAR sen...IMU, LIDAR , Cameras Localization Disrupter UGV Local Navigation Sensors: GPS, IMU, LIDAR , Cameras Laser Control Localization Task Planner Strategy/Plan...various components shown in Figure 2. This is comprised of the following subsystems: • Sensor UGV: Mobile UGVs with LIDAR and camera sensors, GPS, and

Long-Term Simultaneous Localization and Mapping in Dynamic Environments

DTIC Science & Technology

2015-01-01

core competencies required for autonomous mobile robotics is the ability to use sensors to perceive the environment. From this noisy sensor data, the...and mapping (SLAM), is a prerequisite for almost all higher-level autonomous behavior in mobile robotics. By associating the robot???s sensory...distributed stochastic neighbor embedding x ABSTRACT One of the core competencies required for autonomous mobile robotics is the ability to use sensors

Open Pit Mine 3d Mapping by Tls and Digital Photogrammetry: 3d Model Update Thanks to a Slam Based Approach

NASA Astrophysics Data System (ADS)

Vassena, G.; Clerici, A.

2018-05-01

The state of the art of 3D surveying technologies, if correctly applied, allows to obtain 3D coloured models of large open pit mines using different technologies as terrestrial laser scanner (TLS), with images, combined with UAV based digital photogrammetry. GNSS and/or total station are also currently used to geo reference the model. The University of Brescia has been realised a project to map in 3D an open pit mine located in Botticino, a famous location of marble extraction close to Brescia in North Italy. Terrestrial Laser Scanner 3D point clouds combined with RGB images and digital photogrammetry from UAV have been used to map a large part of the cave. By rigorous and well know procedures a 3D point cloud and mesh model have been obtained using an easy and rigorous approach. After the description of the combined mapping process, the paper describes the innovative process proposed for the daily/weekly update of the model itself. To realize this task a SLAM technology approach is described, using an innovative approach based on an innovative instrument capable to run an automatic localization process and real time on the field change detection analysis.

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

NASA Astrophysics Data System (ADS)

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.

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

NASA Astrophysics Data System (ADS)

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.

Mixed Reality on a Virtual Globe

DTIC Science & Technology

2011-01-01

devices which can be inaccurate. However in a feature-based tracking system such as simultaneous localization and mapping ( SLAM ) (Durrant-Whyte & Bailey...or as complex as reconstruction from Light Detection and Ranging ( LIDAR ) sensing may be used to generate such a model. Many studies have been done to

A Primer on Autonomous Aerial Vehicle Design

PubMed Central

Coppejans, Hugo H. G.; Myburgh, Herman C.

2015-01-01

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. PMID:26633410

A Primer on Autonomous Aerial Vehicle Design.

PubMed

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.

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

DTIC Science & Technology

2015-03-26

localization and mapping with efficient outlier handling. In The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2013. 5. Herbert Bay...S.H. Spencer . Next generation advanced video guidance sensor. In Aerospace Conference, 2008 IEEE, pages 1–8, March 2008. 12. Michael Calonder, Vincent

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

DTIC Science & Technology

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

Robot soccer anywhere: achieving persistent autonomous navigation, mapping, and object vision tracking in dynamic environments

NASA Astrophysics Data System (ADS)

Dragone, Mauro; O'Donoghue, Ruadhan; Leonard, John J.; O'Hare, Gregory; Duffy, Brian; Patrikalakis, Andrew; Leederkerken, Jacques

2005-06-01

The paper describes an ongoing effort to enable autonomous mobile robots to play soccer in unstructured, everyday environments. Unlike conventional robot soccer competitions that are usually held on purpose-built robot soccer "fields", in our work we seek to develop the capability for robots to demonstrate aspects of soccer-playing in more diverse environments, such as schools, hospitals, or shopping malls, with static obstacles (furniture) and dynamic natural obstacles (people). This problem of "Soccer Anywhere" presents numerous research challenges including: (1) Simultaneous Localization and Mapping (SLAM) in dynamic, unstructured environments, (2) software control architectures for decentralized, distributed control of mobile agents, (3) integration of vision-based object tracking with dynamic control, and (4) social interaction with human participants. In addition to the intrinsic research merit of these topics, we believe that this capability would prove useful for outreach activities, in demonstrating robotics technology to primary and secondary school students, to motivate them to pursue careers in science and engineering.

The Use of EPI-Splines to Model Empirical Semivariograms for Optimal Spatial Estimation

DTIC Science & Technology

2016-09-01

proliferation of unmanned systems in military and civilian sectors has occurred at lightning speed. In the case of Autonomous Underwater Vehicles or...SLAM is a method of position estimation that relies on map data [3]. In this process, the creation of the map occurs as the vehicle is navigating the...that ensures minimal errors. This technique is accomplished in two steps. The first step is creation of the semivariogram. The semivariogram is a

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

NASA Astrophysics Data System (ADS)

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, can facilitate appropriate preparatory work to minimize damage during a larger-magnitude event.

Detection and Compensation of Degeneracy Cases for IMU-Kinect Integrated Continuous SLAM with Plane Features †

PubMed Central

Cho, HyunGi; Yeon, Suyong; Choi, Hyunga; Doh, Nakju

2018-01-01

In a group of general geometric primitives, plane-based features are widely used for indoor localization because of their robustness against noises. However, a lack of linearly independent planes may lead to a non-trivial estimation. This in return can cause a degenerate state from which all states cannot be estimated. To solve this problem, this paper first proposed a degeneracy detection method. A compensation method that could fix orientations by projecting an inertial measurement unit’s (IMU) information was then explained. Experiments were conducted using an IMU-Kinect v2 integrated sensor system prone to fall into degenerate cases owing to its narrow field-of-view. Results showed that the proposed framework could enhance map accuracy by successful detection and compensation of degenerated orientations. PMID:29565287

Slamming Arkansas Schools!

ERIC Educational Resources Information Center

Scott, W. Clayton

2010-01-01

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

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

NASA Astrophysics Data System (ADS)

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.

Delayed Monocular SLAM Approach Applied to Unmanned Aerial Vehicles.

PubMed

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.

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

PubMed Central

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

2015-01-01

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

"torino 1911" Project: a Contribution of a Slam-Based Survey to Extensive 3d Heritage Modeling

NASA Astrophysics Data System (ADS)

Chiabrando, F.; Della Coletta, C.; Sammartano, G.; Spanò, A.; Spreafico, A.

2018-05-01

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.

Extrinsic Calibration of Camera and 2D Laser Sensors without Overlap

PubMed Central

Al-Widyan, Khalid

2017-01-01

Extrinsic calibration of a camera and a 2D laser range finder (lidar) sensors is crucial in sensor data fusion applications; for example SLAM algorithms used in mobile robot platforms. The fundamental challenge of extrinsic calibration is when the camera-lidar sensors do not overlap or share the same field of view. In this paper we propose a novel and flexible approach for the extrinsic calibration of a camera-lidar system without overlap, which can be used for robotic platform self-calibration. The approach is based on the robot–world hand–eye calibration (RWHE) problem; proven to have efficient and accurate solutions. First, the system was mapped to the RWHE calibration problem modeled as the linear relationship AX=ZB, where X and Z are unknown calibration matrices. Then, we computed the transformation matrix B, which was the main challenge in the above mapping. The computation is based on reasonable assumptions about geometric structure in the calibration environment. The reliability and accuracy of the proposed approach is compared to a state-of-the-art method in extrinsic 2D lidar to camera calibration. Experimental results from real datasets indicate that the proposed approach provides better results with an L2 norm translational and rotational deviations of 314 mm and 0.12∘ respectively. PMID:29036905

Extrinsic Calibration of Camera and 2D Laser Sensors without Overlap.

PubMed

Ahmad Yousef, Khalil M; Mohd, Bassam J; Al-Widyan, Khalid; Hayajneh, Thaier

2017-10-14

Extrinsic calibration of a camera and a 2D laser range finder (lidar) sensors is crucial in sensor data fusion applications; for example SLAM algorithms used in mobile robot platforms. The fundamental challenge of extrinsic calibration is when the camera-lidar sensors do not overlap or share the same field of view. In this paper we propose a novel and flexible approach for the extrinsic calibration of a camera-lidar system without overlap, which can be used for robotic platform self-calibration. The approach is based on the robot-world hand-eye calibration (RWHE) problem; proven to have efficient and accurate solutions. First, the system was mapped to the RWHE calibration problem modeled as the linear relationship AX = ZB , where X and Z are unknown calibration matrices. Then, we computed the transformation matrix B , which was the main challenge in the above mapping. The computation is based on reasonable assumptions about geometric structure in the calibration environment. The reliability and accuracy of the proposed approach is compared to a state-of-the-art method in extrinsic 2D lidar to camera calibration. Experimental results from real datasets indicate that the proposed approach provides better results with an L2 norm translational and rotational deviations of 314 mm and 0 . 12 ∘ respectively.

Full particle simulations of short large-amplitude magnetic structures (SLAMS) in quasi-parallel shocks

NASA Astrophysics Data System (ADS)

Tsubouchi, K.; LembèGe, B.

2004-02-01

Dynamics of SLAMS (short large-amplitude magnetic structures) is investigated by the use of one-dimensional, full particle electromagnetic simulations. As previous hybrid simulations and analysis of experimental observations suggested, present results confirm that the SLAMS patterns result from the steepening of long wavelength magnetosonic waves which are excited by diffuse ions (representing the field-aligned reflected ion beam) interacting with the upstream ambient plasma. Five successive phases have been identified in the SLAMS dynamics: ULF wave growth and symmetric, asymmetric, spiky, and late SLAMS. The present accessibility to high-resolution (electron) scales leads to the following new features: (1) the leading edge of the SLAMS steepens over a spatial scale from which a large-amplitude whistler precursor is emitted; (2) this whistler departs from the SLAMS edge and behaves as a new shock front; (3) the spiky SLAMS phase is characterized by the build-up of a strong spiky electrostatic field (its width is about 0.5 ion inertial length) within the whistler precursor and is intermittent with a lifetime less than one inverse ion gyroperiod; (4) the new shock front suffers a local self-reformation typical of a quasi-perpendicular shock in supercritical regime during the late-SLAMS phase. The features of the spiky SLAMS phase can be used as a typical signature in the time history of the SLAMS dynamics. Spatial/time scales of SLAMS have been measured throughout the different phases and are found in good agreement with results issued from previous hybrid simulations and with experimental measurements made by AMPTE UKS/IRM satellites; these are also compared with recent results from Cluster-2 space mission.

Multi-Robot FastSLAM for Large Domains

DTIC Science & Technology

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

Slam Poetry and Cultural Experience for Children

ERIC Educational Resources Information Center

Boudreau, Kathryn E.

2009-01-01

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

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

PubMed

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

2011-02-01

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

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

NASA Technical Reports Server (NTRS)

Shen, S.; Morris, D. W.

1983-01-01

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

Slamming: Recent Progress in the Evaluation of Impact Pressures

NASA Astrophysics Data System (ADS)

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.

Autonomous assistance navigation for robotic wheelchairs in confined spaces.

PubMed

Cheein, Fernando Auat; Carelli, Ricardo; De la Cruz, Celso; Muller, Sandra; Bastos Filho, Teodiano F

2010-01-01

In this work, a visual interface for the assistance of a robotic wheelchair's navigation is presented. The visual interface is developed for the navigation in confined spaces such as narrows corridors or corridor-ends. The interface performs two navigation modus: non-autonomous and autonomous. The non-autonomous driving of the robotic wheelchair is made by means of a hand-joystick. The joystick directs the motion of the vehicle within the environment. The autonomous driving is performed when the user of the wheelchair has to turn (90, 90 or 180 degrees) within the environment. The turning strategy is performed by a maneuverability algorithm compatible with the kinematics of the wheelchair and by the SLAM (Simultaneous Localization and Mapping) algorithm. The SLAM algorithm provides the interface with the information concerning the environment disposition and the pose -position and orientation-of the wheelchair within the environment. Experimental and statistical results of the interface are also shown in this work.

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

PubMed

Walker, Grant M; Hickok, Gregory

2016-04-01

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

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

PubMed Central

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

2012-01-01

Speed and signal-to-noise ratio (SNR) are critical for localized magnetic resonance spectroscopy (MRS) of low-concentration metabolites. Matching voxels to anatomical compartments a priori yields better SNR than the spectra created by summing signals from constituent chemical-shift-imaging (CSI) voxels post-acquisition. Here, a new method of localized Spectroscopy using Linear Algebraic Modeling (SLAM) is presented, that can realize this additional SNR gain. Unlike prior methods, SLAM generates spectra from C signal-generating anatomic compartments utilizing a CSI sequence wherein essentially only the C central k-space phase-encoding gradient steps with highest SNR are retained. After MRI-based compartment segmentation, the spectra are reconstructed by solving a sub-set of linear simultaneous equations from the standard CSI algorithm. SLAM is demonstrated with one-dimensional CSI surface coil phosphorus MRS in phantoms, the human leg and the heart on a 3T clinical scanner. Its SNR performance, accuracy, sensitivity to registration errors and inhomogeneity, are evaluated. Compared to one-dimensional CSI, SLAM yielded quantitatively the same results 4-times faster in 24 cardiac patients and healthy subjects. SLAM is further extended with fractional phase-encoding gradients that optimize SNR and/or minimize both inter- and intra-compartmental contamination. In proactive cardiac phosphorus MRS of 6 healthy subjects, both SLAM and fractional-SLAM (fSLAM) produced results indistinguishable from CSI while preserving SNR gains of 36–45% in the same scan-time. Both SLAM and fSLAM are simple to implement and reduce the minimum scan-time for CSI, which otherwise limits the translation of higher SNR achievable at higher field strengths to faster scanning. PMID:22578557

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

PubMed Central

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

2016-01-01

In the study of SLAM problem using an RGB-D camera, depth information and visual information as two types of primary measurement data are rarely tightly coupled during refinement of camera pose estimation. In this paper, a new method of RGB-D camera SLAM is proposed based on extended bundle adjustment with integrated 2D and 3D information on the basis of a new projection model. First, the geometric relationship between the image plane coordinates and the depth values is constructed through RGB-D camera calibration. Then, 2D and 3D feature points are automatically extracted and matched between consecutive frames to build a continuous image network. Finally, extended bundle adjustment based on the new projection model, which takes both image and depth measurements into consideration, is applied to the image network for high-precision pose estimation. Field experiments show that the proposed method has a notably better performance than the traditional method, and the experimental results demonstrate the effectiveness of the proposed method in improving localization accuracy. PMID:27529256

Temporally Scalable Visual SLAM using a Reduced Pose Graph

DTIC Science & Technology

2012-05-25

m b r i d g e , m a 0 213 9 u s a — w w w. c s a i l . m i t . e d u MIT-CSAIL-TR-2012-013 May 25, 2012 Temporally Scalable Visual SLAM using a...00-00-2012 4. TITLE AND SUBTITLE Temporally Scalable Visual SLAM using a Reduced Pose Graph 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM...demonstrate a system for temporally scalable visual SLAM using a reduced pose graph representation. Unlike previous visual SLAM approaches that use

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

PubMed

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.

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

NASA Astrophysics Data System (ADS)

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.

Accurate Initial State Estimation in a Monocular Visual–Inertial SLAM System

PubMed Central

Chen, Jing; Zhou, Zixiang; Leng, Zhen; Fan, Lei

2018-01-01

The fusion of monocular visual and inertial cues has become popular in robotics, unmanned vehicles and augmented reality fields. Recent results have shown that optimization-based fusion strategies outperform filtering strategies. Robust state estimation is the core capability for optimization-based visual–inertial Simultaneous Localization and Mapping (SLAM) systems. As a result of the nonlinearity of visual–inertial systems, the performance heavily relies on the accuracy of initial values (visual scale, gravity, velocity and Inertial Measurement Unit (IMU) biases). Therefore, this paper aims to propose a more accurate initial state estimation method. On the basis of the known gravity magnitude, we propose an approach to refine the estimated gravity vector by optimizing the two-dimensional (2D) error state on its tangent space, then estimate the accelerometer bias separately, which is difficult to be distinguished under small rotation. Additionally, we propose an automatic termination criterion to determine when the initialization is successful. Once the initial state estimation converges, the initial estimated values are used to launch the nonlinear tightly coupled visual–inertial SLAM system. We have tested our approaches with the public EuRoC dataset. Experimental results show that the proposed methods can achieve good initial state estimation, the gravity refinement approach is able to efficiently speed up the convergence process of the estimated gravity vector, and the termination criterion performs well. PMID:29419751

Extension of an iterative closest point algorithm for simultaneous localization and mapping in corridor environments

NASA Astrophysics Data System (ADS)

Yue, Haosong; Chen, Weihai; Wu, Xingming; Wang, Jianhua

2016-03-01

Three-dimensional (3-D) simultaneous localization and mapping (SLAM) is a crucial technique for intelligent robots to navigate autonomously and execute complex tasks. It can also be applied to shape measurement, reverse engineering, and many other scientific or engineering fields. A widespread SLAM algorithm, named KinectFusion, performs well in environments with complex shapes. However, it cannot handle translation uncertainties well in highly structured scenes. This paper improves the KinectFusion algorithm and makes it competent in both structured and unstructured environments. 3-D line features are first extracted according to both color and depth data captured by Kinect sensor. Then the lines in the current data frame are matched with the lines extracted from the entire constructed world model. Finally, we fuse the distance errors of these line-pairs into the standard KinectFusion framework and estimate sensor poses using an iterative closest point-based algorithm. Comparative experiments with the KinectFusion algorithm and one state-of-the-art method in a corridor scene have been done. The experimental results demonstrate that after our improvement, the KinectFusion algorithm can also be applied to structured environments and has higher accuracy. Experiments on two open access datasets further validated our improvements.

Mapping of unknown industrial plant using ROS-based navigation mobile robot

NASA Astrophysics Data System (ADS)

Priyandoko, G.; Ming, T. Y.; Achmad, M. S. H.

2017-10-01

This research examines how humans work with teleoperated unmanned mobile robot inspection in industrial plant area resulting 2D/3D map for further critical evaluation. This experiment focuses on two parts, the way human-robot doing remote interactions using robust method and the way robot perceives the environment surround as a 2D/3D perspective map. ROS (robot operating system) as a tool was utilized in the development and implementation during the research which comes up with robust data communication method in the form of messages and topics. RGBD SLAM performs the visual mapping function to construct 2D/3D map using Kinect sensor. The results showed that the mobile robot-based teleoperated system are successful to extend human perspective in term of remote surveillance in large area of industrial plant. It was concluded that the proposed work is robust solution for large mapping within an unknown construction building.

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

NASA Astrophysics Data System (ADS)

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.

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

PubMed

Samanta, Sudipta; Mukherjee, Sanchita

2017-04-28

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.

Autonomous localisation of rovers for future planetary exploration

NASA Astrophysics Data System (ADS)

Bajpai, Abhinav

Future Mars exploration missions will have increasingly ambitious goals compared to current rover and lander missions. There will be a need for extremely long distance traverses over shorter periods of time. This will allow more varied and complex scientific tasks to be performed and increase the overall value of the missions. The missions may also include a sample return component, where items collected on the surface will be returned to a cache in order to be returned to Earth, for further study. In order to make these missions feasible, future rover platforms will require increased levels of autonomy, allowing them to operate without heavy reliance on a terrestrial ground station. Being able to autonomously localise the rover is an important element in increasing the rover's capability to independently explore. This thesis develops a Planetary Monocular Simultaneous Localisation And Mapping (PM-SLAM) system aimed specifically at a planetary exploration context. The system uses a novel modular feature detection and tracking algorithm called hybrid-saliency in order to achieve robust tracking, while maintaining low computational complexity in the SLAM filter. The hybrid saliency technique uses a combination of cognitive inspired saliency features with point-based feature descriptors as input to the SLAM filter. The system was tested on simulated datasets generated using the Planetary, Asteroid and Natural scene Generation Utility (PANGU) as well as two real world datasets which closely approximated images from a planetary environment. The system was shown to provide a higher accuracy of localisation estimate than a state-of-the-art VO system tested on the same data set. In order to be able to localise the rover absolutely, further techniques are investigated which attempt to determine the rover's position in orbital maps. Orbiter Mask Matching uses point-based features detected by the rover to associate descriptors with large features extracted from orbital imagery and stored in the rover memory prior the mission launch. A proof of concept is evaluated using a PANGU simulated boulder field.

Robust and Accurate Image-Based Georeferencing Exploiting Relative Orientation Constraints

NASA Astrophysics Data System (ADS)

Cavegn, S.; Blaser, S.; Nebiker, S.; Haala, N.

2018-05-01

Urban environments with extended areas of poor GNSS coverage as well as indoor spaces that often rely on real-time SLAM algorithms for camera pose estimation require sophisticated georeferencing in order to fulfill our high requirements of a few centimeters for absolute 3D point measurement accuracies. Since we focus on image-based mobile mapping, we extended the structure-from-motion pipeline COLMAP with georeferencing capabilities by integrating exterior orientation parameters from direct sensor orientation or SLAM as well as ground control points into bundle adjustment. Furthermore, we exploit constraints for relative orientation parameters among all cameras in bundle adjustment, which leads to a significant robustness and accuracy increase especially by incorporating highly redundant multi-view image sequences. We evaluated our integrated georeferencing approach on two data sets, one captured outdoors by a vehicle-based multi-stereo mobile mapping system and the other captured indoors by a portable panoramic mobile mapping system. We obtained mean RMSE values for check point residuals between image-based georeferencing and tachymetry of 2 cm in an indoor area, and 3 cm in an urban environment where the measurement distances are a multiple compared to indoors. Moreover, in comparison to a solely image-based procedure, our integrated georeferencing approach showed a consistent accuracy increase by a factor of 2-3 at our outdoor test site. Due to pre-calibrated relative orientation parameters, images of all camera heads were oriented correctly in our challenging indoor environment. By performing self-calibration of relative orientation parameters among respective cameras of our vehicle-based mobile mapping system, remaining inaccuracies from suboptimal test field calibration were successfully compensated.

An orbital emulator for pursuit-evasion game theoretic sensor management

NASA Astrophysics Data System (ADS)

Shen, Dan; Wang, Tao; Wang, Gang; Jia, Bin; Wang, Zhonghai; Chen, Genshe; Blasch, Erik; Pham, Khanh

2017-05-01

This paper develops and evaluates an orbital emulator (OE) for space situational awareness (SSA). The OE can produce 3D satellite movements using capabilities generated from omni-wheeled robot and robotic arm motion methods. The 3D motion of a satellite is partitioned into the movements in the equatorial plane and the up-down motions in the vertical plane. The 3D actions are emulated by omni-wheeled robot models while the up-down motions are performed by a stepped-motor-controlled-ball along a rod (robotic arm), which is attached to the robot. For multiple satellites, a fast map-merging algorithm is integrated into the robot operating system (ROS) and simultaneous localization and mapping (SLAM) routines to locate the multiple robots in the scene. The OE is used to demonstrate a pursuit-evasion (PE) game theoretic sensor management algorithm, which models conflicts between a space-based-visible (SBV) satellite (as pursuer) and a geosynchronous (GEO) satellite (as evader). The cost function of the PE game is based on the informational entropy of the SBV-tracking-GEO scenario. GEO can maneuver using a continuous and low thruster. The hard-in-loop space emulator visually illustrates the SSA problem solution based PE game.

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

NASA Astrophysics Data System (ADS)

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

2013-12-01

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

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

PubMed

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.

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

DTIC Science & Technology

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

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

ERIC Educational Resources Information Center

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.…

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

NASA Astrophysics Data System (ADS)

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 <= H <= 635 mm, measured from the keel to the free surface. The wedge was instrumented to record vertical position, acceleration, and pressure on the bottom surface. A pressure mapping system, capable of measuring several points over the area of the thin (0.1 mm) film sensor at sampling rates up to 20 kHz, is used and compared to surface-mounted pressure transducers (sampled at 10 kHz). A high speed camera (1000 fps, resolution of 1920 × 1200 pixels) is mounted above the wedge model to record the wetted surface as the wedge descended below the free surface. The pressure measurements taken with both conventional surface pressure transducers and the pressure mapping system agree within 10% of the peak pressure values (0.7 bar, typical). Supported by the Office of Naval Research.

Outsiders' Art

ERIC Educational Resources Information Center

Gehring, John

2005-01-01

Slam poetry was born in the Green Mill Tavern, a one-time Chicago speakeasy where Al Capone imbibed, when a construction worker and poet named Marc Smith revolutionized poetry readings with an Uptown Poetry Slam in 1986. Slam borrows heavily from the rhythms and wordplay of rap and hip-hop, as well as the stream of consciousness and metaphysical…

Analysis of immune activation and clinical events in acute infectious mononucleosis.

PubMed

Williams, Hilary; Macsween, Karen; McAulay, Karen; Higgins, Craig; Harrison, Nadine; Swerdlow, Anthony; Britton, Kate; Crawford, Dorothy

2004-07-01

The symptoms of infectious mononucleosis (IM) are thought to be caused by T cell activation and cytokine production. Surface lymphocyte activation marker (SLAM)-associated protein (SAP) regulates lymphocyte activation via signals from cell-surface CD244 (2B4) and SLAM (CD150). We followed T cell activation via this SAP/SLAM/CD244 pathway in IM and analyzed whether the results were associated with clinical severity. At diagnosis, SAP, SLAM, and CD244 were significantly up-regulated on CD4 and CD8 T cells; expression decreased during IM, but CD244 and SLAM levels remained higher on CD8 cells 40 days later. There were significantly more lymphocytes expressing CD8 and CD244/CD8 in patients with severe sore throat. The expression of CD8 alone and CD244 on CD8 cells correlated with increased virus load. We suggest that T cells expressing CD244 and SLAM are responsible for the clinical features of IM but that the control of activation is maintained by parallel increased expression of SAP.

Structural Affects on the Slamming Pressures of High-Speed Planing Craft

NASA Astrophysics Data System (ADS)

Ikeda, Christine; Taravella, Brandon; Judge, Carolyn

2015-11-01

High-speed planing craft are subjected to repeated slamming events in waves that can be very extreme depending on the wave topography, impact angle of the ship, forward speed of the ship, encounter angle, and height out of the water. The current work examines this fluid-structure interaction problem through the use of wedge drop experiments and a CFD code. In the first set of experiments, a rigid 20-degree deadrise angle wedge was dropped from a range of heights (0 <= H <= 0 . 6 m) and while pressures and accelerations of the slam even were measured. The second set of experiments involved a flexible-bottom 15-degree deadrise angle wedge that was dropped from from the same range of heights. In these second experiments, the pressures, accelerations, and strain field were measured. Both experiments are compared with a non-linear boundary value flat cylinder theory code in order to compare the pressure loading. The code assumes a rigid structure, therefore, the results between the code and the first experiment are in good agreement. The second experiment shows pressure magnitudes that are lower than the predictions due to the energy required to deform the structure. Funding from University of New Orleans Office of Research and Sponsored Programs and the Office of Naval Research.

Navigation of robotic system using cricket motes

NASA Astrophysics Data System (ADS)

Patil, Yogendra J.; Baine, Nicholas A.; Rattan, Kuldip S.

2011-06-01

This paper presents a novel algorithm for self-mapping of the cricket motes that can be used for indoor navigation of autonomous robotic systems. The cricket system is a wireless sensor network that can provide indoor localization service to its user via acoustic ranging techniques. The behavior of the ultrasonic transducer on the cricket mote is studied and the regions where satisfactorily distance measurements can be obtained are recorded. Placing the motes in these regions results fine-grain mapping of the cricket motes. Trilateration is used to obtain a rigid coordinate system, but is insufficient if the network is to be used for navigation. A modified SLAM algorithm is applied to overcome the shortcomings of trilateration. Finally, the self-mapped cricket motes can be used for navigation of autonomous robotic systems in an indoor location.

Short Large-Amplitude Magnetic Structures (SLAMS) at Venus

NASA Technical Reports Server (NTRS)

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.

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

NASA Astrophysics Data System (ADS)

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.

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

PubMed

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.

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

PubMed

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.

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

NASA Technical Reports Server (NTRS)

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.

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

PubMed Central

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 pleiotropy. These findings extend knowledge on CDV molecular epidemiology of particular relevance to wild carnivores. PMID:23239996

NDE of structural ceramics

NASA Technical Reports Server (NTRS)

Klima, S. J.; Vary, A.

1986-01-01

Radiographic, ultrasonic, scanning laser acoustic microscopy (SLAM), and thermo-acoustic microscopy techniques were used to characterize silicon nitride and silicon carbide modulus-of-rupture test specimens in various stages of fabrication. Conventional and microfocus X-ray techniques were found capable of detecting minute high density inclusions in as-received powders, green compacts, and fully densified specimens. Significant density gradients in sintered bars were observed by radiography, ultrasonic velocity, and SLAM. Ultrasonic attenuation was found sensitive to microstructural variations due to grain and void morphology and distribution. SLAM was also capable of detecting voids, inclusions and cracks in finished test bars. Consideration is given to the potential for applying thermo-acoustic microscopy techniques to green and densified ceramics. The detection probability statistics and some limitations of radiography and SLAM also are discussed.

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

PubMed

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.

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

PubMed Central

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

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

NASA Astrophysics Data System (ADS)

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.

A 2.5D Map-Based Mobile Robot Localization via Cooperation of Aerial and Ground Robots

PubMed Central

Nam, Tae Hyeon; Shim, Jae Hong; Cho, Young Im

2017-01-01

Recently, there has been increasing interest in studying the task coordination of aerial and ground robots. When a robot begins navigation in an unknown area, it has no information about the surrounding environment. Accordingly, for robots to perform tasks based on location information, they need a simultaneous localization and mapping (SLAM) process that uses sensor information to draw a map of the environment, while simultaneously estimating the current location of the robot on the map. This paper aims to present a localization method based in cooperation between aerial and ground robots in an indoor environment. The proposed method allows a ground robot to reach accurate destination by using a 2.5D elevation map built by a low-cost RGB-D (Red Green and Blue-Depth) sensor and 2D Laser sensor attached onto an aerial robot. A 2.5D elevation map is formed by projecting height information of an obstacle using depth information obtained by the RGB-D sensor onto a grid map, which is generated by using the 2D Laser sensor and scan matching. Experimental results demonstrate the effectiveness of the proposed method for its accuracy in location recognition and computing speed. PMID:29186843

A 2.5D Map-Based Mobile Robot Localization via Cooperation of Aerial and Ground Robots.

PubMed

Nam, Tae Hyeon; Shim, Jae Hong; Cho, Young Im

2017-11-25

Recently, there has been increasing interest in studying the task coordination of aerial and ground robots. When a robot begins navigation in an unknown area, it has no information about the surrounding environment. Accordingly, for robots to perform tasks based on location information, they need a simultaneous localization and mapping (SLAM) process that uses sensor information to draw a map of the environment, while simultaneously estimating the current location of the robot on the map. This paper aims to present a localization method based in cooperation between aerial and ground robots in an indoor environment. The proposed method allows a ground robot to reach accurate destination by using a 2.5D elevation map built by a low-cost RGB-D (Red Green and Blue-Depth) sensor and 2D Laser sensor attached onto an aerial robot. A 2.5D elevation map is formed by projecting height information of an obstacle using depth information obtained by the RGB-D sensor onto a grid map, which is generated by using the 2D Laser sensor and scan matching. Experimental results demonstrate the effectiveness of the proposed method for its accuracy in location recognition and computing speed.

Nondestructive monitoring damage in composites using scanning laser acoustic microscopy

NASA Technical Reports Server (NTRS)

Wey, A. C.; Kessler, L. W.; Dos Reis, H. L. M.

1992-01-01

Several Nicalon fiber reinforced LAS (lithium alumino-silicate) glass matrix composites were tested to study the relation between the residual strength and the different amounts of damage. The samples were fatigued by four-point cyclic loading at a 5 Hz rate at 500 C for a different number of cycles. 10 MHz scanning laser acoustic microscope (SLAM) images were taken to monitor damage on the samples. Our SLAM results indicate that there were defects already existing throughout the sample before fatigue, and the resultant damage pattern from fatigue could be related to the initial defect distribution in the sample. Finally, the fatigued samples were fractured and the residual strength data could not be explained by the cyclic fatigue alone. Rather, the damage patterns evident in the SLAM images were needed to explain the scatter in the data. The results show that SLAM is useful in nondestructively monitoring damage and estimating residual strength of fatigued ceramic composites.

Rotational and frictional dynamics of the slamming of a door

NASA Astrophysics Data System (ADS)

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.

Cognitive Mapping Based on Conjunctive Representations of Space and Movement

PubMed Central

Zeng, Taiping; Si, Bailu

2017-01-01

It is a challenge to build robust simultaneous localization and mapping (SLAM) system in dynamical large-scale environments. Inspired by recent findings in the entorhinal–hippocampal neuronal circuits, we propose a cognitive mapping model that includes continuous attractor networks of head-direction cells and conjunctive grid cells to integrate velocity information by conjunctive encodings of space and movement. Visual inputs from the local view cells in the model provide feedback cues to correct drifting errors of the attractors caused by the noisy velocity inputs. We demonstrate the mapping performance of the proposed cognitive mapping model on an open-source dataset of 66 km car journey in a 3 km × 1.6 km urban area. Experimental results show that the proposed model is robust in building a coherent semi-metric topological map of the entire urban area using a monocular camera, even though the image inputs contain various changes caused by different light conditions and terrains. The results in this study could inspire both neuroscience and robotic research to better understand the neural computational mechanisms of spatial cognition and to build robust robotic navigation systems in large-scale environments. PMID:29213234

Effects of Different Camera Motions on the Error in Estimates of Epipolar Geometry between Two Dimensional Images in Order to Provide a Framework for Solutions to Vision Based Simultaneous Localization and Mapping (SLAM)

DTIC Science & Technology

2007-09-01

the projective camera matrix (P) which is a 3x4 matrix that is represents both the intrinsic and extrinsic parameters of a camera. It is used to...K contains the intrinsic parameters of the camera and |R t⎡ ⎤⎣ ⎦ represents the extrinsic parameters of the camera. By definition, the extrinsic ... extrinsic parameters are known then the camera is said to be calibrated. If only the intrinsic parameters are known, then the projective camera can

Localization of a mobile laser scanner via dimensional reduction

NASA Astrophysics Data System (ADS)

Lehtola, Ville V.; Virtanen, Juho-Pekka; Vaaja, Matti T.; Hyyppä, Hannu; Nüchter, Andreas

2016-11-01

We extend the concept of intrinsic localization from a theoretical one-dimensional (1D) solution onto a 2D manifold that is embedded in a 3D space, and then recover the full six degrees of freedom for a mobile laser scanner with a simultaneous localization and mapping algorithm (SLAM). By intrinsic localization, we mean that no reference coordinate system, such as global navigation satellite system (GNSS), nor inertial measurement unit (IMU) are used. Experiments are conducted with a 2D laser scanner mounted on a rolling prototype platform, VILMA. The concept offers potential in being extendable to other wheeled platforms.

The Performance Analysis of AN Indoor Mobile Mapping System with Rgb-D Sensor

NASA Astrophysics Data System (ADS)

Tsai, G. J.; Chiang, K. W.; Chu, C. H.; Chen, Y. L.; El-Sheimy, N.; Habib, A.

2015-08-01

Over the years, Mobile Mapping Systems (MMSs) have been widely applied to urban mapping, path management and monitoring and cyber city, etc. The key concept of mobile mapping is based on positioning technology and photogrammetry. In order to achieve the integration, multi-sensor integrated mapping technology has clearly established. In recent years, the robotic technology has been rapidly developed. The other mapping technology that is on the basis of low-cost sensor has generally used in robotic system, it is known as the Simultaneous Localization and Mapping (SLAM). The objective of this study is developed a prototype of indoor MMS for mobile mapping applications, especially to reduce the costs and enhance the efficiency of data collection and validation of direct georeferenced (DG) performance. The proposed indoor MMS is composed of a tactical grade Inertial Measurement Unit (IMU), the Kinect RGB-D sensor and light detection, ranging (LIDAR) and robot. In summary, this paper designs the payload for indoor MMS to generate the floor plan. In first session, it concentrates on comparing the different positioning algorithms in the indoor environment. Next, the indoor plans are generated by two sensors, Kinect RGB-D sensor LIDAR on robot. Moreover, the generated floor plan will compare with the known plan for both validation and verification.

xLuna - D emonstrator on ESA Mars Rover

NASA Astrophysics Data System (ADS)

Braga, P.; Henriques, L.; Carvalho, B.; Chevalley, P.; Zulianello, M.

2008-08-01

There is a significant gap between the services offered by existing space qualified Real-Time Operating Systems (RTOS) and those required by the most demanding future space applications. New requirements for autonomy, terrain mapping and navigation, Simultaneous Location and Mapping (SLAM), improvement of the throughput of science tasks, all demand high level services such as file systems or POSIX compliant interfaces. xLuna is an operating system that aims fulfilling these new requirements. Besides providing the typical services that of an RTOS (tasks and interrupts management, timers, message queues, etc), it also includes most of the features available in modern general-purpose operating systems, such as Linux. This paper describes a case study that proposes to demonstrate the usage of xLuna on board a rover currently in use for the development of algorithms in preparation of a mission to Mars.

VeroNectin-4 is a highly sensitive cell line that can be used for the isolation and titration of Peste des Petits Ruminants virus.

PubMed

Fakri, F; Elarkam, A; Daouam, S; Tadlaoui, K; Fassi-Fihri, O; Richardson, C D; Elharrak, M

2016-02-01

Peste des Petits Ruminants virus (PPRV) is a member of the Morbillivirus subgroup of the family Paramyxoviridae, and is one of the most contagious diseases of small ruminants throughout Africa and the rest of the world. Different cell lines have previously been used to isolate PPRV but with limited success. Thus, to improve the isolation of Morbilliviruses, human, canine, and goat homologues of the lymphocyte receptor signaling lymphocyte activation molecule (SLAM) have been introduced into cells that can support virus replication. However, the amino acid sequence of SLAM varies between species, and often requires adaptation of a particular virus to different versions of the receptor. The protein sequence of Nectin-4 is highly conserved between different mammals, which eliminate the need for receptor adaptation by the virus. Cell lines expressing Nectin-4 have previously been used to propagate measles and canine distemper viruses. In this study, we compared infections in Vero cells expressing canine SLAM (VeroDogSLAM) to those in Vero cells expressing Nectin-4 (VeroNectin-4), following inoculations with wild-type strains of PPRV. Virus isolation using VeroNectin-4 cells was successful with 23% of swabbed samples obtained from live infected animals, and was 89% effective using post-mortem tissues of infected sheep. By contrast, only 4.5% efficiency was observed from swab samples and 67% efficiency was obtained in virus isolation from post-mortem tissues using VeroDogSLAM cells. The average incubation period for virus recovery from post-mortem tissues was 3.4 days using VeroNectin-4 cells, compared with 5.5 days when using VeroDogSLAM cells. The virus titers of PPRV obtained from VeroNectin-4 cells were also higher than those derived from VeroDogSLAM cells. A comparison of the growth kinetics for PPRV in the two cell lines confirmed the superiority of VeroNectin-4 cells for PPR diagnostic purposes and vaccine virus titration. Copyright © 2015 Elsevier B.V. All rights reserved.

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

NASA Astrophysics Data System (ADS)

Grice, Noreen A.

2008-05-01

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

Development of Murine Lupus Involves the Combined Genetic Contribution of the SLAM and FcγR Intervals within the Nba2 Autoimmune Susceptibility Locus

PubMed Central

Jørgensen, Trine N.; Alfaro, Jennifer; Enriquez, Hilda L.; Jiang, Chao; Loo, William M.; Atencio, Stephanie; Bupp, Melanie R. Gubbels; Mailloux, Christina M.; Metzger, Troy; Flannery, Shannon; Rozzo, Stephen J.; Kotzin, Brian L.; Rosemblatt, Mario; Bono, María Rosa; Erickson, Loren D.

2010-01-01

Autoantibodies are of central importance in the pathogenesis of Ab-mediated autoimmune disorders. The murine lupus susceptibility locus Nba2 on chromosome 1 and the syntenic human locus are associated with a loss of immune tolerance that leads to antinuclear Ab production. To identify gene intervals within Nba2 that control the development of autoantibody-producing B cells and to determine the cellular components through which Nba2 genes accomplish this, we generated congenic mice expressing various Nba2 intervals where genes for the FcγR, SLAM, and IFN-inducible families are encoded. Analysis of congenic strains demonstrated that the FcγR and SLAM intervals independently controlled the severity of autoantibody production and renal disease, yet are both required for lupus susceptibility. Deregulated homeostasis of terminally differentiated B cells was found to be controlled by the FcγR interval where FcγRIIb-mediated apoptosis of germinal center B cells and plasma cells was impaired. Increased numbers of activated plasmacytoid dendritic cells that were distinctly CD19+ and promoted plasma cell differentiation via the proinflammatory cytokines IL-10 and IFNα were linked to the SLAM interval. These findings suggest that SLAM and FcγR intervals act cooperatively to influence the clinical course of disease through supporting the differentiation and survival of autoantibody-producing cells. PMID:20018631

Convolutional Neural Network-Based Robot Navigation Using Uncalibrated Spherical Images †

PubMed Central

Ran, Lingyan; Zhang, Yanning; Zhang, Qilin; Yang, Tao

2017-01-01

Vision-based mobile robot navigation is a vibrant area of research with numerous algorithms having been developed, the vast majority of which either belong to the scene-oriented simultaneous localization and mapping (SLAM) or fall into the category of robot-oriented lane-detection/trajectory tracking. These methods suffer from high computational cost and require stringent labelling and calibration efforts. To address these challenges, this paper proposes a lightweight robot navigation framework based purely on uncalibrated spherical images. To simplify the orientation estimation, path prediction and improve computational efficiency, the navigation problem is decomposed into a series of classification tasks. To mitigate the adverse effects of insufficient negative samples in the “navigation via classification” task, we introduce the spherical camera for scene capturing, which enables 360° fisheye panorama as training samples and generation of sufficient positive and negative heading directions. The classification is implemented as an end-to-end Convolutional Neural Network (CNN), trained on our proposed Spherical-Navi image dataset, whose category labels can be efficiently collected. This CNN is capable of predicting potential path directions with high confidence levels based on a single, uncalibrated spherical image. Experimental results demonstrate that the proposed framework outperforms competing ones in realistic applications. PMID:28604624

Convolutional Neural Network-Based Robot Navigation Using Uncalibrated Spherical Images.

PubMed

Ran, Lingyan; Zhang, Yanning; Zhang, Qilin; Yang, Tao

2017-06-12

Vision-based mobile robot navigation is a vibrant area of research with numerous algorithms having been developed, the vast majority of which either belong to the scene-oriented simultaneous localization and mapping (SLAM) or fall into the category of robot-oriented lane-detection/trajectory tracking. These methods suffer from high computational cost and require stringent labelling and calibration efforts. To address these challenges, this paper proposes a lightweight robot navigation framework based purely on uncalibrated spherical images. To simplify the orientation estimation, path prediction and improve computational efficiency, the navigation problem is decomposed into a series of classification tasks. To mitigate the adverse effects of insufficient negative samples in the "navigation via classification" task, we introduce the spherical camera for scene capturing, which enables 360° fisheye panorama as training samples and generation of sufficient positive and negative heading directions. The classification is implemented as an end-to-end Convolutional Neural Network (CNN), trained on our proposed Spherical-Navi image dataset, whose category labels can be efficiently collected. This CNN is capable of predicting potential path directions with high confidence levels based on a single, uncalibrated spherical image. Experimental results demonstrate that the proposed framework outperforms competing ones in realistic applications.

Occupancy mapping and surface reconstruction using local Gaussian processes with Kinect sensors.

PubMed

Kim, Soohwan; Kim, Jonghyuk

2013-10-01

Although RGB-D sensors have been successfully applied to visual SLAM and surface reconstruction, most of the applications aim at visualization. In this paper, we propose a noble method of building continuous occupancy maps and reconstructing surfaces in a single framework for both navigation and visualization. Particularly, we apply a Bayesian nonparametric approach, Gaussian process classification, to occupancy mapping. However, it suffers from high-computational complexity of O(n(3))+O(n(2)m), where n and m are the numbers of training and test data, respectively, limiting its use for large-scale mapping with huge training data, which is common with high-resolution RGB-D sensors. Therefore, we partition both training and test data with a coarse-to-fine clustering method and apply Gaussian processes to each local clusters. In addition, we consider Gaussian processes as implicit functions, and thus extract iso-surfaces from the scalar fields, continuous occupancy maps, using marching cubes. By doing that, we are able to build two types of map representations within a single framework of Gaussian processes. Experimental results with 2-D simulated data show that the accuracy of our approximated method is comparable to previous work, while the computational time is dramatically reduced. We also demonstrate our method with 3-D real data to show its feasibility in large-scale environments.

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

NASA Technical Reports Server (NTRS)

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

1981-01-01

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

Predicting receptor functionality of signaling lymphocyte activation molecule for measles virus hemagglutinin by docking simulation.

PubMed

Suzuki, Yoshiyuki

2017-05-01

Predicting susceptibility of various species to a virus assists assessment of risk of interspecies transmission. Evaluation of receptor functionality may be useful in screening for susceptibility. In this study, docking simulation was conducted for measles virus hemagglutinin (MV-H) and immunoglobulin-like variable domain of signaling lymphocyte activation molecule (SLAM-V). It was observed that the docking scores for MV-H and SLAM-V correlated with the activity of SLAM as an MV receptor. These results suggest that the receptor functionality may be predicted from the docking scores of virion surface proteins and cellular receptor molecules. © 2017 The Societies and John Wiley & Sons Australia, Ltd.

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

ERIC Educational Resources Information Center

Rosenberger, Robert

2005-01-01

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

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Johlander, A.; Vaivads, A.; Khotyaintsev, Yu. V.

2016-01-20

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) andmore » 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.« less

Lentiviral Protein Transfer Vectors Are an Efficient Vaccine Platform and Induce a Strong Antigen-Specific Cytotoxic T Cell Response

PubMed Central

Uhlig, Katharina M.; Schülke, Stefan; Scheuplein, Vivian A. M.; Malczyk, Anna H.; Reusch, Johannes; Kugelmann, Stefanie; Muth, Anke; Koch, Vivian; Hutzler, Stefan; Bodmer, Bianca S.; Schambach, Axel; Buchholz, Christian J.; Waibler, Zoe; Scheurer, Stephan

2015-01-01

ABSTRACT To induce and trigger innate and adaptive immune responses, antigen-presenting cells (APCs) take up and process antigens. Retroviral particles are capable of transferring not only genetic information but also foreign cargo proteins when they are genetically fused to viral structural proteins. Here, we demonstrate the capacity of lentiviral protein transfer vectors (PTVs) for targeted antigen transfer directly into APCs and thereby induction of cytotoxic T cell responses. Targeting of lentiviral PTVs to APCs can be achieved analogously to gene transfer vectors by pseudotyping the particles with truncated wild-type measles virus (MV) glycoproteins (GPs), which use human SLAM (signaling lymphocyte activation molecule) as a main entry receptor. SLAM is expressed on stimulated lymphocytes and APCs, including dendritic cells. SLAM-targeted PTVs transferred the reporter protein green fluorescent protein (GFP) or Cre recombinase with strict receptor specificity into SLAM-expressing CHO and B cell lines, in contrast to broadly transducing vesicular stomatitis virus G protein (VSV-G) pseudotyped PTVs. Primary myeloid dendritic cells (mDCs) incubated with targeted or nontargeted ovalbumin (Ova)-transferring PTVs stimulated Ova-specific T lymphocytes, especially CD8+ T cells. Administration of Ova-PTVs into SLAM-transgenic and control mice confirmed the observed predominant induction of antigen-specific CD8+ T cells and demonstrated the capacity of protein transfer vectors as suitable vaccines for the induction of antigen-specific immune responses. IMPORTANCE This study demonstrates the specificity and efficacy of antigen transfer by SLAM-targeted and nontargeted lentiviral protein transfer vectors into antigen-presenting cells to trigger antigen-specific immune responses in vitro and in vivo. The observed predominant activation of antigen-specific CD8+ T cells indicates the suitability of SLAM-targeted and also nontargeted PTVs as a vaccine for the induction of cytotoxic immune responses. Since cytotoxic CD8+ T lymphocytes are a mainstay of antitumoral immune responses, PTVs could be engineered for the transfer of specific tumor antigens provoking tailored antitumoral immunity. Therefore, PTVs can be used as safe and efficient alternatives to gene transfer vectors or live attenuated replicating vector platforms, avoiding genotoxicity or general toxicity in highly immunocompromised patients, respectively. Thereby, the potential for easy envelope exchange allows the circumventing of neutralizing antibodies, e.g., during repeated boost immunizations. PMID:26085166

Fermilab Today

Science.gov Websites

and upcoming conferences at Fermilab Campaigns Take Five Weather Weather Chance of showers 62°/59 ., five of Fermilab's best and brightest will duke it out in the Fermilab Arts and Lecture Series Physics Slam 2013. The event is similar to a poetry slam - each of the five physicists will get 10 minutes to

Slam Poetry: An Artistic Resistance toward Identity, Agency, and Activism

ERIC Educational Resources Information Center

Muhammad, Gholnecsar; Gonzalez, Lee

2016-01-01

In this essay, the authors present experiences as writers (poets), thinkers, and activists to explicate the literary genre of slam poetry and its affordances as an artistic resistance toward the end of identity, agency, and activism. These areas of development are critical for youth because they are beginning to be navigated and established during…

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhou Qi; Schneider, Irene C.; Gallet, Manuela

2011-05-10

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 weremore » found to be essential.« less

Indoor Multi-Sensor Acquisition System for Projects on Energy Renovation of Buildings.

PubMed

Armesto, Julia; Sánchez-Villanueva, Claudio; Patiño-Cambeiro, Faustino; Patiño-Barbeito, Faustino

2016-05-28

Energy rehabilitation actions in buildings have become a great economic opportunity for the construction sector. They also constitute a strategic goal in the European Union (EU), given the energy dependence and the compromises with climate change of its member states. About 75% of existing buildings in the EU were built when energy efficiency codes had not been developed. Approximately 75% to 90% of those standing buildings are expected to remain in use in 2050. Significant advances have been achieved in energy analysis, simulation tools, and computer fluid dynamics for building energy evaluation. However, the gap between predictions and real savings might still be improved. Geomatics and computer science disciplines can really help in modelling, inspection, and diagnosis procedures. This paper presents a multi-sensor acquisition system capable of automatically and simultaneously capturing the three-dimensional geometric information, thermographic, optical, and panoramic images, ambient temperature map, relative humidity map, and light level map. The system integrates a navigation system based on a Simultaneous Localization and Mapping (SLAM) approach that allows georeferencing every data to its position in the building. The described equipment optimizes the energy inspection and diagnosis steps and facilitates the energy modelling of the building.

Indoor Multi-Sensor Acquisition System for Projects on Energy Renovation of Buildings

PubMed Central

Armesto, Julia; Sánchez-Villanueva, Claudio; Patiño-Cambeiro, Faustino; Patiño-Barbeito, Faustino

2016-01-01

Energy rehabilitation actions in buildings have become a great economic opportunity for the construction sector. They also constitute a strategic goal in the European Union (EU), given the energy dependence and the compromises with climate change of its member states. About 75% of existing buildings in the EU were built when energy efficiency codes had not been developed. Approximately 75% to 90% of those standing buildings are expected to remain in use in 2050. Significant advances have been achieved in energy analysis, simulation tools, and computer fluid dynamics for building energy evaluation. However, the gap between predictions and real savings might still be improved. Geomatics and computer science disciplines can really help in modelling, inspection, and diagnosis procedures. This paper presents a multi-sensor acquisition system capable of automatically and simultaneously capturing the three-dimensional geometric information, thermographic, optical, and panoramic images, ambient temperature map, relative humidity map, and light level map. The system integrates a navigation system based on a Simultaneous Localization and Mapping (SLAM) approach that allows georeferencing every data to its position in the building. The described equipment optimizes the energy inspection and diagnosis steps and facilitates the energy modelling of the building. PMID:27240379

PRIMAL: Page Rank-Based Indoor Mapping and Localization Using Gene-Sequenced Unlabeled WLAN Received Signal Strength

PubMed Central

Zhou, Mu; Zhang, Qiao; Xu, Kunjie; Tian, Zengshan; Wang, Yanmeng; He, Wei

2015-01-01

Due to the wide deployment of wireless local area networks (WLAN), received signal strength (RSS)-based indoor WLAN localization has attracted considerable attention in both academia and industry. In this paper, we propose a novel page rank-based indoor mapping and localization (PRIMAL) by using the gene-sequenced unlabeled WLAN RSS for simultaneous localization and mapping (SLAM). Specifically, first of all, based on the observation of the motion patterns of the people in the target environment, we use the Allen logic to construct the mobility graph to characterize the connectivity among different areas of interest. Second, the concept of gene sequencing is utilized to assemble the sporadically-collected RSS sequences into a signal graph based on the transition relations among different RSS sequences. Third, we apply the graph drawing approach to exhibit both the mobility graph and signal graph in a more readable manner. Finally, the page rank (PR) algorithm is proposed to construct the mapping from the signal graph into the mobility graph. The experimental results show that the proposed approach achieves satisfactory localization accuracy and meanwhile avoids the intensive time and labor cost involved in the conventional location fingerprinting-based indoor WLAN localization. PMID:26404274

Integrating Depth and Image Sequences for Planetary Rover Mapping Using Rgb-D Sensor

NASA Astrophysics Data System (ADS)

Peng, M.; Wan, W.; Xing, Y.; Wang, Y.; Liu, Z.; Di, K.; Zhao, Q.; Teng, B.; Mao, X.

2018-04-01

RGB-D camera allows the capture of depth and color information at high data rates, and this makes it possible and beneficial integrate depth and image sequences for planetary rover mapping. The proposed mapping method consists of three steps. First, the strict projection relationship among 3D space, depth data and visual texture data is established based on the imaging principle of RGB-D camera, then, an extended bundle adjustment (BA) based SLAM method with integrated 2D and 3D measurements is applied to the image network for high-precision pose estimation. Next, as the interior and exterior elements of RGB images sequence are available, dense matching is completed with the CMPMVS tool. Finally, according to the registration parameters after ICP, the 3D scene from RGB images can be registered to the 3D scene from depth images well, and the fused point cloud can be obtained. Experiment was performed in an outdoor field to simulate the lunar surface. The experimental results demonstrated the feasibility of the proposed method.

Mobile Robot Designed with Autonomous Navigation System

NASA Astrophysics Data System (ADS)

An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

2017-10-01

With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.

Multiple Integrated Navigation Sensors for Improved Occupancy Grid FastSLAM

DTIC Science & Technology

2011-03-01

to the Faculty Department of Electrical and Computer Engineering Graduate School of Engineering and Management Air Force Institute of Technology Air...autonomous vehicle exploration with applications to search and rescue. To current knowledge , this research presents the first SLAM solution to...solution is a key component of an autonomous vehicle, especially one whose mission involves gaining knowledge of unknown areas. It provides the ability

Cohort profile of the South London and Maudsley NHS Foundation Trust Biomedical Research Centre (SLaM BRC) Case Register: current status and recent enhancement of an Electronic Mental Health Record-derived data resource.

PubMed

Perera, Gayan; Broadbent, Matthew; Callard, Felicity; Chang, Chin-Kuo; Downs, Johnny; Dutta, Rina; Fernandes, Andrea; Hayes, Richard D; Henderson, Max; Jackson, Richard; Jewell, Amelia; Kadra, Giouliana; Little, Ryan; Pritchard, Megan; Shetty, Hitesh; Tulloch, Alex; Stewart, Robert

2016-03-01

The South London and Maudsley National Health Service (NHS) Foundation Trust Biomedical Research Centre (SLaM BRC) Case Register and its Clinical Record Interactive Search (CRIS) application were developed in 2008, generating a research repository of real-time, anonymised, structured and open-text data derived from the electronic health record system used by SLaM, a large mental healthcare provider in southeast London. In this paper, we update this register's descriptive data, and describe the substantial expansion and extension of the data resource since its original development. Descriptive data were generated from the SLaM BRC Case Register on 31 December 2014. Currently, there are over 250,000 patient records accessed through CRIS. Since 2008, the most significant developments in the SLaM BRC Case Register have been the introduction of natural language processing to extract structured data from open-text fields, linkages to external sources of data, and the addition of a parallel relational database (Structured Query Language) output. Natural language processing applications to date have brought in new and hitherto inaccessible data on cognitive function, education, social care receipt, smoking, diagnostic statements and pharmacotherapy. In addition, through external data linkages, large volumes of supplementary information have been accessed on mortality, hospital attendances and cancer registrations. Coupled with robust data security and governance structures, electronic health records provide potentially transformative information on mental disorders and outcomes in routine clinical care. The SLaM BRC Case Register continues to grow as a database, with approximately 20,000 new cases added each year, in addition to extension of follow-up for existing cases. Data linkages and natural language processing present important opportunities to enhance this type of research resource further, achieving both volume and depth of data. However, research projects still need to be carefully tailored, so that they take into account the nature and quality of the source information. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/

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

PubMed

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

2014-01-01

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

Using external sensors in solution of SLAM task

NASA Astrophysics Data System (ADS)

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.

Reliability of void detection in structural ceramics using scanning laser acoustic microscopy

NASA Technical Reports Server (NTRS)

Roth, D. J.; Klima, S. J.; Kiser, J. D.; Baaklini, G. Y.

1985-01-01

The reliability of scanning laser acoustic microscopy (SLAM) for detecting surface voids in structural ceramic test specimens was statistically evaluated. Specimens of sintered silicon nitride and sintered silicon carbide, seeded with surface voids, were examined by SLAM at an ultrasonic frequency of 100 MHz in the as fired condition and after surface polishing. It was observed that polishing substantially increased void detectability. Voids as small as 100 micrometers in diameter were detected in polished specimens with 0.90 probability at a 0.95 confidence level. In addition, inspection times were reduced up to a factor of 10 after polishing. The applicability of the SLAM technique for detection of naturally occurring flaws of similar dimensions to the seeded voids is discussed. A FORTRAN program listing is given for calculating and plotting flaw detection statistics.

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

PubMed Central

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

Water Impact of Syntactic Foams

PubMed Central

Shams, Adel; Zhao, Sam; Porfiri, Maurizio

2017-01-01

Syntactic foams are particulate composite materials that are extensively integrated in naval and aerospace structures as core materials for sandwich panels. While several studies have demonstrated the potential of syntactic foams as energy absorbing materials in impact tests, our understanding of their response to water impact remains elusive. In this work, we attempt a first characterization of the behavior of a vinyl ester/glass syntactic subject to slamming. High-speed imaging is leveraged to elucidate the physics of water impact of syntactic foam wedges in a free-fall drop tower. From the images, we simultaneously measure the deformation of the wedge and the hydrodynamic loading, thereby clarifying the central role of fluid–structure interaction during water impact. We study two different impact heights and microballoon density to assess the role of impact energy and syntactic foam composition on the slamming response. Our results demonstrate that both these factors have a critical role on the slamming response of syntactic foams. Reducing the density of microballoons might help to reduce the severity of the hydrodynamic loading experienced by the wedge, but this comes at the expense of a larger deformation. Such a larger deformation could ultimately lead to failure for large drop heights. These experimental results offer compelling evidence for the role of hydroelastic coupling in the slamming response of syntactic foams. PMID:28772581

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

NASA Astrophysics Data System (ADS)

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.

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

PubMed Central

Guerra, Edmundo

2018-01-01

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. PMID:29701722

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

PubMed

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.

Electron acceleration to high energies at quasi-parallel shock waves in the solar corona

NASA Technical Reports Server (NTRS)

Mann, G.; Classen, H.-T.

1995-01-01

In the solar corona shock waves are generated by flares and/or coronal mass ejections. They manifest themselves in solar type 2 radio bursts appearing as emission stripes with a slow drift from high to low frequencies in dynamic radio spectra. Their nonthermal radio emission indicates that electrons are accelerated to suprathermal and/or relativistic velocities at these shocks. As well known by extraterrestrial in-situ measurements supercritical, quasi-parallel, collisionless shocks are accompanied by so-called SLAMS (short large amplitude magnetic field structures). These SLAMS can act as strong magnetic mirrors, at which charged particles can be reflected and accelerated. Thus, thermal electrons gain energy due to multiple reflections between two SLAMS and reach suprathermal and relativistic velocities. This mechanism of accelerating electrons is discussed for circumstances in the solar corona and may be responsible for the so-called 'herringbones' observed in solar type 2 radio bursts.

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

PubMed

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.

2006 Precision Strike Technology Symposium

DTIC Science & Technology

2006-10-19

s Navy Unique Joint system 14 A/C Unique Components Framework JMPS Common Components Crypto Key GCCS-M Interface Carrier Intel Feed Carrier...210 GPS Prediction CUPC GPS Crypto Key TAMMAC SLAM-ER GPS Almanac ETIRMS PMA-281 NGMS PMA-209 Boeing PMA-201 Raytheon ESC (USAF) Hill AFB PMA-234 PMA...242 F/A-18 UPC GPS Prediction CUPC GPS Crypto Key TAMMAC SLAM-ER GPS Almanac HARM WASP Framework ARC-210 ETIRMS PMA-281 Integration/Test/ Support TLAM

Monkey CV1 cell line expressing the sheep-goat SLAM protein: a highly sensitive cell line for the isolation of peste des petits ruminants virus from pathological specimens.

PubMed

Adombi, Caroline Mélanie; Lelenta, Mamadou; Lamien, Charles Euloge; Shamaki, David; Koffi, Yao Mathurin; Traoré, Abdallah; Silber, Roland; Couacy-Hymann, Emmanuel; Bodjo, Sanne Charles; Djaman, Joseph A; Luckins, Antony George; Diallo, Adama

2011-05-01

Peste des petits ruminants (PPR) is an important economically transboundary disease of sheep and goats caused by a virus which belongs to the genus Morbillivirus. This genus, in the family Paramyxoviridae, also includes the measles virus (MV), canine distemper virus (CDV), rinderpest virus (RPV), and marine mammal viruses. One of the main features of these viruses is the severe transient lymphopaenia and immunosuppression they induce in their respective hosts, thereby favouring secondary bacterial and parasitic infections. This lymphopaenia is probably accounted for by the fact that lymphoid cells are the main targets of the morbilliviruses. In early 2000, it was demonstrated that a transmembrane glycoprotein of the immunoglobulin superfamily which is present on the surface of lymphoid cells, the signalling lymphocyte activation molecule (SLAM), is used as cellular receptor by MV, CDV and RPV. Wild-type strains of these viruses can be isolated and propagated efficiently in non-lymphoid cells expressing this protein. The present study has demonstrated that monkey CV1 cells expressing goat SLAM are also highly efficient for isolating PPRV from pathological samples. This finding suggests that SLAM, as is in the case for MV, CDV and RPV, is also a receptor for PPRV. Copyright © 2011 Elsevier B.V. All rights reserved.

Foil system fatigue load environments for commercial hydrofoil operation

NASA Technical Reports Server (NTRS)

Graves, D. L.

1979-01-01

The hydrofoil fatigue loads environment in the open sea is examined. The random nature of wave orbital velocities, periods and heights plus boat heading, speed and control system design are considered in the assessment of structural fatigue requirements. Major nonlinear load events such as hull slamming and foil unwetting are included in the fatigue environment. Full scale rough water load tests, field experience plus analytical loads work on the model 929 Jetfoil commercial hydrofoil are discussed. The problem of developing an overall sea environment for design is defined. State of the art analytical approaches are examined.

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

NASA Technical Reports Server (NTRS)

Linton, D. G.

1985-01-01

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

NASA Sees Winter Storm Slamming Eastern United States

NASA Image and Video Library

2017-12-08

NASA satellite imagery captured the size of the massive winter storm that continued to pummel the U.S. East Coast early on January 23, 2016. This visible image of the major winter storm was taken from NOAA's GOES-East satellite on Saturday, January 23, 2016 at 1437 UTC (9:37 a.m. EST) as the Baltimore/Washington corridor was under a blizzard warning. Read more: go.nasa.gov/1RFv70u Credits: NASA/NOAA GOES Project NASA Sees Winter Storm Slamming Eastern United States

Validation of Underwater Sensor Package Using Feature Based SLAM

PubMed Central

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

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

PubMed

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 based on a robust 3D calibration. We demonstrate the clinical relevance of our proposed system through two examples: (a) measurement of the surface; (b) depth cues in monocular endoscopy. The performance and accuracy evaluations of the proposed framework consist of two steps. First, we have created a computer-generated endoscopy simulation video to quantify the accuracy of the camera tracking by comparing the results of the video camera tracking with the recorded ground-truth camera trajectories. The accuracy of the surface reconstruction is assessed by evaluating the Root Mean Square Distance (RMSD) of surface vertices of the reconstructed mesh with that of the ground truth 3D models. An error of 1.24 mm for the camera trajectories has been obtained and the RMSD for surface reconstruction is 2.54 mm, which compare favourably with previous approaches. Second, in vivo laparoscopic videos are used to examine the quality of accurate AR based annotation and measurement, and the creation of depth cues. These results show the potential promise of our geometry-aware AR technology to be used in MIS surgical scenes. The results show that the new framework is robust and accurate in dealing with challenging situations such as the rapid endoscopy camera movements in monocular MIS scenes. Both camera tracking and surface reconstruction based on a sparse point cloud are effective and operated in real-time. This demonstrates the potential of our algorithm for accurate AR localization and depth augmentation with geometric cues and correct surface measurements in MIS with monocular endoscopes. Copyright © 2018 Elsevier B.V. All rights reserved.

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

PubMed

Stewart, Robert; Soremekun, Mishael; Perera, Gayan; Broadbent, Matthew; Callard, Felicity; Denis, Mike; Hotopf, Matthew; Thornicroft, Graham; Lovestone, Simon

2009-08-12

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. 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). 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). 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.

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

PubMed

Huang, Bonnie; Gomez-Rodriguez, Julio; Preite, Silvia; Garrett, Lisa J; Harper, Ursula L; Schwartzberg, Pamela L

2016-01-01

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

An efficient global energy optimization approach for robust 3D plane segmentation of point clouds

NASA Astrophysics Data System (ADS)

Dong, Zhen; Yang, Bisheng; Hu, Pingbo; Scherer, Sebastian

2018-03-01

Automatic 3D plane segmentation is necessary for many applications including point cloud registration, building information model (BIM) reconstruction, simultaneous localization and mapping (SLAM), and point cloud compression. However, most of the existing 3D plane segmentation methods still suffer from low precision and recall, and inaccurate and incomplete boundaries, especially for low-quality point clouds collected by RGB-D sensors. To overcome these challenges, this paper formulates the plane segmentation problem as a global energy optimization because it is robust to high levels of noise and clutter. First, the proposed method divides the raw point cloud into multiscale supervoxels, and considers planar supervoxels and individual points corresponding to nonplanar supervoxels as basic units. Then, an efficient hybrid region growing algorithm is utilized to generate initial plane set by incrementally merging adjacent basic units with similar features. Next, the initial plane set is further enriched and refined in a mutually reinforcing manner under the framework of global energy optimization. Finally, the performances of the proposed method are evaluated with respect to six metrics (i.e., plane precision, plane recall, under-segmentation rate, over-segmentation rate, boundary precision, and boundary recall) on two benchmark datasets. Comprehensive experiments demonstrate that the proposed method obtained good performances both in high-quality TLS point clouds (i.e., http://SEMANTIC3D.NET)

Wave impact on a deck or baffle

NASA Astrophysics Data System (ADS)

Md Noar, Nor Aida Zuraimi; Greenhow, Martin

2015-02-01

Some coastal or ocean structures have deck-like baffles or horizontal platforms that can be exposed to wave action in heavy seas. A similar situation may occur in partially-filled tanks with horizontal baffles that become engulfed by sloshing waves. This can result in dangerous wave impact loads (slamming) causing a rapid rise of pressures which may lead to local damaging by crack initiation and/or propagation. We consider the wave impact against the whole of underside of horizontal deck (or baffle) projecting from a seawall (or vertical tank wall), previously studied by Wood and Peregrine (1996) using a different method based on conformal mappings. The approach used is to simplify the highly time-dependent and very nonlinear problem by considering the time integral of the pressure over the duration of the impact pressure-impulse, P (x, y). Our method expresses this in terms of eigenfunctions that satisfy the boundary conditions apart from that on the impact region and the matching of the two regions (under the platform and under the free surface); this results in a matrix equation to be solved numerically. As in Wood and Peregrine, we found that the pressure impulse on the deck increases when the length of deck increases, there is a strong pressure gradient beneath the deck near the seaward edge and the maximum pressure impulse occurs at the landward end of the impact zone.

Systemic lupus erythematosus in a multiethnic cohort (LUMINA): XXIX. Elevation of erythrocyte sedimentation rate is associated with disease activity and damage accrual.

PubMed

Vilá, Luis M; Alarcón, Graciela S; McGwin, Gerald; Bastian, Holly M; Fessler, Barri J; Reveille, John D

2005-11-01

To determine if different categories of erythrocyte sedimentation rate (ESR) elevation are associated with disease activity and/or damage in systemic lupus erythematosus (SLE). We studied 2317 study visits in 553 SLE patients (> or = 4 American College of Rheumatology criteria, < or = 5 years' disease duration at enrollment) from a multiethnic (Hispanic, African American, and Caucasian) longitudinal study of outcome. A study visit was done every 6 months for the first year and annually thereafter. Erythrocyte sedimentation rate (ESR) was measured using the Westergren method; results were expressed in 4 categories: < 25 (normal), 25-50 (mild elevation), 51-75 (moderate elevation), and > 75 (marked elevation) mm/h. Anti-dsDNA antibodies were measured at enrollment with the Crithidia luciliae assay. Disease activity was assessed with the Systemic Lupus Activity Measure (SLAM) and the Physician's Global Assessment (PGA). Because ESR is one of the measures evaluated in the SLAM, it was excluded from the total SLAM score. Disease damage was assessed with the Systemic Lupus International Collaborating Clinics damage index (SDI). The relationship between the SLAM (total and PGA) and SDI scores (at baseline and for all visits) and anti-dsDNA antibodies (at enrollment) with ESR was examined by univariable and generalized estimating equation (GEE) regression analyses. Ethnicity, age, and sex were entered in all regression models. The cohort consisted of 89.7% women with mean age 36.8 (SD 12.6) years and disease duration 4.6 (SD 3.2) years. GEE analyses showed that increasing levels of ESR and anti-dsDNA antibody positivity were independently associated with SLAM and PGA scores, at enrollment and for all visits. Overall, the associations of ESR with SLAM and PGA scores were stronger than for the presence of anti-dsDNA antibodies. At baseline, there was no relationship of ESR elevation or anti-dsDNA positivity with SDI scores. However, when all visits were studied, moderate and marked elevations of ESR were independently associated with SDI scores. Mild, moderate, and marked ESR elevations are strongly associated with disease activity in SLE. Moderate and marked ESR elevations are also associated with damage accrual. These associations are stronger than those for the presence of anti-dsDNA antibodies. Our data suggest that ESR could be used to assess disease activity and predict organ/system damage in a relatively rapid and inexpensive manner in SLE.

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

NASA Astrophysics Data System (ADS)

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

2017-04-01

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

Primate-inspired vehicle navigation using optic flow and mental rotations

NASA Astrophysics Data System (ADS)

Arkin, Ronald C.; Dellaert, Frank; Srinivasan, Natesh; Kerwin, Ryan

2013-05-01

Robot navigation already has many relatively efficient solutions: reactive control, simultaneous localization and mapping (SLAM), Rapidly-Exploring Random Trees (RRTs), etc. But many primates possess an additional inherent spatial reasoning capability: mental rotation. Our research addresses the question of what role, if any, mental rotations can play in enhancing existing robot navigational capabilities. To answer this question we explore the use of optical flow as a basis for extracting abstract representations of the world, comparing these representations with a goal state of similar format and then iteratively providing a control signal to a robot to allow it to move in a direction consistent with achieving that goal state. We study a range of transformation methods to implement the mental rotation component of the architecture, including correlation and matching based on cognitive studies. We also include a discussion of how mental rotations may play a key role in understanding spatial advice giving, particularly from other members of the species, whether in map-based format, gestures, or other means of communication. Results to date are presented on our robotic platform.

Three-dimensional water impact at normal incidence to a blunt structure

PubMed Central

Cooker, M. J.; Korobkin, A. A.

2016-01-01

The three-dimensional water impact onto a blunt structure with a spreading rectangular contact region is studied. The structure is mounted on a flat rigid plane with the impermeable curved surface of the structure perpendicular to the plane. Before impact, the water region is a rectangular domain of finite thickness bounded from below by the rigid plane and above by the flat free surface. The front free surface of the water region is vertical, representing the front of an advancing steep wave. The water region is initially advancing towards the structure at a constant uniform speed. We are concerned with the slamming loads acting on the surface of the structure during the initial stage of water impact. Air, gravity and surface tension are neglected. The problem is analysed by using some ideas of pressure-impulse theory, but including the time-dependence of the wetted area of the structure. The flow caused by the impact is three-dimensional and incompressible. The distribution of the pressure-impulse (the time-integral of pressure) over the surface of the structure is analysed and compared with the distributions provided by strip theories. The total impulse exerted on the structure during the impact stage is evaluated and compared with numerical and experimental predictions. An example calculation is presented of water impact onto a vertical rigid cylinder. Three-dimensional effects on the slamming loads are the main concern in this study. PMID:27616912

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

NASA Technical Reports Server (NTRS)

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 antenna required to establish a link with the satellite, the statistical parameters that characterize the rainrate process at the terminal site, the length of the propagation path within the potential rain region, and its projected length onto the local horizontal. The IBM PC version of LeRC-SLAM (LEW-14979) is written in Microsoft QuickBASIC for an IBM PC compatible computer with a monitor and printer capable of supporting an 80-column format. The IBM PC version is available on a 5.25 inch MS-DOS format diskette. The program requires about 30K RAM. The source code and executable are included. The Macintosh version of LeRC-SLAM (LEW-14977) is written in Microsoft Basic, Binary (b) v2.00 for Macintosh II series computers running MacOS. This version requires 400K RAM and is available on a 3.5 inch 800K Macintosh format diskette, which includes source code only. The Macintosh version was developed in 1987 and the IBM PC version was developed in 1989. IBM PC is a trademark of International Business Machines. MS-DOS is a registered trademark of Microsoft Corporation. Macintosh is a registered trademark of Apple Computer, Inc.

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

NASA Technical Reports Server (NTRS)

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 antenna required to establish a link with the satellite, the statistical parameters that characterize the rainrate process at the terminal site, the length of the propagation path within the potential rain region, and its projected length onto the local horizontal. The IBM PC version of LeRC-SLAM (LEW-14979) is written in Microsoft QuickBASIC for an IBM PC compatible computer with a monitor and printer capable of supporting an 80-column format. The IBM PC version is available on a 5.25 inch MS-DOS format diskette. The program requires about 30K RAM. The source code and executable are included. The Macintosh version of LeRC-SLAM (LEW-14977) is written in Microsoft Basic, Binary (b) v2.00 for Macintosh II series computers running MacOS. This version requires 400K RAM and is available on a 3.5 inch 800K Macintosh format diskette, which includes source code only. The Macintosh version was developed in 1987 and the IBM PC version was developed in 1989. IBM PC is a trademark of International Business Machines. MS-DOS is a registered trademark of Microsoft Corporation. Macintosh is a registered trademark of Apple Computer, Inc.

Development and Evaluation of Real-Time Volumetric Compton Gamma-Ray Imaging

NASA Astrophysics Data System (ADS)

Barnowski, Ross Wegner

An approach to gamma-ray imaging has been developed that enables near real-time volumetric (3D) imaging of unknown environments thus improving the utility of gamma-ray imaging for source-search and radiation mapping applications. The approach, herein dubbed scene data fusion (SDF), is based on integrating mobile radiation imagers with real time tracking and scene reconstruction algorithms to enable a mobile mode of operation and 3D localization of gamma-ray sources. The real-time tracking allows the imager to be moved throughout the environment or around a particular object of interest, obtaining the multiple perspectives necessary for standoff 3D imaging. A 3D model of the scene, provided in real-time by a simultaneous localization and mapping (SLAM) algorithm, can be incorporated into the image reconstruction reducing the reconstruction time and improving imaging performance. The SDF concept is demonstrated in this work with a Microsoft Kinect RGB-D sensor, a real-time SLAM solver, and two different mobile gamma-ray imaging platforms. The first is a cart-based imaging platform known as the Volumetric Compton Imager (VCI), comprising two 3D position-sensitive high purity germanium (HPGe) detectors, exhibiting excellent gamma-ray imaging characteristics, but with limited mobility due to the size and weight of the cart. The second system is the High Efficiency Multimodal Imager (HEMI) a hand-portable gamma-ray imager comprising 96 individual cm3 CdZnTe crystals arranged in a two-plane, active-mask configuration. The HEMI instrument has poorer energy and angular resolution than the VCI, but is truly hand-portable, allowing the SDF concept to be tested in multiple environments and for more challenging imaging scenarios. An iterative algorithm based on Compton kinematics is used to reconstruct the gamma-ray source distribution in all three spatial dimensions. Each of the two mobile imaging systems are used to demonstrate SDF for a variety of scenarios, including general search and mapping scenarios with several point gamma-ray sources over the range of energies relevant for Compton imaging. More specific imaging scenarios are also addressed, including directed search and object interrogation scenarios. Finally, the volumetric image quality is quantitatively investigated with respect to the number of Compton events acquired during a measurement, the list-mode uncertainty of the Compton cone data, and the uncertainty in the pose estimate from the real-time tracking algorithm. SDF advances the real-world applicability of gamma-ray imaging for many search, mapping, and verification scenarios by improving the tractability of the gamma-ray image reconstruction and providing context for the 3D localization of gamma-ray sources within the environment in real-time.

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

PubMed Central

Stewart, Robert; Soremekun, Mishael; Perera, Gayan; Broadbent, Matthew; Callard, Felicity; Denis, Mike; Hotopf, Matthew; Thornicroft, Graham; Lovestone, Simon

2009-01-01

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. PMID:19674459

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

PubMed

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.

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

PubMed

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.

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

PubMed Central

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

Autonomous Deep-Space Optical Navigation Project

NASA Technical Reports Server (NTRS)

D'Souza, Christopher

2014-01-01

This project will advance the Autonomous Deep-space navigation capability applied to Autonomous Rendezvous and Docking (AR&D) Guidance, Navigation and Control (GNC) system by testing it on hardware, particularly in a flight processor, with a goal of limited testing in the Integrated Power, Avionics and Software (IPAS) with the ARCM (Asteroid Retrieval Crewed Mission) DRO (Distant Retrograde Orbit) Autonomous Rendezvous and Docking (AR&D) scenario. The technology, which will be harnessed, is called 'optical flow', also known as 'visual odometry'. It is being matured in the automotive and SLAM (Simultaneous Localization and Mapping) applications but has yet to be applied to spacecraft navigation. In light of the tremendous potential of this technique, we believe that NASA needs to design a optical navigation architecture that will use this technique. It is flexible enough to be applicable to navigating around planetary bodies, such as asteroids.

Reliability of scanning laser acoustic microscopy for detecting internal voids in structural ceramics

NASA Technical Reports Server (NTRS)

Roth, D. J.; Baaklini, G. Y.

1986-01-01

The reliability of 100 MHz scanning laser acoustic microscopy (SLAM) for detecting internal voids in sintered specimens of silicon nitride and silicon carbide was evaluated. The specimens contained artificially implanted voids and were positioned at depths ranging up to 2 mm below the specimen surface. Detection probability of 0.90 at a 0.95 confidence level was determined as a function of material, void diameter, and void depth. The statistical results presented for void detectability indicate some of the strengths and limitations of SLAM as a nondestructive evaluation technique for structural ceramics.

System analysis for the Huntsville Operational Support Center distributed computer system

NASA Technical Reports Server (NTRS)

Ingels, E. M.

1983-01-01

A simulation model was developed and programmed in three languages BASIC, PASCAL, and SLAM. Two of the programs are included in this report, the BASIC and the PASCAL language programs. SLAM is not supported by NASA/MSFC facilities and hence was not included. The statistical comparison of simulations of the same HOSC system configurations are in good agreement and are in agreement with the operational statistics of HOSC that were obtained. Three variations of the most recent HOSC configuration was run and some conclusions drawn as to the system performance under these variations.

Signaling Lymphocytic Activation Molecule Family Receptor Homologs in New World Monkey Cytomegaloviruses.

PubMed

Pérez-Carmona, Natàlia; Farré, Domènec; Martínez-Vicente, Pablo; Terhorst, Cox; Engel, Pablo; Angulo, Ana

2015-11-01

Throughout evolution, large DNA viruses have been usurping genes from their hosts to equip themselves with proteins that restrain host immune defenses. Signaling lymphocytic activation molecule (SLAM) family (SLAMF) receptors are involved in the regulation of both innate and adaptive immunity, which occurs upon engagement with their ligands via homotypic or heterotypic interactions. Here we report a total of seven SLAMF genes encoded by the genomes of two cytomegalovirus (CMV) species, squirrel monkey CMV (SMCMV) and owl monkey CMV (OMCMV), that infect New World monkeys. Our results indicate that host genes were captured by retrotranscription at different stages of the CMV-host coevolution. The most recent acquisition led to S1 in SMCMV. S1 is a SLAMF6 homolog with an amino acid sequence identity of 97% to SLAMF6 in its ligand-binding N-terminal Ig domain. We demonstrate that S1 is a cell surface glycoprotein capable of binding to host SLAMF6. Furthermore, the OMCMV genome encodes A33, an LY9 (SLAMF3) homolog, and A43, a CD48 (SLAMF2) homolog, two soluble glycoproteins which recognize their respective cellular counterreceptors and thus are likely to be viral SLAMF decoy receptors. In addition, distinct copies of further divergent CD48 homologs were found to be encoded by both CMV genomes. Remarkably, all these molecules display a number of unique features, including cytoplasmic tails lacking characteristic SLAMF signaling motifs. Taken together, our findings indicate a novel immune evasion mechanism in which incorporation of host SLAMF receptors that retain their ligand-binding properties enables viruses to interfere with SLAMF functions and to supply themselves with convenient structural molds for expanding their immunomodulatory repertoires. The way in which viruses shape their genomes under the continual selective pressure exerted by the host immune system is central for their survival. Here, we report that New World monkey cytomegaloviruses have broadly captured and duplicated immune cell receptors of the signaling lymphocyte activation molecule (SLAM) family during host-virus coevolution. Notably, we demonstrate that several of these viral SLAMs exhibit exceptional preservation of their N-terminal immunoglobulin domains, which results in maintenance of their ligand-binding capacities. At the same time, these molecules present distinctive structural properties which include soluble forms and the absence of typical SLAM signaling motifs in their cytoplasmic domains, likely reflecting the evolutionary adaptation undergone to efficiently interfere with host SLAM family activities. The observation that the genomes of other large DNA viruses might bear SLAM family homologs further underscores the importance of these molecules as a novel class of immune regulators and as convenient scaffolds for viral evolution. Copyright © 2015, American Society for Microbiology. All Rights Reserved.

A novel sensor platform for the rapid hydraulic characterisation of freshwater ecosystems

NASA Astrophysics Data System (ADS)

Kriechbaumer, Thomas; Blackburn, Kim; Breckon, Toby; Gill, Andrew; Everard, Nick; Wright, Ros; Rivas Casado, Monica

2014-05-01

The spatially explicit quantification of hydraulic features provides valuable information for the physical habitat assessment of freshwater ecosystems. Collection of data on water velocities and depths using in-situ current meters or acoustic sensors on tethered boats is time-consuming and requires good site accessibility. Moreover, on smaller rivers precise spatial data referencing can be challenging, as river bank vegetation can block sky view to navigation satellites over a considerable proportion of the water surface. This paper describes the development and testing of a new small sized remote control sensor platform and a novel approach to spatial data referencing based on computer vision to enable the rapid hydraulic characterisation of habitats in small rivers. It highlights the manifold opportunities that recent achievements in the disciplines of computer science and electronics can create for the environmental sciences. The platform carries an acoustic Doppler current profiler (ADCP) to rapidly collect large amounts of data on water velocities and river depths, from which the spatial and temporal water velocity distributions can be derived. The 1.30m long and 0.60m wide platform hull has been designed to enable single person deployment. Platform pitch and roll magnitudes and periods are quantified at a frequency of 512Hz through a low-cost inertial measurement unit on board, allowing the quantification of the errors that these platform motions can cause in the ADCP data. Jet propulsion and a tail thruster ensure high manoeuvrability, minimum draught operation and greater safety than propellers. An on-board Raspberry Pi computer enables time-synchronised logging of data from a GPS unit, the ADCP and further sensors that may be added to the platform. Real-time serial communication between the Raspberry Pi and the embedded propulsion system control (an Arduino Uno microcontroller) builds the basis for future platform autonomy. This can enable the autonomous implementation of pre-defined data collection strategies. Through field experiments, a set of technologies to position the platform in the river environment has been evaluated. Simultaneous localisation and mapping (SLAM) based on frames from a stereo camera has been identified as a promising alternative to satellite-based platform positioning. In terrestrial environments, SLAM has recently achieved high position accuracies, comparable with those of differential GPS. Software that implements SLAM for the river environment is currently developed. This constitutes the first application of visual SLAM on water and, to the authors' knowledge, its first application in the context of environmental research. Furthermore, platform tracking with a motorised Total Station has been found to be a highly accurate (cm-level) positioning technique despite fast platform movements, as long as line of sight to the tracked object is given. In the near future, the platform will be used to characterise the hydraulic conditions downstream of fish passes in order to rapidly assess the attractivity of these facilities to migrating fish species. Several of the applied technologies (e.g. Raspberry Pi, Arduino) are cheap and easily accessible. They provide a multitude of opportunities to facilitate data collection and prototype development in the environmental sciences.

Automatic Intra-Operative Stitching of Non-Overlapping Cone-Beam CT Acquisitions

PubMed Central

Fotouhi, Javad; Fuerst, Bernhard; Unberath, Mathias; Reichenstein, Stefan; Lee, Sing Chun; Johnson, Alex A.; Osgood, Greg M.; Armand, Mehran; Navab, Nassir

2018-01-01

Purpose Cone-Beam Computed Tomography (CBCT) is one of the primary imaging modalities in radiation therapy, dentistry, and orthopedic interventions. While CBCT provides crucial intraoperative information, it is bounded by a limited imaging volume, resulting in reduced effectiveness. This paper introduces an approach allowing real-time intraoperative stitching of overlapping and non-overlapping CBCT volumes to enable 3D measurements on large anatomical structures. Methods A CBCT-capable mobile C-arm is augmented with a Red-Green-Blue-Depth (RGBD) camera. An off-line co-calibration of the two imaging modalities results in co-registered video, infrared, and X-ray views of the surgical scene. Then, automatic stitching of multiple small, non-overlapping CBCT volumes is possible by recovering the relative motion of the C-arm with respect to the patient based on the camera observations. We propose three methods to recover the relative pose: RGB-based tracking of visual markers that are placed near the surgical site, RGBD-based simultaneous localization and mapping (SLAM) of the surgical scene which incorporates both color and depth information for pose estimation, and surface tracking of the patient using only depth data provided by the RGBD sensor. Results On an animal cadaver, we show stitching errors as low as 0.33 mm, 0.91 mm, and 1.72mm when the visual marker, RGBD SLAM, and surface data are used for tracking, respectively. Conclusions The proposed method overcomes one of the major limitations of CBCT C-arm systems by integrating vision-based tracking and expanding the imaging volume without any intraoperative use of calibration grids or external tracking systems. We believe this solution to be most appropriate for 3D intraoperative verification of several orthopedic procedures. PMID:29569728

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

PubMed Central

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

Germinal Center T Follicular Helper Cell IL-4 Production Is Dependent on Signaling Lymphocytic Activation Molecule Receptor (CD150)

PubMed Central

Yusuf, Isharat; Kageyama, Robin; Monticelli, Laurel; Johnston, Robert J.; DiToro, Daniel; Hansen, Kyle; Barnett, Burton; Crotty, Shane

2010-01-01

CD4 T cell help is critical for the generation and maintenance of germinal centers (GCs), and T follicular helper (TFH) cells are the CD4 T cell subset required for this process. Signaling lymphocytic activation molecule (SLAM)-associated protein (SAP [SH2D1A]) expression in CD4 T cells is essential for GC development. However, SAP-deficient mice have only a moderate defect in TFH differentiation, as defined by common TFH surface markers. CXCR5+ TFH cells are found within the GC, as well as along the boundary regions of T/B cell zones. In this study, we show that GC-associated T follicular helper (GC TFH) cells can be identified by their coexpression of CXCR5 and the GL7 epitope, allowing for phenotypic and functional analysis of TFH and GC TFH populations. GC TFH cells are a functionally discrete subset of further polarized TFH cells, with enhanced B cell help capacity and a specialized ability to produce IL-4 in a TH2-independent manner. Strikingly, SAP-deficient mice have an absence of the GC TFH cell subset and SAP− TFH cells are defective in IL-4 and IL-21 production. We further demonstrate that SLAM (Slamf1, CD150), a surface receptor that uses SAP signaling, is specifically required for IL-4 production by GC TFH cells. GC TFH cells require IL-4 and -21 production for optimal help to B cells. These data illustrate complexities of SAP-dependent SLAM family receptor signaling, revealing a prominent role for SLAM receptor ligation in IL-4 production by GC CD4 T cells but not in TFH cell and GC TFH cell differentiation. PMID:20525889

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

PubMed

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 < or = 5 yrs from LUMINA (LUpus in Minorities: 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.

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

NASA Astrophysics Data System (ADS)

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

2017-05-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-09-01

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

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

PubMed

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.

[Cathinones use in Paris].

PubMed

Batisse, A; Grégoire, M; Marillier, M; Fortias, M; Djezzar, S

2016-08-01

The pattern of recreational drug use has changed over the last decade and now includes a multitude of substances sold as "research chemicals" or new psychoactive substances, "NPS". In France, synthetic cathinones emerged in 2008 (while first mentioned by the French police force in 2007 first alerts among users appeared in 2008) and have grown to be popular drugs of abuse. Under the Official Journal dated 11th June 2010, only mephedrone has been listed as narcotics but "designer drugs" have synthesized new substitute cathinones in order to avoid anti-drug laws. However, since July 2012, in France, all synthetic drugs from the cathinones family have been banned and listed as narcotics following the example of United Kingdom. Despite their recent classification and inclusion on narcotic list, they are readily available on Internet and used widely. Paris Addictovigilance Centre observed a signal of derivate cathinones abuse (21 cases over a two-year period). Paris Addictovigilance Centre and Marmottan Hospital wanted to describe the use of cathinones in the Paris area and alert the health care community about the abuse identification and risk assessment problems of these compounds. After a review of derivated cathinone's chemical structure, pharmacology and toxicology, this article seeks to provide patricians with a clinical description and treatment's modality. Most users of synthetic cathinones will experience euphoria, increased energy, talkativeness, openness and increased sexual arousal. Signs and symptoms of toxicity are consistent with a sympathomimetic toxidrome. The main reasons for care access are psychiatric (hallucinations, psychotic symptoms, agitation) and addiction disorders. Somatic complications were described with various patterns of symptoms such as headache, tachycardia, confusional states, rhabdomyolysis with renal failure or serotonin syndrome. The most important fact is the apparition of the "slam" phenomenon among men who have sex with men (MSM). The "slam" is a compound of three characteristic elements: injection, sexual party and psychostimulant drug. According to users, "slam" is convenient for group sex and is used it to put them into a good mood and a disinhibition state. These compounds cause fast dependence syndrome with strong craving and prolonged psychiatric symptoms and increase infectious risk (HIV, VHC, VHB…). The cathinones family is not detected in conventional urine drug screenings. We point out the lack of confirmatory analytic testing data which remains the only way to determine the actual etiology of the clinical effects observed since drug users do not always know exactly what they took. These substances can be identified by special analyses using gas chromatography or liquid chromatography and mass spectroscopy technology. This injection drug is used in order to increase sexual desire, delay orgasm and decrease sexual inhibition and is prevalent in many studies on MSM samples. Cathinones would popularize the "slam". Harm reduction policy requires specific MSM interventions on both sexual and drug addiction networks. Copyright © 2015 L'Encéphale, Paris. Published by Elsevier Masson SAS. All rights reserved.

Vision-Based SLAM System for Unmanned Aerial Vehicles

PubMed Central

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

2016-01-01

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. PMID:26999131

Metric Scale Calculation for Visual Mapping Algorithms

NASA Astrophysics Data System (ADS)

Hanel, A.; Mitschke, A.; Boerner, R.; Van Opdenbosch, D.; Hoegner, L.; Brodie, D.; Stilla, U.

2018-05-01

Visual SLAM algorithms allow localizing the camera by mapping its environment by a point cloud based on visual cues. To obtain the camera locations in a metric coordinate system, the metric scale of the point cloud has to be known. This contribution describes a method to calculate the metric scale for a point cloud of an indoor environment, like a parking garage, by fusing multiple individual scale values. The individual scale values are calculated from structures and objects with a-priori known metric extension, which can be identified in the unscaled point cloud. Extensions of building structures, like the driving lane or the room height, are derived from density peaks in the point distribution. The extension of objects, like traffic signs with a known metric size, are derived using projections of their detections in images onto the point cloud. The method is tested with synthetic image sequences of a drive with a front-looking mono camera through a virtual 3D model of a parking garage. It has been shown, that each individual scale value improves either the robustness of the fused scale value or reduces its error. The error of the fused scale is comparable to other recent works.

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

PubMed

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

2015-03-04

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

Enhancing situational awareness by means of visualization and information integration of sensor networks

NASA Astrophysics Data System (ADS)

Timonen, Jussi; Vankka, Jouko

2013-05-01

This paper presents a solution for information integration and sharing architecture, which is able to receive data simultaneously from multiple different sensor networks. Creating a Common Operational Picture (COP) object along with the base map of the building plays a key role in the research. The object is combined with desired map sources and then shared to the mobile devices worn by soldiers in the field. The sensor networks we used focus on location techniques indoors, and a simple set of symbols is created to present the information, as an addition to NATO APP6B symbols. A core element in this research is the MUSAS (Mobile Urban Situational Awareness System), a demonstration environment that implements central functionalities. Information integration of the system is handled by the Internet Connection Engine (Ice) middleware, as well as the server, which hosts COP information and maps. The entire system is closed, such that it does not need any external service, and the information transfer with the mobile devices is organized by a tactical 5 GHz WLAN solution. The demonstration environment is implemented using only commercial off-theshelf (COTS) products. We have presented a field experiment event in which the system was able to integrate and share real time information of a blue force tracking system, received signal strength indicator (RSSI) based intrusion detection system, and a robot using simultaneous location and mapping technology (SLAM), where all the inputs were based on real activities. The event was held in a training area on urban area warfare.

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

NASA Astrophysics Data System (ADS)

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.

Towards mapping of rock walls using a UAV-mounted 2D laser scanner in GPS denied environments

NASA Astrophysics Data System (ADS)

Turner, Glen

In geotechnical engineering, the stability of rock excavations and walls is estimated by using tools that include a map of the orientations of exposed rock faces. However, measuring these orientations by using conventional methods can be time consuming, sometimes dangerous, and is limited to regions of the exposed rock that are reachable by a human. This thesis introduces a 2D, simulated, quadcopter-based rock wall mapping algorithm for GPS denied environments such as underground mines or near high walls on surface. The proposed algorithm employs techniques from the field of robotics known as simultaneous localization and mapping (SLAM) and is a step towards 3D rock wall mapping. Not only are quadcopters agile, but they can hover. This is very useful for confined spaces such as underground or near rock walls. The quadcopter requires sensors to enable self localization and mapping in dark, confined and GPS denied environments. However, these sensors are limited by the quadcopter payload and power restrictions. Because of these restrictions, a light weight 2D laser scanner is proposed. As a first step towards a 3D mapping algorithm, this thesis proposes a simplified scenario in which a simulated 1D laser range finder and 2D IMU are mounted on a quadcopter that is moving on a plane. Because the 1D laser does not provide enough information to map the 2D world from a single measurement, many measurements are combined over the trajectory of the quadcopter. Least Squares Optimization (LSO) is used to optimize the estimated trajectory and rock face for all data collected over the length of a light. Simulation results show that the mapping algorithm developed is a good first step. It shows that by combining measurements over a trajectory, the scanned rock face can be estimated using a lower-dimensional range sensor. A swathing manoeuvre is introduced as a way to promote loop closures within a short time period, thus reducing accumulated error. Some suggestions on how to improve the algorithm are also provided.

Fast Fingerprint Database Maintenance for Indoor Positioning Based on UGV SLAM

PubMed Central

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

2015-01-01

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. PMID:25746096

Geometric Integration of Hybrid Correspondences for RGB-D Unidirectional Tracking

PubMed Central

Tang, Shengjun; Chen, Wu; Wang, Weixi; Li, Xiaoming; Li, Wenbin; Huang, Zhengdong; Hu, Han; Guo, Renzhong

2018-01-01

Traditionally, visual-based RGB-D SLAM systems only use correspondences with valid depth values for camera tracking, thus ignoring the regions without 3D information. Due to the strict limitation on measurement distance and view angle, such systems adopt only short-range constraints which may introduce larger drift errors during long-distance unidirectional tracking. In this paper, we propose a novel geometric integration method that makes use of both 2D and 3D correspondences for RGB-D tracking. Our method handles the problem by exploring visual features both when depth information is available and when it is unknown. The system comprises two parts: coarse pose tracking with 3D correspondences, and geometric integration with hybrid correspondences. First, the coarse pose tracking generates the initial camera pose using 3D correspondences with frame-by-frame registration. The initial camera poses are then used as inputs for the geometric integration model, along with 3D correspondences, 2D-3D correspondences and 2D correspondences identified from frame pairs. The initial 3D location of the correspondence is determined in two ways, from depth image and by using the initial poses to triangulate. The model improves the camera poses and decreases drift error during long-distance RGB-D tracking iteratively. Experiments were conducted using data sequences collected by commercial Structure Sensors. The results verify that the geometric integration of hybrid correspondences effectively decreases the drift error and improves mapping accuracy. Furthermore, the model enables a comparative and synergistic use of datasets, including both 2D and 3D features. PMID:29723974

Geometric Integration of Hybrid Correspondences for RGB-D Unidirectional Tracking.

PubMed

Tang, Shengjun; Chen, Wu; Wang, Weixi; Li, Xiaoming; Darwish, Walid; Li, Wenbin; Huang, Zhengdong; Hu, Han; Guo, Renzhong

2018-05-01

Traditionally, visual-based RGB-D SLAM systems only use correspondences with valid depth values for camera tracking, thus ignoring the regions without 3D information. Due to the strict limitation on measurement distance and view angle, such systems adopt only short-range constraints which may introduce larger drift errors during long-distance unidirectional tracking. In this paper, we propose a novel geometric integration method that makes use of both 2D and 3D correspondences for RGB-D tracking. Our method handles the problem by exploring visual features both when depth information is available and when it is unknown. The system comprises two parts: coarse pose tracking with 3D correspondences, and geometric integration with hybrid correspondences. First, the coarse pose tracking generates the initial camera pose using 3D correspondences with frame-by-frame registration. The initial camera poses are then used as inputs for the geometric integration model, along with 3D correspondences, 2D-3D correspondences and 2D correspondences identified from frame pairs. The initial 3D location of the correspondence is determined in two ways, from depth image and by using the initial poses to triangulate. The model improves the camera poses and decreases drift error during long-distance RGB-D tracking iteratively. Experiments were conducted using data sequences collected by commercial Structure Sensors. The results verify that the geometric integration of hybrid correspondences effectively decreases the drift error and improves mapping accuracy. Furthermore, the model enables a comparative and synergistic use of datasets, including both 2D and 3D features.

Mutant Fusion Proteins with Enhanced Fusion Activity Promote Measles Virus Spread in Human Neuronal Cells and Brains of Suckling Hamsters

PubMed Central

Shirogane, Yuta; Suzuki, Satoshi O.; Ikegame, Satoshi; Koga, Ritsuko

2013-01-01

Subacute sclerosing panencephalitis (SSPE) is a fatal degenerative disease caused by persistent measles virus (MV) infection in the central nervous system (CNS). From the genetic study of MV isolates obtained from SSPE patients, it is thought that defects of the matrix (M) protein play a crucial role in MV pathogenicity in the CNS. In this study, we report several notable mutations in the extracellular domain of the MV fusion (F) protein, including those found in multiple SSPE strains. The F proteins with these mutations induced syncytium formation in cells lacking SLAM and nectin 4 (receptors used by wild-type MV), including human neuronal cell lines, when expressed together with the attachment protein hemagglutinin. Moreover, recombinant viruses with these mutations exhibited neurovirulence in suckling hamsters, unlike the parental wild-type MV, and the mortality correlated with their fusion activity. In contrast, the recombinant MV lacking the M protein did not induce syncytia in cells lacking SLAM and nectin 4, although it formed larger syncytia in cells with either of the receptors. Since human neuronal cells are mainly SLAM and nectin 4 negative, fusion-enhancing mutations in the extracellular domain of the F protein may greatly contribute to MV spread via cell-to-cell fusion in the CNS, regardless of defects of the M protein. PMID:23255801

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

PubMed

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.

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

PubMed Central

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

SLAM, a Mathematica interface for SUSY spectrum generators

NASA Astrophysics Data System (ADS)

Marquard, Peter; Zerf, Nikolai

2014-03-01

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

Transdiagnostic Risk Calculator for the Automatic Detection of Individuals at Risk and the Prediction of Psychosis: Second Replication in an Independent National Health Service Trust.

PubMed

Fusar-Poli, Paolo; Werbeloff, Nomi; Rutigliano, Grazia; Oliver, Dominic; Davies, Cathy; Stahl, Daniel; McGuire, Philip; Osborn, David

2018-06-12

The benefits of indicated primary prevention among individuals at Clinical High Risk for Psychosis (CHR-P) are limited by the difficulty in detecting these individuals. To overcome this problem, a transdiagnostic, clinically based, individualized risk calculator has recently been developed and subjected to a first external validation in 2 different catchment areas of the South London and Maudsley (SLaM) NHS Trust. Second external validation of real world, real-time electronic clinical register-based cohort study. All individuals who received a first ICD-10 index diagnosis of nonorganic and nonpsychotic mental disorder within the Camden and Islington (C&I) NHS Trust between 2009 and 2016 were included. The model previously validated included age, gender, ethnicity, age by gender, and ICD-10 index diagnosis to predict the development of any ICD-10 nonorganic psychosis. The model's performance was measured using Harrell's C-index. This study included a total of 13702 patients with an average age of 40 (range 16-99), 52% were female, and most were of white ethnicity (64%). There were no CHR-P or child/adolescent services in the C&I Trust. The C&I and SLaM Trust samples also differed significantly in terms of age, gender, ethnicity, and distribution of index diagnosis. Despite these significant differences, the original model retained an acceptable predictive performance (Harrell's C of 0.73), which is comparable to that of CHR-P tools currently recommended for clinical use. This risk calculator may pragmatically support an improved transdiagnostic detection of at-risk individuals and psychosis prediction even in NHS Trusts in the United Kingdom where CHR-P services are not provided.

Investigation of the potential for long-range transport of mercury to the Everglades using the organic chemistry integrated dispersion (ORCHID) model

DOE Office of Scientific and Technical Information (OSTI.GOV)

Burns, D.S.; Kienzle, M.A.; Ferris, D.C.

1996-12-31

The objective of this study is to identify potential long-range sources of mercury within the southeast region of the United States. Preliminary results of a climatological study using the Short-range Layered Atmospheric Model (SLAM) transport model from a select source in the southeast U.S. are presented. The potential for long-range transport from Oak Ridge, Tennessee to Florida is discussed. The transport and transformation of mercury during periods of favorable transport to south Florida is modeled using the Organic Chemistry Integrated Dispersion (ORCHID) model, which contains the transport model used in the climatology study. SLAM/ORCHID results indicate the potential for mercurymore » reaching southeast Florida from the source and the atmospheric oxidation of mercury during transport.« less

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

PubMed Central

Yilmaz, Ömer H.; Kiel, Mark J.; Morrison, Sean J.

2006-01-01

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-1lowSca-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-1lowSca-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. PMID:16219798

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

PubMed

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.

Using focal mechanism solutions to correlate earthquakes with faults in the Lake Tahoe-Truckee area, California and Nevada, and to help design LiDAR surveys for active-fault reconnaissance

NASA Astrophysics Data System (ADS)

Cronin, V. S.; Lindsay, R. D.

2011-12-01

Geomorphic analysis of hillshade images produced from aerial LiDAR data has been successful in identifying youthful fault traces. For example, the recently discovered Polaris fault just northwest of Lake Tahoe, California/Nevada, was recognized using LiDAR data that had been acquired by local government to assist land-use planning. Subsequent trenching by consultants under contract to the US Army Corps of Engineers has demonstrated Holocene displacement. The Polaris fault is inferred to be capable of generating a magnitude 6.4-6.9 earthquake, based on its apparent length and offset characteristics (Hunter and others, 2011, BSSA 101[3], 1162-1181). Dingler and others (2009, GSA Bull 121[7/8], 1089-1107) describe paleoseismic or geomorphic evidence for late Neogene displacement along other faults in the area, including the West Tahoe-Dollar Point, Stateline-North Tahoe, and Incline Village faults. We have used the seismo-lineament analysis method (SLAM; Cronin and others, 2008, Env Eng Geol 14[3], 199-219) to establish a tentative spatial correlation between each of the previously mentioned faults, as well as with segments of the Dog Valley fault system, and one or more earthquake(s). The ~18 earthquakes we have tentatively correlated with faults in the Tahoe-Truckee area occurred between 1966 and 2008, with magnitudes between 3 and ~6. Given the focal mechanism solution for a well-located shallow-focus earthquake, the nodal planes can be projected to Earth's surface as represented by a DEM, plus-or-minus the vertical and horizontal uncertainty in the focal location, to yield two seismo-lineament swaths. The trace of the fault that generated the earthquake is likely to be found within one of the two swaths [1] if the fault surface is emergent, and [2] if the fault surface is approximately planar in the vicinity of the focus. Seismo-lineaments from several of the earthquakes studied overlap in a manner that suggests they are associated with the same fault. The surface trace of both the Polaris fault and the Dog Valley fault system are within composite swaths defined by overlapping seismo-lineaments. Composite seismo-lineaments indicate that multiple historic earthquakes might be associated with a fault. This apparently successful correlation of earthquakes with faults in an area where geologic mapping is good suggests another use for SLAM in areas where fault mapping is incomplete, inadequate or made particularly difficult because of vegetative cover. If no previously mapped fault exists along a composite swath generated using well constrained focal mechanism solutions, the swath might be used to guide the design of a LiDAR survey in support of reconnaissance for the causative fault. The acquisition and geomorphic analysis of LiDAR data along a compound seismo-lineament swath might reveal geomorphic evidence of a previously unrecognized fault trace that is worthy of additional field study.

40 CFR 58.10 - Annual monitoring network plan and periodic network assessment.

Code of Federal Regulations, 2012 CFR

2012-07-01

... part of SLAMS, NCore stations, STN stations, State speciation stations, SPM stations, and/or, in... analysis method(s) for each measured parameter. (4) The operating schedules for each monitor. (5) Any...

40 CFR 58.10 - Annual monitoring network plan and periodic network assessment.

Code of Federal Regulations, 2013 CFR

2013-07-01

... part of SLAMS, NCore stations, STN stations, State speciation stations, SPM stations, and/or, in... and analysis method(s) for each measured parameter. (4) The operating schedules for each monitor. (5...

40 CFR 58.10 - Annual monitoring network plan and periodic network assessment.

Code of Federal Regulations, 2014 CFR

2014-07-01

... part of SLAMS, NCore stations, STN stations, State speciation stations, SPM stations, and/or, in... and analysis method(s) for each measured parameter. (4) The operating schedules for each monitor. (5...

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

Treesearch

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...

The Match of Her Life | NIH MedlinePlus the Magazine

MedlinePlus

... women. But with the same strength and positive attitude that helped her win 59 Grand Slam tennis ... as a tennis player has been a positive attitude. How has that translated to your dealing with ...

Floating shock fitting via Lagrangian adaptive meshes

NASA Technical Reports Server (NTRS)

Vanrosendale, John

1994-01-01

In recent works we have formulated a new approach to compressible flow simulation, combining the advantages of shock-fitting and shock-capturing. Using a cell-centered Roe scheme discretization on unstructured meshes, we warp the mesh while marching to steady state, so that mesh edges align with shocks and other discontinuities. This new algorithm, the Shock-fitting Lagrangian Adaptive Method (SLAM) is, in effect, a reliable shock-capturing algorithm which yields shock-fitted accuracy at convergence. Shock-capturing algorithms like this, which warp the mesh to yield shock-fitted accuracy, are new and relatively untried. However, their potential is clear. In the context of sonic booms, accurate calculation of near-field sonic boom signatures is critical to the design of the High Speed Civil Transport (HSCT). SLAM should allow computation of accurate N-wave pressure signatures on comparatively coarse meshes, significantly enhancing our ability to design low-boom configurations for high-speed aircraft.

Comparison of orchid and OCD modeling SO{sub x} release in the Gulf of Mexico

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ferris, D.C.; Burns, D.S.; Steorts, W.L.

1996-10-01

Two atmospheric chemistry and transport models are used to investigate the atmospheric behavior of SO{sub x} in the Gulf of Mexico. SO{sub x} emissions from a location about 30 miles offshore in the Gulf of Mexico will be modeled with ENSCO`s Short-range Layered Atmospheric Model (SLAM) and the EPA and Material Management Service (MMS) sanctioned Offshore and Coastal Dispersion Model (OCD). The atmospheric chemistry associated with SLAM is modeled using ENSCO`s ORganic CHemistry Integrated Dispersion Model (ORCHID) and has been developed from the Carbon Bond Mechanism (CBM-IV) to characterize the behavior of SO{sub x} compounds in the environment. Model runsmore » from both ORCHID and OCD will be presented and compared. Predicted SO{sub x} concentrations will be compared with actual data gathered from the MMS`s SO{sub x} air quality study in 1993.« less

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

PubMed

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

2004-02-15

To determine the impact of wealth on disease activity in the multiethnic (Hispanic, African American, and Caucasian) LUMINA (Lupus in Minorities, Nature versus nurture) cohort of patients with systemic lupus erythematosus (SLE) and disease duration < or =5 years at enrollment. Variables (socioeconomic, demographic, clinical, immunologic, immunogenetic, behavioral, and psychological) were measured at enrollment and annually thereafter. Four questions from the Women's Health Initiative study were used to measure wealth. Disease activity was measured with the Systemic Lupus Activity Measure (SLAM). The relationship between the different variables and wealth was then examined. Next, the impact of wealth on disease activity was examined in regression models where the dependent variables were the SLAM score and SLAM global (physician). Variables previously found to impact disease activity plus the wealth questions were included in the models. Questions on income, assets, and debt were found to distinguish patients into groups, wealthier and less wealthy. Less wealthy patients tended to be younger, women, noncaucasian, less educated, unmarried, less likely to have health insurance, and more likely to live below the poverty line. They also tended to have more active disease, more abnormal illness-related behaviors, less social support, and lower levels of self reported mental functioning. None of the wealth questions was retained in the regression models, although other socioeconomic features (such as African American ethnicity, poverty, and younger age) did. Wealth, per se, does not appear to have an additional predictive value, over and above traditional measures of socioeconomic status, in SLE disease activity.

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

PubMed

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.

Doing Business with the Naval Air Systems Command

DTIC Science & Technology

2014-08-13

Small Businesses (WOSB) — Economically Disadvantaged Women-Owned Small Business (EDWOSB) — Small Disadvantaged Businesses ( SDB ) — Service-Disabled...PRECISION STRIKE WEAPONS SDB II JDAM JSOW SLAM-ER HARPOON DIRECT ATTACK WEAPONS AAE/FC CAD/PAD ADVANCED DEVELOPMENT

Beyond Borders: Poetry Slicing through Steel Gates and Barbed Wires

ERIC Educational Resources Information Center

Jocson, Korina M.

2004-01-01

Exchange of poems at the 2nd Annual San Quentin/Patten College poetry slam with the prisoners is reported to be an event, which was extraordinaire. It was an opportunity to understand the hidden popular culture.

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

DTIC Science & Technology

2017-07-01

11 MOUNT RELATIVE DISPLACEMENT CALCULATIONS ......................................................... 13 Computational Methods...RELATIVE DISPLACEMENT AND MITIGATION RATIO...Predicted SDOF Responses ...................................................14 Figure 11. Predicted Relative Displacement for 3 Hz 30% Damped Mount

Localization Using Visual Odometry and a Single Downward-Pointing Camera

NASA Technical Reports Server (NTRS)

Swank, Aaron J.

2012-01-01

Stereo imaging is a technique commonly employed for vision-based navigation. For such applications, two images are acquired from different vantage points and then compared using transformations to extract depth information. The technique is commonly used in robotics for obstacle avoidance or for Simultaneous Localization And Mapping, (SLAM). Yet, the process requires a number of image processing steps and therefore tends to be CPU-intensive, which limits the real-time data rate and use in power-limited applications. Evaluated here is a technique where a monocular camera is used for vision-based odometry. In this work, an optical flow technique with feature recognition is performed to generate odometry measurements. The visual odometry sensor measurements are intended to be used as control inputs or measurements in a sensor fusion algorithm using low-cost MEMS based inertial sensors to provide improved localization information. Presented here are visual odometry results which demonstrate the challenges associated with using ground-pointing cameras for visual odometry. The focus is for rover-based robotic applications for localization within GPS-denied environments.

Squeezeposenet: Image Based Pose Regression with Small Convolutional Neural Networks for Real Time Uas Navigation

NASA Astrophysics Data System (ADS)

Müller, M. S.; Urban, S.; Jutzi, B.

2017-08-01

The number of unmanned aerial vehicles (UAVs) is increasing since low-cost airborne systems are available for a wide range of users. The outdoor navigation of such vehicles is mostly based on global navigation satellite system (GNSS) methods to gain the vehicles trajectory. The drawback of satellite-based navigation are failures caused by occlusions and multi-path interferences. Beside this, local image-based solutions like Simultaneous Localization and Mapping (SLAM) and Visual Odometry (VO) can e.g. be used to support the GNSS solution by closing trajectory gaps but are computationally expensive. However, if the trajectory estimation is interrupted or not available a re-localization is mandatory. In this paper we will provide a novel method for a GNSS-free and fast image-based pose regression in a known area by utilizing a small convolutional neural network (CNN). With on-board processing in mind, we employ a lightweight CNN called SqueezeNet and use transfer learning to adapt the network to pose regression. Our experiments show promising results for GNSS-free and fast localization.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dubart, Philippe; Hautot, Felix; Morichi, Massimo

Good management of dismantling and decontamination (D and D) operations and activities is requiring safety, time saving and perfect radiological knowledge of the contaminated environment as well as optimization for personnel dose and minimization of waste volume. In the same time, Fukushima accident has imposed a stretch to the nuclear measurement operational approach requiring in such emergency situation: fast deployment and intervention, quick analysis and fast scenario definition. AREVA, as return of experience from his activities carried out at Fukushima and D and D sites has developed a novel multi-sensor solution as part of his D and D research, approachmore » and method, a system with real-time 3D photo-realistic spatial radiation distribution cartography of contaminated premises. The system may be hand-held or mounted on a mobile device (robot, drone, e.g). In this paper, we will present our current development based on a SLAM technology (Simultaneous Localization And Mapping) and integrated sensors and detectors allowing simultaneous topographic and radiological (dose rate and/or spectroscopy) data acquisitions. This enabling technology permits 3D gamma activity cartography in real-time. (authors)« less

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

NASA Astrophysics Data System (ADS)

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.

Stereo Correspondence Using Moment Invariants

NASA Astrophysics Data System (ADS)

Premaratne, Prashan; Safaei, Farzad

Autonomous navigation is seen as a vital tool in harnessing the enormous potential of Unmanned Aerial Vehicles (UAV) and small robotic vehicles for both military and civilian use. Even though, laser based scanning solutions for Simultaneous Location And Mapping (SLAM) is considered as the most reliable for depth estimation, they are not feasible for use in UAV and land-based small vehicles due to their physical size and weight. Stereovision is considered as the best approach for any autonomous navigation solution as stereo rigs are considered to be lightweight and inexpensive. However, stereoscopy which estimates the depth information through pairs of stereo images can still be computationally expensive and unreliable. This is mainly due to some of the algorithms used in successful stereovision solutions require high computational requirements that cannot be met by small robotic vehicles. In our research, we implement a feature-based stereovision solution using moment invariants as a metric to find corresponding regions in image pairs that will reduce the computational complexity and improve the accuracy of the disparity measures that will be significant for the use in UAVs and in small robotic vehicles.

A Vision-Based Relative Navigation Approach for Autonomous Multirotor Aircraft

NASA Astrophysics Data System (ADS)

Leishman, Robert C.

Autonomous flight in unstructured, confined, and unknown GPS-denied environments is a challenging problem. Solutions could be tremendously beneficial for scenarios that require information about areas that are difficult to access and that present a great amount of risk. The goal of this research is to develop a new framework that enables improved solutions to this problem and to validate the approach with experiments using a hardware prototype. In Chapter 2 we examine the consequences and practical aspects of using an improved dynamic model for multirotor state estimation, using only IMU measurements. The improved model correctly explains the measurements available from the accelerometers on a multirotor. We provide hardware results demonstrating the improved attitude, velocity and even position estimates that can be achieved through the use of this model. We propose a new architecture to simplify some of the challenges that constrain GPS-denied aerial flight in Chapter 3. At the core, the approach combines visual graph-SLAM with a multiplicative extended Kalman filter (MEKF). More importantly, we depart from the common practice of estimating global states and instead keep the position and yaw states of the MEKF relative to the current node in the map. This relative navigation approach provides a tremendous benefit compared to maintaining estimates with respect to a single global coordinate frame. We discuss the architecture of this new system and provide important details for each component. We verify the approach with goal-directed autonomous flight-test results. The MEKF is the basis of the new relative navigation approach and is detailed in Chapter 4. We derive the relative filter and show how the states must be augmented and marginalized each time a new node is declared. The relative estimation approach is verified using hardware flight test results accompanied by comparisons to motion capture truth. Additionally, flight results with estimates in the control loop are provided. We believe that the relative, vision-based framework described in this work is an important step in furthering the capabilities of indoor aerial navigation in confined, unknown environments. Current approaches incur challenging problems by requiring globally referenced states. Utilizing a relative approach allows more flexibility as the critical, real-time processes of localization and control do not depend on computationally-demanding optimization and loop-closure processes.

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

EPA Science Inventory

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...

A constraint optimization based virtual network mapping method

NASA Astrophysics Data System (ADS)

Li, Xiaoling; Guo, Changguo; Wang, Huaimin; Li, Zhendong; Yang, Zhiwen

2013-03-01

Virtual network mapping problem, maps different virtual networks onto the substrate network is an extremely challenging work. This paper proposes a constraint optimization based mapping method for solving virtual network mapping problem. This method divides the problem into two phases, node mapping phase and link mapping phase, which are all NP-hard problems. Node mapping algorithm and link mapping algorithm are proposed for solving node mapping phase and link mapping phase, respectively. Node mapping algorithm adopts the thinking of greedy algorithm, mainly considers two factors, available resources which are supplied by the nodes and distance between the nodes. Link mapping algorithm is based on the result of node mapping phase, adopts the thinking of distributed constraint optimization method, which can guarantee to obtain the optimal mapping with the minimum network cost. Finally, simulation experiments are used to validate the method, and results show that the method performs very well.

Hospital admissions for respiratory system diseases in adults with intellectual disabilities in Southeast London: a register-based cohort study.

PubMed

Chang, Chin-Kuo; Chen, Chih-Yin; Broadbent, Mathew; Stewart, Robert; O'Hara, Jean

2017-03-29

Intellectual disability (ID) carries a high impact on need for care, health status and premature mortality. Respiratory system diseases contribute a major part of mortality among people with ID, but remain underinvestigated as consequent morbidities. Anonymised electronic mental health records from the South London and Maudsley Trust (SLaM) were linked to national acute medical care data. Using retrospective cohort and matched case-control study designs, adults with ID receiving SLaM care between 1 January 2008 and 31 March 2013 were identified and compared with local catchment residents for respiratory system disease admissions. Standardised admission ratios (SARs) were first calculated, followed by a comparison of duration of hospitalisation with respiratory system disease between people with ID and age-matched and gender-matched random counterparts modelled using linear regression. Finally, the risk of readmission for respiratory system disease was analysed using the Cox models. For the 3138 adults with ID identified in SLaM, the SAR for respiratory system disease admissions was 4.02 (95% CI 3.79 to 4.26). Compared with adults without ID, duration of hospitalisation was significantly longer by 2.34 days (95% CI 0.03 to 4.64) and respiratory system disease readmission was significantly elevated (HR=1.35; 95% CI 1.17 to 1.56) after confounding adjustment. Respiratory system disease admissions in adults with ID are more frequent, of longer duration and have a higher likelihood of recurring. Development and evaluation of potential interventions to the preventable causes of respiratory diseases should be prioritised. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://www.bmj.com/company/products-services/rights-and-licensing/.

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.

PubMed

Zhang, Jialin; Liu, Wenxing; Chen, Weiye; Li, Cuicui; Xie, Meimei; Bu, Zhigao

2016-01-01

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.

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

PubMed Central

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

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

PubMed Central

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

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

PubMed

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.

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

PubMed

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.

Robust dead reckoning system for mobile robots based on particle filter and raw range scan.

PubMed

Duan, Zhuohua; Cai, Zixing; Min, Huaqing

2014-09-04

Robust dead reckoning is a complicated problem for wheeled mobile robots (WMRs), where the robots are faulty, such as the sticking of sensors or the slippage of wheels, for the discrete fault models and the continuous states have to be estimated simultaneously to reach a reliable fault diagnosis and accurate dead reckoning. Particle filters are one of the most promising approaches to handle hybrid system estimation problems, and they have also been widely used in many WMRs applications, such as pose tracking, SLAM, video tracking, fault identification, etc. In this paper, the readings of a laser range finder, which may be also interfered with by noises, are used to reach accurate dead reckoning. The main contribution is that a systematic method to implement fault diagnosis and dead reckoning in a particle filter framework concurrently is proposed. Firstly, the perception model of a laser range finder is given, where the raw scan may be faulty. Secondly, the kinematics of the normal model and different fault models for WMRs are given. Thirdly, the particle filter for fault diagnosis and dead reckoning is discussed. At last, experiments and analyses are reported to show the accuracy and efficiency of the presented method.

Robust Dead Reckoning System for Mobile Robots Based on Particle Filter and Raw Range Scan

PubMed Central

Duan, Zhuohua; Cai, Zixing; Min, Huaqing

2014-01-01

Robust dead reckoning is a complicated problem for wheeled mobile robots (WMRs), where the robots are faulty, such as the sticking of sensors or the slippage of wheels, for the discrete fault models and the continuous states have to be estimated simultaneously to reach a reliable fault diagnosis and accurate dead reckoning. Particle filters are one of the most promising approaches to handle hybrid system estimation problems, and they have also been widely used in many WMRs applications, such as pose tracking, SLAM, video tracking, fault identification, etc. In this paper, the readings of a laser range finder, which may be also interfered with by noises, are used to reach accurate dead reckoning. The main contribution is that a systematic method to implement fault diagnosis and dead reckoning in a particle filter framework concurrently is proposed. Firstly, the perception model of a laser range finder is given, where the raw scan may be faulty. Secondly, the kinematics of the normal model and different fault models for WMRs are given. Thirdly, the particle filter for fault diagnosis and dead reckoning is discussed. At last, experiments and analyses are reported to show the accuracy and efficiency of the presented method. PMID:25192318

Slam Dunk

ERIC Educational Resources Information Center

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…

Grand slam on cancer.

PubMed

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.

Intravital imaging by simultaneous label-free autofluorescence-multiharmonic microscopy.

PubMed

You, Sixian; Tu, Haohua; Chaney, Eric J; Sun, Yi; Zhao, Youbo; Bower, Andrew J; Liu, Yuan-Zhi; Marjanovic, Marina; Sinha, Saurabh; Pu, Yang; Boppart, Stephen A

2018-05-29

Intravital microscopy (IVM) emerged and matured as a powerful tool for elucidating pathways in biological processes. Although label-free multiphoton IVM is attractive for its non-perturbative nature, its wide application has been hindered, mostly due to the limited contrast of each imaging modality and the challenge to integrate them. Here we introduce simultaneous label-free autofluorescence-multiharmonic (SLAM) microscopy, a single-excitation source nonlinear imaging platform that uses a custom-designed excitation window at 1110 nm and shaped ultrafast pulses at 10 MHz to enable fast (2-orders-of-magnitude improvement), simultaneous, and efficient acquisition of autofluorescence (FAD and NADH) and second/third harmonic generation from a wide array of cellular and extracellular components (e.g., tumor cells, immune cells, vesicles, and vessels) in living tissue using only 14 mW for extended time-lapse investigations. Our work demonstrates the versatility and efficiency of SLAM microscopy for tracking cellular events in vivo, and is a major enabling advance in label-free IVM.

Structural basis of efficient contagion: measles variations on a theme by parainfluenza viruses.

PubMed

Mateo, Mathieu; Navaratnarajah, Chanakha K; Cattaneo, Roberto

2014-04-01

A quartet of attachment proteins and a trio of fusion protein subunits play the cell entry concert of parainfluenza viruses. While many of these viruses bind sialic acid to enter cells, wild type measles binds exclusively two tissue-specific proteins, the lymphatic receptor signaling lymphocytic activation molecule (SLAM), and the epithelial receptor nectin-4. SLAM binds near the stalk-head junction of the hemagglutinin. Nectin-4 binds a hydrophobic groove located between blades 4 and 5 of the hemagglutinin β-propeller head. The mutated vaccine strain hemagglutinin binds in addition the ubiquitous protein CD46, which explains attenuation. The measles virus entry concert has four movements. Andante misterioso: the virus takes over the immune system. Allegro con brio: it rapidly spreads in the upper airway's epithelia. 'Targeting' fugue: the versatile orchestra takes off. Presto furioso: the virus exits the host with thunder. Be careful: music is contagious. Copyright © 2014 Elsevier B.V. All rights reserved.

Iterative framework radiation hybrid mapping

USDA-ARS?s Scientific Manuscript database

Building comprehensive radiation hybrid maps for large sets of markers is a computationally expensive process, since the basic mapping problem is equivalent to the traveling salesman problem. The mapping problem is also susceptible to noise, and as a result, it is often beneficial to remove markers ...

Studies on Three-Dimensional Slamming on Slender Ships

DTIC Science & Technology

2007-05-10

Objectives This study is a joint effort among MIT, Seoul National University (SNU), and Korean Research Institute of Ships and Ocean Engineering ( KRISO ...model and laboratory experiments were carried out by SNU/ KRISO . The key responsibility of MIT is to investigate the feasibility and effectiveness of

CME leaving the Sun [Video

NASA Image and Video Library

2017-12-08

Animation of a CME leaving the Sun, slamming into our magnetosphere. Credit: NASA/GSFC/SOHO/ESA Sound: Juan Carlos Garcia To learn more go to the SOHO website: sohowww.nascom.nasa.gov/home.html To learn more about NASA's Sun Earth Day go here: sunearthday.nasa.gov/2010/index.php

Determining Directions of Ultrasound in Solids

NASA Technical Reports Server (NTRS)

Generazio, Edward R.; Roth, Don J.

1987-01-01

Ultrasound shadows cast by grooves. Improved method for determining direction of ultrasound in materials is shadow method using Scanning laser acoustic microscopy (SLAM). Direction of ultrasound calculated from dimensions of groove and portion of surface groove shields from ultrasound. Method has variety of applications in nontraditional quality-control applications.

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

NASA Astrophysics Data System (ADS)

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 within the Walker Lane transition zone between the Basin and Range and the Sierra Nevada-Great Valley Block. If the current seismogenic trace of the DVF is along the ~32° trend, perhaps the more prominent geomorphic lineaments traditionally associated with the DVF are inactive older features that are more strongly expressed on the landscape and that have rotated.

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

PubMed

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 persistence is based on noncytolytic cell-to-cell spread, which, in the case of CDV, was demonstrated to rely on functional membrane fusion machinery complexes. This inferred a mechanism where nucleocapsids are transmitted through macroscopically invisible microfusion events between infected and target cells. Here, we provide evidence that CDV induces such microfusions in a SLAM- and nectin-4-independent manner, thereby strongly suggesting the existence of a third receptor expressed in glial cells (referred to as GliaR). We propose that GliaR governs intercellular transfer of nucleocapsids and hence contributes to viral persistence in the brain and ensuing demyelinating lesions. Copyright © 2015, American Society for Microbiology. All Rights Reserved.

Multi-Target Tracking for Swarm vs. Swarm UAV Systems

DTIC Science & Technology

2012-09-01

Uhlmann, “Using covariance intersection for SLAM,” Robotics and Autonomous Systems, vol. 55, pp. 3–20, Jan. 2007. [10] R. B. G. Wolfgang Niehsen... Krause , J. Leskovec, and C. Guestrin, “Data association for topic intensity track- ing,” Proceedings of the 23rd international conference on Machine

Argentina: Background and U.S. Relations

DTIC Science & Technology

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

Nutrient sampling slam: high resolution surface-water sampling in streams reveals patterns in groundwater chemistry and flow paths

EPA Science Inventory

The groundwater–surface water interface (GSWI), consisting of shallow groundwater adjacent to stream channels, is a hot spot for nitrogen removal processes, a storage zone for other solutes, and a target for restoration activities. Characterizing groundwater-surface water intera...

Characterization of ovine Nectin-4, a novel peste des petits ruminants virus (PPRV) receptor

USDA-ARS?s Scientific Manuscript database

Small ruminants infected with peste des petits ruminants virus (PPRV) exhibit lesions typical of epithelial infection and necrosis. However, the only established host receptor for this virus is the immune cell marker signalling lymphocyte activation molecule (SLAM). We have confirmed that the ovine ...

Educators Reach out to Katrina Victims

ERIC Educational Resources Information Center

Hardy, Lawrence

2006-01-01

The emotional trauma of recent events may never go away. A million people were uprooted by Hurricane Katrina, including an estimated 372,000 children of school age. Three weeks later, Hurricane Rita slammed into the Texas-Louisiana coastline, forcing thousands more to evacuate. Acute symptoms of trauma range from confusion, nightmares, and…

Fermilab Today

Science.gov Websites

September 2015 October 2015 November 2015 Classifieds Director's Corner Physics in a Nutshell Frontier Physics Slam gets good rap In Brief: A NALWO Thanksgiving Photo of the Day: Great ball of fire From difference between matter and antimatter From Physics, Nov. 23, 2015: Connecting the Higgs mass with cosmic

Astrophysics on the Lab Bench

ERIC Educational Resources Information Center

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…

40 CFR 58.14 - System modification.

Code of Federal Regulations, 2010 CFR

2010-07-01

...) AMBIENT AIR QUALITY SURVEILLANCE Monitoring Network § 58.14 System modification. (a) The State, or where... monitoring network that complies with the findings of the network assessments required every 5 years by § 58... schedule with respect to the SLAMS network are subject to the approval of the EPA Regional Administrator...

40 CFR 58.14 - System modification.

Code of Federal Regulations, 2011 CFR

2011-07-01

...) AMBIENT AIR QUALITY SURVEILLANCE Monitoring Network § 58.14 System modification. (a) The State, or where... monitoring network that complies with the findings of the network assessments required every 5 years by § 58... schedule with respect to the SLAMS network are subject to the approval of the EPA Regional Administrator...

40 CFR 58.11 - Network technical requirements.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 40 Protection of Environment 5 2010-07-01 2010-07-01 false Network technical requirements. 58.11... (CONTINUED) AMBIENT AIR QUALITY SURVEILLANCE Monitoring Network § 58.11 Network technical requirements. (a)(1... A to this part when operating the SLAMS networks. (2) Beginning January 1, 2009, State and local...

40 CFR 58.11 - Network technical requirements.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 40 Protection of Environment 5 2011-07-01 2011-07-01 false Network technical requirements. 58.11... (CONTINUED) AMBIENT AIR QUALITY SURVEILLANCE Monitoring Network § 58.11 Network technical requirements. (a)(1... A to this part when operating the SLAMS networks. (2) Beginning January 1, 2009, State and local...

Structural Influence of Dynamics of Bottom Loads

DTIC Science & Technology

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

COMPARISON OF OZONE INDICATORS MONITORED AT CASTNET AND RURALLY - DESIGNATED SLAMS SITES

EPA Science Inventory

Many water-bodies within the United States are contaminated by non-point source (NPS) pollution, which is defined as those materials posing a threat to water quality arising from a number of individual sources and diffused through hydrologic 13romses. One such NPS pollutant is fe...

Problem-solving tools for analyzing system problems. The affinity map and the relationship diagram.

PubMed

Lepley, C J

1998-12-01

The author describes how to use two management tools, an affinity map and a relationship diagram, to define and analyze aspects of a complex problem in a system. The affinity map identifies the key influencing elements of the problem, whereas the relationship diagram helps to identify the area that is the most important element of the issue. Managers can use the tools to draw a map of problem drivers, graphically display the drivers in a diagram, and use the diagram to develop a cause-and-effect relationship.

Using Digital Mapping Tool in Ill-Structured Problem Solving

ERIC Educational Resources Information Center

Bai, Hua

2013-01-01

Scaffolding students' problem solving and helping them to improve problem solving skills are critical in instructional design courses. This study investigated the effects of students' uses of a digital mapping tool on their problem solving performance in a design case study. It was found that the students who used the digital mapping tool…

Automatic Recognition of Indoor Navigation Elements from Kinect Point Clouds

NASA Astrophysics Data System (ADS)

Zeng, L.; Kang, Z.

2017-09-01

This paper realizes automatically the navigating elements defined by indoorGML data standard - door, stairway and wall. The data used is indoor 3D point cloud collected by Kinect v2 launched in 2011 through the means of ORB-SLAM. By contrast, it is cheaper and more convenient than lidar, but the point clouds also have the problem of noise, registration error and large data volume. Hence, we adopt a shape descriptor - histogram of distances between two randomly chosen points, proposed by Osada and merges with other descriptor - in conjunction with random forest classifier to recognize the navigation elements (door, stairway and wall) from Kinect point clouds. This research acquires navigation elements and their 3-d location information from each single data frame through segmentation of point clouds, boundary extraction, feature calculation and classification. Finally, this paper utilizes the acquired navigation elements and their information to generate the state data of the indoor navigation module automatically. The experimental results demonstrate a high recognition accuracy of the proposed method.

A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots.

PubMed

Sherwin, Tyrone; Easte, Mikala; Chen, Andrew Tzer-Yeu; Wang, Kevin I-Kai; Dai, Wenbin

2018-02-14

Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS) is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM) and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system.

A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots

PubMed Central

Sherwin, Tyrone; Easte, Mikala; Wang, Kevin I-Kai; Dai, Wenbin

2018-01-01

Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS) is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM) and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system. PMID:29443906

Vision Based SLAM in Dynamic Scenes

DTIC Science & Technology

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

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

ERIC Educational Resources Information Center

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…

Just "Slammin!" Adolescents' Construction of Identity through Performance Poetry

ERIC Educational Resources Information Center

Rudd, Lynn L.

2012-01-01

Using a case study design, this study investigated the literacy identity, both collectively and individually, of the members of "Slammin!", a slam poetry team from an urban high school. Participant observation of practices and performances was used to find how the involvement in this group uniquely impacted students' academic and personal lives.…

The Saint Louis River Idea-Slam crowd sourcing good ideas for the Saint Louis River

EPA Science Inventory

As part of the 2017 Saint Louis River Summit, we propose hosting an “Idea-Slam” using software originally developed by the U.S. Consumer Financial Protection Bureau. Idea-box is an open source online app/website used to collect and surface ideas from members of an or...

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

DTIC Science & Technology

2013-05-17

Vibration Handbook Fourth Edition”, McGraw Hill, New York, Chicago , San Francisco, 1996 29. Riley, M., Coats, T., Haupt, K., Jacobson, D., “The...United States Coast Guard Office of Boat Forces, CG 731 2100 Second Street, SW STOP 356 Washington, DC 20593-7356 Attn: David Shepard

Automated Driftmeter Fused with Inertial Navigation

DTIC Science & Technology

2014-03-27

6 IMU Inertial Measurement Unit . . . . . . . . . . . . . . . . . . . . . . . 7 SLAM Simultaneous...timing lines to remain horizontal at all times, regardless of turbulence and within 20 degrees of roll , pitch, and yaw of the aircraft. It had two...introduced in 1960 [2]. The Kalman filter algorithm has been used to merge inertial navigational data from Inertial Measurement Units ( IMU ) with

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

Code of Federal Regulations, 2010 CFR

2010-07-01

... quality system in terms of the organizational structure, functional responsibilities of management and... more stringent requirements. Monitoring organizations may, based on their quality objectives, develop... infrequent work with EPA funds may combine the QMP with the QAPP based on negotiations with the funding...

Sensible Driving Saves More Gas than Drivers Think

DOE Office of Scientific and Technical Information (OSTI.GOV)

None

It’s common knowledge that driving aggressively can dent gas mileage, but it’s difficult to determine exactly how much gas drivers waste. A new study by researchers at the Department of Energy’s Oak Ridge National Laboratory has quantified the impact speeding and slamming on the brakes has on fuel economy and consumption.

School Construction Summer Slam

ERIC Educational Resources Information Center

Jensen, Richard F.

2012-01-01

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

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

PubMed

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.

Preparing African Americans for careers in health care: the Jackson Heart Study.

PubMed

Srinivasan, Asoka; Brown, James; Fahmy, Nimr; Heitman, Elizabeth; Singh, Madhu; Szklo, Moyses; Taylor, Herman; White, Wendy

2005-01-01

The Jackson Heart Study Undergraduate Training Center (UTC) at Tougaloo College was developed to increase the numbers of African-American students entering public health and health related fields. The UTC includes a scholars program for undergraduate students at Tougaloo College, three four-week programs for high school students called the SLAM (science, language arts, and mathematics) workshops, and an introductory epidemiology course for healthcare professionals and graduate students. The scholars program recruits 12 Tougaloo College freshmen annually for the duration of their undergraduate education. As of the 2005 summer, 512 students have enrolled in the SLAM workshops. The introduction to epidemiology course has provided training for 155 individuals from 1999 to 2004. This paper documents the need for this program based on the conspicuously small proportion of African Americans who are health practitioners in Mississippi. The content and selection process for each program is described, and a summary of the enrollment history, characteristics of the program participants, and their accomplishments is presented. Finally, the methods of program assessment and tracking are discussed.

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

NASA Astrophysics Data System (ADS)

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.

Numerical simulation of the wave-induced non-linear bending moment of ships

DOE Office of Scientific and Technical Information (OSTI.GOV)

Xia, J.; Wang, Z.; Gu, X.

1995-12-31

Ships traveling in moderate or rough seas may experience non-linear bending moments due to flare effect and slamming loads. The numerical simulation of the total wave-induced bending moment contributed from both the wave frequency component induced by wave forces and the high frequency whipping component induced by slamming actions is very important in predicting the responses and ensuring the safety of the ship in rough seas. The time simulation is also useful for the reliability analysis of ship girder strength. The present paper discusses four different methods of the numerical simulation of wave-induced non-linear vertical bending moment of ships recentlymore » developed in CSSRC, including the hydroelastic integral-differential method (HID), the hydroelastic differential analysis method (HDA), the combined seakeeping and structural forced vibration method (CSFV), and the modified CSFV method (MCSFV). Numerical predictions are compared with the experimental results obtained from the elastic ship model test of S-175 container ship in regular and irregular waves presented by Watanabe Ueno and Sawada (1989).« less

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

NASA Astrophysics Data System (ADS)

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

2017-10-01

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

The adaptor protein SAP directly associates with PECAM-1 and regulates PECAM-1-mediated-cell adhesion in T-like cell lines.

PubMed

Proust, Richard; Crouin, Catherine; Gandji, Leslie Yewakon; Bertoglio, Jacques; Gesbert, Franck

2014-04-01

SAP is a small cytosolic adaptor protein expressed in hematopoietic lineages whose main function is to regulate intracellular signaling pathways induced by the triggering of members of the SLAM receptor family. In this paper, we have identified the adhesion molecule PECAM-1 as a new partner for SAP in a conditional yeast two-hybrid screen. PECAM-1 is an immunoglobulin-like molecule expressed by endothelial cells and leukocytes, which possesses both pro- and anti-inflammatory properties. However, little is known about PECAM-1 functions in T cells. We show that SAP directly and specifically interacts with the cytosolic tyrosine 686 of PECAM-1. We generated different T-like cell lines in which SAP or PECAM-1 are expressed or down modulated and we demonstrate that a diminished SAP expression correlates with a diminished PECAM-1-mediated adhesion. Although SAP has mainly been shown to associate with SLAM receptors, we evidence here that SAP is a new actor downstream of PECAM-1. Copyright © 2013 Elsevier Ltd. All rights reserved.

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

PubMed

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.

A Direct Mapping of Max k-SAT and High Order Parity Checks to a Chimera Graph

PubMed Central

Chancellor, N.; Zohren, S.; Warburton, P. A.; Benjamin, S. C.; Roberts, S.

2016-01-01

We demonstrate a direct mapping of max k-SAT problems (and weighted max k-SAT) to a Chimera graph, which is the non-planar hardware graph of the devices built by D-Wave Systems Inc. We further show that this mapping can be used to map a similar class of maximum satisfiability problems where the clauses are replaced by parity checks over potentially large numbers of bits. The latter is of specific interest for applications in decoding for communication. We discuss an example in which the decoding of a turbo code, which has been demonstrated to perform near the Shannon limit, can be mapped to a Chimera graph. The weighted max k-SAT problem is the most general class of satisfiability problems, so our result effectively demonstrates how any satisfiability problem may be directly mapped to a Chimera graph. Our methods faithfully reproduce the low energy spectrum of the target problems, so therefore may also be used for maximum entropy inference. PMID:27857179

Parallel algorithms for mapping pipelined and parallel computations

NASA Technical Reports Server (NTRS)

Nicol, David M.

1988-01-01

Many computational problems in image processing, signal processing, and scientific computing are naturally structured for either pipelined or parallel computation. When mapping such problems onto a parallel architecture it is often necessary to aggregate an obvious problem decomposition. Even in this context the general mapping problem is known to be computationally intractable, but recent advances have been made in identifying classes of problems and architectures for which optimal solutions can be found in polynomial time. Among these, the mapping of pipelined or parallel computations onto linear array, shared memory, and host-satellite systems figures prominently. This paper extends that work first by showing how to improve existing serial mapping algorithms. These improvements have significantly lower time and space complexities: in one case a published O(nm sup 3) time algorithm for mapping m modules onto n processors is reduced to an O(nm log m) time complexity, and its space requirements reduced from O(nm sup 2) to O(m). Run time complexity is further reduced with parallel mapping algorithms based on these improvements, which run on the architecture for which they create the mappings.

Clinical composite measures of disease activity and damage used to evaluate patients with systemic lupus erythematosus: A systematic literature review.

PubMed

Castrejón, Isabel; Rúa-Figueroa, Iñigo; Rosario, María Piedad; Carmona, Loreto

2014-01-01

To determine the most appropriate indices to evaluate the disease activity and damage in patients with sytemic lupus erythematosus (SLE). A systematic literature search was performed to identify validation studies of indices used to evaluate disease activity and damage. We collected information for each instrument on every aspect of validation including feasibility, reliability, validity and sensitivity to change using ad hoc forms. A total of 38 articles were included addressing the validation of 6 composite indices to evaluate disease activity (BILAG, ECLAM, SLAM, SLEDAI, LAI and SLAQ); and 3 indices to evaluate damage (SLICC/ACE-DI, LDIQ and BILD). Only the SLAQ, LIDIQ and the BILD were self-administered. Feasibility and internal consistency was only studied in 3 indices (BILAG, SLAQ and SDI) with a Cronbach's α ranging from 0.35 to 0.87. The intra-observer reliability was examined by the intraclass correlation coefficient for BILAG with a result of 0.48 (95%CI: 0,23-0,81) and using analysis of variance for SLAM-R (0,78), SLEDAI (0,33) and the LAI (0,81). The inter-observer feasibility was evaluated using the correlation coefficient for ECLAM (0,90-0,93), the SLAM (0,86) and MEX-SLEDAI (0,97-0,89). The construct validity was examined by means of convergence with other instruments, specifically with global assessment by the physician, with similar results between indices (0,48-0,75). Lastly, responsiveness was tested in all indices except LAI, SDI and LDIQ, with a standardized response mean ranging from 0.12 to 0.75. Although multiple instruments have been validated for use in SLE it was not possible to find direct evidence of which is the most appropriate. BILAG and SLEDAI, with moderate feasibility and low responsiveness, are the 2 indices with a most complete validation and more extensively used. Copyright © 2013 Elsevier España, S.L.U. All rights reserved.

Solving Navigational Uncertainty Using Grid Cells on Robots

PubMed Central

Milford, Michael J.; Wiles, Janet; Wyeth, Gordon F.

2010-01-01

To successfully navigate their habitats, many mammals use a combination of two mechanisms, path integration and calibration using landmarks, which together enable them to estimate their location and orientation, or pose. In large natural environments, both these mechanisms are characterized by uncertainty: the path integration process is subject to the accumulation of error, while landmark calibration is limited by perceptual ambiguity. It remains unclear how animals form coherent spatial representations in the presence of such uncertainty. Navigation research using robots has determined that uncertainty can be effectively addressed by maintaining multiple probabilistic estimates of a robot's pose. Here we show how conjunctive grid cells in dorsocaudal medial entorhinal cortex (dMEC) may maintain multiple estimates of pose using a brain-based robot navigation system known as RatSLAM. Based both on rodent spatially-responsive cells and functional engineering principles, the cells at the core of the RatSLAM computational model have similar characteristics to rodent grid cells, which we demonstrate by replicating the seminal Moser experiments. We apply the RatSLAM model to a new experimental paradigm designed to examine the responses of a robot or animal in the presence of perceptual ambiguity. Our computational approach enables us to observe short-term population coding of multiple location hypotheses, a phenomenon which would not be easily observable in rodent recordings. We present behavioral and neural evidence demonstrating that the conjunctive grid cells maintain and propagate multiple estimates of pose, enabling the correct pose estimate to be resolved over time even without uniquely identifying cues. While recent research has focused on the grid-like firing characteristics, accuracy and representational capacity of grid cells, our results identify a possible critical and unique role for conjunctive grid cells in filtering sensory uncertainty. We anticipate our study to be a starting point for animal experiments that test navigation in perceptually ambiguous environments. PMID:21085643

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

PubMed Central

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

Determining the Exchangeability of Concept Map and Problem-Solving Essay Scores

ERIC Educational Resources Information Center

Hollenbeck, Keith; Twyman, Todd; Tindal, Gerald

2006-01-01

This study investigated the score exchangeability of concept maps with problem-solving essays. Of interest was whether sixth-grade students' concept maps predicted their scores on essay responses that used concept map content. Concept maps were hypothesized to be alternatives to performance assessments for content-area domain knowledge in science.…

Reliable Radiation Hybrid Maps: An Efficient Scalable Clustering-based Approach

USDA-ARS?s Scientific Manuscript database

The process of mapping markers from radiation hybrid mapping (RHM) experiments is equivalent to the traveling salesman problem and, thereby, has combinatorial complexity. As an additional problem, experiments typically result in some unreliable markers that reduce the overall quality of the map. We ...

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

ERIC Educational Resources Information Center

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…

Comparison of Selection Procedures and Validation of Criterion Used in Selection of Significant Control Variates of a Simulation Model

DTIC Science & Technology

1990-03-01

and M.H. Knuter. Applied Linear Regression Models. Homewood IL: Richard D. Erwin Inc., 1983. Pritsker, A. Alan B. Introduction to Simulation and SLAM...Control Variates in Simulation," European Journal of Operational Research, 42: (1989). Neter, J., W. Wasserman, and M.H. Xnuter. Applied Linear Regression Models

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

ERIC Educational Resources Information Center

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…

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

ERIC Educational Resources Information Center

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…

78 FR 73173 - Endangered and Threatened Wildlife and Plants; Listing the Straight-Horned Markhor as Threatened...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-12-05

... Club, African Safari Club of Florida, The Conklin Foundation, Grand Slam Club/Ovis, Wild Sheep... had reached a critical level, estimated at fewer than 200 (Ahmed et al. 2001, p. 4; Johnson 1994b, p... the markhor at the species level (Capra falconeri) was transferred from CITES Appendix II to Appendix...

40 CFR 58.20 - Special purpose monitors (SPM).

Code of Federal Regulations, 2010 CFR

2010-07-01

... Administrator will not base a NAAQS violation determination for the PM2.5 or ozone NAAQS solely on data from the... discontinuation of the monitor as a SLAMS site. (b) Any SPM data collected by an air monitoring agency using a... monitoring agency's data objectives are inconsistent with those requirements. Data collected at an SPM using...

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

DTIC Science & Technology

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

Fermilab Education Office - Director's Award

Science.gov Websites

. He has given Ask-A-Scientist lectures, talked at the Family Open House, performed in the Physics Slam , and given tours for Saturday Morning Physics. He is active in our K–12 programs and beyond by Saturday Morning Physics program has engendered a love of physics in thousands of high school students

An Ex-Soldier Finds a New Mission

ERIC Educational Resources Information Center

Sander, Libby

2012-01-01

Matthew Reilly's roundabout journey to college took a painful, decisive turn after a nighttime crash in Iraq. In 2008, six months into his first combat tour with the Army, Mr. Reilly and nine soldiers from his platoon were pursuing an insurgent when their armored fighting vehicle slammed into a roadblock. It was 2 o'clock in the morning, and fresh…

Slam and the Citizen Orator: Teaching Civic Oration and Engagement through Spoken Word

ERIC Educational Resources Information Center

Wells, Celeste C.; DeLeon, Daniel

2015-01-01

The activity described in this paper was developed in response to the experience of teaching a large lecture introduction course to freshman and sophomore undergraduates called "The Rhetorical Tradition." This course covers, roughly, the last 2500 years of rhetoric. One of the issues faced in this course is that students struggle to…

Towards a Pedagogical Model for Science Education: Bridging Educational Contexts through a Blended Learning Approach

ERIC Educational Resources Information Center

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 changes in society and education (e.g.…

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

Code of Federal Regulations, 2014 CFR

2014-07-01

... monitor. 3.3.4.4Pb Performance Evaluation Program (PEP) Procedures. Each year, one performance evaluation... Information 2. Quality System Requirements 3. Measurement Quality Check Requirements 4. Calculations for Data... 10 of this appendix) and at a national level in references 1, 2, and 3 of this appendix. 1...

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

Code of Federal Regulations, 2013 CFR

2013-07-01

... monitor. 3.3.4.4Pb Performance Evaluation Program (PEP) Procedures. Each year, one performance evaluation... Information 2. Quality System Requirements 3. Measurement Quality Check Requirements 4. Calculations for Data... 10 of this appendix) and at a national level in references 1, 2, and 3 of this appendix. 1...

The effects of using concept mapping as an artifact to engender metacognitive thinking in first-year medical students' problem-based learning discussions: A mixed-methods investigation

NASA Astrophysics Data System (ADS)

Shoop, Glenda Hostetter

Attention in medical education is turning toward instruction that not only focuses on knowledge acquisition, but on developing the medical students' clinical problem-solving skills, and their ability to critically think through complex diseases. Metacognition is regarded as an important consideration in how we teach medical students these higher-order, critical thinking skills. This study used a mixed-methods research design to investigate if concept mapping as an artifact may engender metacognitive thinking in the medical student population. Specifically the purpose of the study is twofold: (1) to determine if concept mapping, functioning as an artifact during problem-based learning, improves learning as measured by scores on test questions; and (2) to explore if the process of concept mapping alters the problem-based learning intragroup discussion in ways that show medical students are engaged in metacognitive thinking. The results showed that students in the problem-based learning concept-mapping groups used more metacognitive thinking patterns than those in the problem-based learning discussion-only group, particularly in the monitoring component. These groups also engaged in a higher level of cognitive thinking associated with reasoning through mechanisms-of-action and breaking down complex biochemical and physiologic principals. The students disclosed in focus-group interviews that concept mapping was beneficial to help them understand how discrete pieces of information fit together in a bigger structure of knowledge. They also stated that concept mapping gave them some time to think through these concepts in a larger conceptual framework. There was no significant difference in the exam-question scores between the problem-based learning concept-mapping groups and the problem-based learning discussion-only group.

A scheme of pedagogical problems solving in kinematic to observe toulmin argumentation feasibility

NASA Astrophysics Data System (ADS)

Manurung, Sondang R.; Rustaman, Nuryani Y.; Siregar, Nelson

2013-09-01

The purpose of this study is to determine the students' ability to map out the problem solving. This paper would show a schematic template map used to analyze the students' tasks in performing problem solving pedagogically. Scheme of problem solving map of student was undertaken based on Toulmin Argumentation Pattern (TAP) argumentative discourse. The samples of this study were three work-sheets of physics education students who represented the upper, middle and lower levels of class in one LPTK in Medan. The instrument of this study was an essay test in kinematics topic. The data analyses were performed with schematic template map in order to know the students' ability in mapping the problem solving. The results showed that the student in the Upper level of class followed the appropriate direction pattern, while two others students could not followed the pattern exactly.

The Impact of Concept Mapping on the Process of Problem-Based Learning

ERIC Educational Resources Information Center

Zwaal, Wichard; Otting, Hans

2012-01-01

A concept map is a graphical tool to activate and elaborate on prior knowledge, to support problem solving, promote conceptual thinking and understanding, and to organize and memorize knowledge. The aim of this study is to determine if the use of concept mapping (CM) in a problem-based learning (PBL) curriculum enhances the PBL process. The paper…

Efficient Decoding of Compressed Data.

ERIC Educational Resources Information Center

Bassiouni, Mostafa A.; Mukherjee, Amar

1995-01-01

Discusses the problem of enhancing the speed of Huffman decoding of compressed data. Topics addressed include the Huffman decoding tree; multibit decoding; binary string mapping problems; and algorithms for solving mapping problems. (22 references) (LRW)

Gone with the Wind? Integrity and Hurricane Katrina

ERIC Educational Resources Information Center

Lucas, Frances; Katz, Brit

2011-01-01

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

Learning to Control Collisions: The Role of Perceptual Attunement and Action Boundaries

ERIC Educational Resources Information Center

Fajen, Brett R.; Devaney, Michael C.

2006-01-01

The authors investigated the role of perceptual attunement in an emergency braking task in which participants waited until the last possible moment to slam on the brakes. Effects of the size of the approached object and initial speed on the initiation of braking were used to identify the optical variables on which participants relied at various…

Making Hands-On Science Learning Accessible for Students Who Are Blind or Have Low Vision

ERIC Educational Resources Information Center

Supalo, Cary; Isaacson, Mick D.; Lombardi, Michael V.

2014-01-01

The 2011 National Federation of the Blind Youth Slam event at Towson University enabled a large group of blind youth to participate in a five day long science, technology, engineering, and mathematics (STEM) academy. Enrichment experiences such as this one may generate interest in STEM subjects for students with visual impairments. For decades,…

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

ERIC Educational Resources Information Center

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…

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

ERIC Educational Resources Information Center

West, Amanda

2014-01-01

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

"How'd You Come out?": In New Orleans, the Library Serves Despite Struggles, and Help Emerges

ERIC Educational Resources Information Center

Oder, Norman

2006-01-01

In this article, the author describes how the New Orleans Public Library (NOPL) struggled with a fraction of its former staff, limited hours, and a massive fundraising challenge after Hurricane Katrina slammed the Gulf Coast on August 29, 2005. While previously 171 people staffed locations, only 40 employees plus a smaller--and shifting--cadre of…

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

ERIC Educational Resources Information Center

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…

Quest Trial Q348: Evaluation of WaMoS II Data

DTIC Science & Technology

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

The Origins of the Transformation of the Defense Language Program

ERIC Educational Resources Information Center

Raugh, Harold E., Jr.

2006-01-01

The horrific events of 11 September 2001, when four hijacked jetliners crashed into and collapsed the twin-towered World Trade Center in New York, slammed into the Pentagon, and nose-dived into a field in rural Pennsylvania (ostensibly on a mission to destroy the U.S. Capitol or the White House), have been indelibly etched into the nation's…

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

ERIC Educational Resources Information Center

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…

Compassion Is Dissent: The Institute for the Art and Practice of Dissent at Home

ERIC Educational Resources Information Center

Research in Drama Education, 2017

2017-01-01

Following the devastating result of the May 2015 general election in the UK, the Institute for the Art and Practice of Dissent at Home organised "Compassion is dissent: Manifesto Slam." It put out an open call for participants, asking them to bring a three-minute manifesto as means of admission to the event. Here, the Institute showcases…

Swinging Open or Slamming Shut? The Implications of China's Open-Door Policy for Women, Educational Choice and Work

ERIC Educational Resources Information Center

Turner, Yvonne

2006-01-01

This paper explores the link between international tertiary education and evolving attitudes about women and work in China. The paper reviews literature about gender and education in China, commenting on the late-twentieth-century post-reform environment. It goes on to present illustrative primary research material from two studies carried out…

Remembering Kate and Kathy: Two Passionate Youth Librarians Leave Behind a Lasting Legacy

ERIC Educational Resources Information Center

Smith, Vicky

2009-01-01

For children's book lovers, the world was infinitely glorious on Monday, January 26, 2009, as the winners of the American Library Association's (ALA) awards were announced at the midwinter meeting in Denver. But two days later, a drunk driver slammed into a taxicab, killing two children's librarians as they were on their way to the Denver…

Exploring Students' Mapping Behaviors and Interactive Discourses in a Case Diagnosis Problem: Sequential Analysis of Collaborative Causal Map Drawing Processes

ERIC Educational Resources Information Center

Lee, Woon Jee

2012-01-01

The purpose of this study was to explore the nature of students' mapping and discourse behaviors while constructing causal maps to articulate their understanding of a complex, ill-structured problem. In this study, six graduate-level students were assigned to one of three pair groups, and each pair used the causal mapping software program,…

The Implementation of Physics Problem Solving Strategy Combined with Concept Map in General Physics Course

NASA Astrophysics Data System (ADS)

Hidayati, H.; Ramli, R.

2018-04-01

This paper aims to provide a description of the implementation of Physic Problem Solving strategy combined with concept maps in General Physics learning at Department of Physics, Universitas Negeri Padang. Action research has been conducted in two cycles where each end of the cycle is reflected and improved for the next cycle. Implementation of Physics Problem Solving strategy combined with concept map can increase student activity in solving general physics problem with an average increase of 15% and can improve student learning outcomes from 42,7 in the cycle I become 62,7 in cycle II in general physics at the Universitas Negeri Padang. In the future, the implementation of Physic Problem Solving strategy combined with concept maps will need to be considered in Physics courses.

Error Checking and Graphical Representation of Multiple–Complete–Digest (MCD) Restriction-Fragment Maps

PubMed Central

Thayer, Edward C.; Olson, Maynard V.; Karp, Richard M.

1999-01-01

Genetic and physical maps display the relative positions of objects or markers occurring within a target DNA molecule. In constructing maps, the primary objective is to determine the ordering of these objects. A further objective is to assign a coordinate to each object, indicating its distance from a reference end of the target molecule. This paper describes a computational method and a body of software for assigning coordinates to map objects, given a solution or partial solution to the ordering problem. We describe our method in the context of multiple–complete–digest (MCD) mapping, but it should be applicable to a variety of other mapping problems. Because of errors in the data or insufficient clone coverage to uniquely identify the true ordering of the map objects, a partial ordering is typically the best one can hope for. Once a partial ordering has been established, one often seeks to overlay a metric along the map to assess the distances between the map objects. This problem often proves intractable because of data errors such as erroneous local length measurements (e.g., large clone lengths on low-resolution physical maps). We present a solution to the coordinate assignment problem for MCD restriction-fragment mapping, in which a coordinated set of single-enzyme restriction maps are simultaneously constructed. We show that the coordinate assignment problem can be expressed as the solution of a system of linear constraints. If the linear system is free of inconsistencies, it can be solved using the standard Bellman–Ford algorithm. In the more typical case where the system is inconsistent, our program perturbs it to find a new consistent system of linear constraints, close to those of the given inconsistent system, using a modified Bellman–Ford algorithm. Examples are provided of simple map inconsistencies and the methods by which our program detects candidate data errors and directs the user to potential suspect regions of the map. PMID:9927487

Neuropsychiatric lupus: the prevalence and autoantibody associations depend on the definition: results from the 1000 faces of lupus cohort.

PubMed

Borowoy, Alan M; Pope, Janet E; Silverman, Earl; Fortin, Paul R; Pineau, Christian; Smith, C Douglas; Arbillaga, Hector; Gladman, Dafna; Urowitz, Murray; Zummer, Michel; Hudson, Marie; Tucker, Lori; Peschken, Christine

2012-10-01

The (ever) prevalence of neuropsychiatric systemic lupus erythematosus (NPSLE) can vary widely depending on the definition used. We determined the prevalence of NPSLE in 1000 Faces of Lupus, a large multicenter Canadian cohort. Adults enrolled at 10 sites who satisfied the American College of Rheumatology (ACR) classification for systemic lupus erythematosus (SLE) were included. NPSLE was defined as (i) NPSLE by ACR classification criteria (seizures or psychosis), (ii) ACR, SLEDAI (seizure, psychosis, organic brain syndrome, cranial nerve disorder, headache, and cerebrovascular accident (CVA)), SLAM (CVA, seizure, cortical dysfunction, and headache), and SLICC (cognitive impairment, psychosis, seizures, CVA, cranial or peripheral neuropathy, and transverse myelitis) with and (iii) without minor nonspecific NPSLE manifestations (including mild depression, mild cognitive impairment, and electromyogram-negative neuropathies), and (iv) by ACR and SLEDAI neuropsychiatric (NP) indexes alone. Factors associated with NPSLE were explored using regression models. Cohort size was 1253, with mean disease 12 ± 10 years, mean age 41 ± 16 years, and 86% female. Subgroup size was dependent on the specific definition of NPSLE. Prevalence of NPSLE was 6.4% in group (i), n = 1253 (n = 80); 38.6% in group (ii), n = 681(n = 263); 28.7% in group (iii), n = 586 (n = 168); and 10.2% in group (iv), n = 1125 (n = 115). In univariate analysis, Aboriginals had a nearly 2-fold increase in frequency of NPSLE in all groups. Education level and income were not associated with NPSLE (P = 0.32 and 0.03, respectively). As well, number of ACR criteria, SLAM, age at diagnosis, disease duration, and gender were not associated with NPSLE. Anti-Ro was significantly associated in groups (i) and (iv) and antiphospholipid antibodies (aPL) were increased in groups (i), (ii), and (iii); however, this lost significance when thromboembolic events were excluded from SLICC, SLEDAI, and SLAM indexes. In group (iv), absence of anti-Sm was significant. In multivariate analysis, anti-Ro and aPL (i) and anti-Ro+ and lack of anti-Sm (iv) were significant. NPSLE was not increased in those with +anti-DNA, La, or ribonucleoprotein (RNP), lupus anticoagulant (LAC), or anticardiolipin (aCL) antibody. The prevalence and factors associated with NPSLE varied depending on the definition used, was highest in Aboriginals, and may be higher if +anti-Ro or aPL are present. SLAM and SLICC include mild subjective disease manifestations, which contributed to a 10% higher prevalence of NPSLE compared to a more strict definition. NPSLE may be less in this database than other publications as its overall prevalence may be decreasing, or because of selection bias inherent to those who enter an observational cohort. NPSLE was associated with aPL and often anti-Ro and varied by ethnicity. Copyright © 2012 Elsevier Inc. All rights reserved.

Allothetic and idiothetic sensor fusion in rat-inspired robot localization

NASA Astrophysics Data System (ADS)

Weitzenfeld, Alfredo; Fellous, Jean-Marc; Barrera, Alejandra; Tejera, Gonzalo

2012-06-01

We describe a spatial cognition model based on the rat's brain neurophysiology as a basis for new robotic navigation architectures. The model integrates allothetic (external visual landmarks) and idiothetic (internal kinesthetic information) cues to train either rat or robot to learn a path enabling it to reach a goal from multiple starting positions. It stands in contrast to most robotic architectures based on SLAM, where a map of the environment is built to provide probabilistic localization information computed from robot odometry and landmark perception. Allothetic cues suffer in general from perceptual ambiguity when trying to distinguish between places with equivalent visual patterns, while idiothetic cues suffer from imprecise motions and limited memory recalls. We experiment with both types of cues in different maze configurations by training rats and robots to find the goal starting from a fixed location, and then testing them to reach the same target from new starting locations. We show that the robot, after having pre-explored a maze, can find a goal with improved efficiency, and is able to (1) learn the correct route to reach the goal, (2) recognize places already visited, and (3) exploit allothetic and idiothetic cues to improve on its performance. We finally contrast our biologically-inspired approach to more traditional robotic approaches and discuss current work in progress.

Combining Techniques to Refine Item to Skills Q-Matrices with a Partition Tree

ERIC Educational Resources Information Center

Desmarais, Michel C.; Xu, Peng; Beheshti, Behzad

2015-01-01

The problem of mapping items to skills is gaining interest with the emergence of recent techniques that can use data for both defining this mapping, and for refining mappings given by experts. We investigate the problem of refining mapping from an expert by combining the output of different techniques. The combination is based on a partition tree…

Accurate construction of consensus genetic maps via integer linear programming.

PubMed

Wu, Yonghui; Close, Timothy J; Lonardi, Stefano

2011-01-01

We study the problem of merging genetic maps, when the individual genetic maps are given as directed acyclic graphs. The computational problem is to build a consensus map, which is a directed graph that includes and is consistent with all (or, the vast majority of) the markers in the input maps. However, when markers in the individual maps have ordering conflicts, the resulting consensus map will contain cycles. Here, we formulate the problem of resolving cycles in the context of a parsimonious paradigm that takes into account two types of errors that may be present in the input maps, namely, local reshuffles and global displacements. The resulting combinatorial optimization problem is, in turn, expressed as an integer linear program. A fast approximation algorithm is proposed, and an additional speedup heuristic is developed. Our algorithms were implemented in a software tool named MERGEMAP which is freely available for academic use. An extensive set of experiments shows that MERGEMAP consistently outperforms JOINMAP, which is the most popular tool currently available for this task, both in terms of accuracy and running time. MERGEMAP is available for download at http://www.cs.ucr.edu/~yonghui/mgmap.html.

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

NASA Astrophysics Data System (ADS)

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.

Good Teachers (the Movie You Will Never See)

ERIC Educational Resources Information Center

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…

Help Kids Stay Safe on the Playground | DoDLive

Science.gov Websites

. One day, as I zoomed past another kid on this imaginary rink, I lost my balance, hit the ice face -first and shot like a hockey puck across its slippery surface before slamming into a chain link fence one else knows I have a fake front tooth, but I am reminded every day of that playground injury many

Quashing ownership: health reform law bans new physician-owned hospitals.

PubMed

Ortolon, Ken

2010-08-01

With nearly 70 Texas hospitals with some type of physician investment, the state is a national leader in the physician-owned hospital industry. And, members of that industry say it has been good for patients. But the health system reform law Congress passed earlier this year slams the door on new physician-owned hospitals by prohibiting them from obtaining a Medicare provider number.

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

Treesearch

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

2015-01-01

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

Intelligent Behavioral Action Aiding for Improved Autonomous Image Navigation

DTIC Science & Technology

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

Handheld Synthetic Array Final Report, Part A

DTIC Science & Technology

2014-12-01

Measurement Unit 4/143 IEEE Institute of Electrical and Electronics Engineers KF Kalman Filter KL Kullback - Leibler LAMBDA Least-squares... testing the algorithms for the LOS AN wireless beamforming. Given a good set of feature points, the ego-motion is sufficiently accurate to... of little value to the overall SLAM and the RSS observables are used instead. While individual RSS measurements are low in information value, the

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

Treesearch

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...

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

Code of Federal Regulations, 2011 CFR

2011-07-01

... in section 4.3.1 of this appendix. 3.2.7PM2.5 Performance Evaluation Program (PEP) Procedures. The... evaluation audit means that both the primary monitor and PEP audit concentrations are valid and above 3 µg/m3... Evaluation Program (PEP) Procedures. Each year, one performance evaluation audit, as described in section 3.2...

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

Code of Federal Regulations, 2012 CFR

2012-07-01

... in section 4.3.1 of this appendix. 3.2.7PM2.5 Performance Evaluation Program (PEP) Procedures. The... evaluation audit means that both the primary monitor and PEP audit concentrations are valid and above 3 µg/m3... Evaluation Program (PEP) Procedures. Each year, one performance evaluation audit, as described in section 3.2...

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

ERIC Educational Resources Information Center

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.…

Student Interaction with Campus Help-Givers: Mapping the Network's Efficacy.

ERIC Educational Resources Information Center

Huebner, Lois A.; And Others

Procedures to map the broad outline of student interaction with various help-giving persons and campus agencies were investigated. A sample of 633 undergraduate students completed an 8-part problem-solving questionnaire that identified current problems, problems that previously existed, the 5 most important problems, improvement rates for the most…

Supporting Problem-Solving Performance Through the Construction of Knowledge Maps

ERIC Educational Resources Information Center

Lee, Youngmin; Baylor, Amy L.; Nelson, David W.

2005-01-01

The purpose of this article is to provide five empirically-derived guidelines for knowledge map construction tools that facilitate problem solving. First, the combinational representation principle proposes that conceptual and corresponding procedural knowledge should be represented together (rather than separately) within the knowledge map.…

Can Good Concept Mappers Be Good Problem Solvers in Science?

ERIC Educational Resources Information Center

Okebukola, Peter Akinsola

1992-01-01

Describes a study of concept mapping as a means of learning problem-solving skills. Concludes that the concept mapping subjects were significantly more successful at solving biological test questions than were the controls. Reports no significant differences between cooperative and individual mapping and mixed results for gender. (DK)

The maps problem and the mapping problem: Two challenges for a cognitive neuroscience of speech and language

PubMed Central

Poeppel, David

2012-01-01

Research on the brain basis of speech and language faces theoretical and empirical challenges. The majority of current research, dominated by imaging, deficit-lesion, and electrophysiological techniques, seeks to identify regions that underpin aspects of language processing such as phonology, syntax, or semantics. The emphasis lies on localization and spatial characterization of function. The first part of the paper deals with a practical challenge that arises in the context of such a research program. This maps problem concerns the extent to which spatial information and localization can satisfy the explanatory needs for perception and cognition. Several areas of investigation exemplify how the neural basis of speech and language is discussed in those terms (regions, streams, hemispheres, networks). The second part of the paper turns to a more troublesome challenge, namely how to formulate the formal links between neurobiology and cognition. This principled problem thus addresses the relation between the primitives of cognition (here speech, language) and neurobiology. Dealing with this mapping problem invites the development of linking hypotheses between the domains. The cognitive sciences provide granular, theoretically motivated claims about the structure of various domains (the ‘cognome’); neurobiology, similarly, provides a list of the available neural structures. However, explanatory connections will require crafting computationally explicit linking hypotheses at the right level of abstraction. For both the practical maps problem and the principled mapping problem, developmental approaches and evidence can play a central role in the resolution. PMID:23017085

Constructing a Graphic Organizer in the Classroom: Introductory Students' Perception of Achievement Using a Decision Map to Solve Aqueous Acid-Base Equilibria Problems

ERIC Educational Resources Information Center

DeMeo, Stephen

2007-01-01

Common examples of graphic organizers include flow diagrams, concept maps, and decision trees. The author has created a novel type of graphic organizer called a decision map. A decision map is a directional heuristic that helps learners solve problems within a generic framework. It incorporates questions that the user must answer and contains…

Improved mapping of the travelling salesman problem for quantum annealing

NASA Astrophysics Data System (ADS)

Troyer, Matthias; Heim, Bettina; Brown, Ethan; Wecker, David

2015-03-01

We consider the quantum adiabatic algorithm as applied to the travelling salesman problem (TSP). We introduce a novel mapping of TSP to an Ising spin glass Hamiltonian and compare it to previous known mappings. Through direct perturbative analysis, unitary evolution, and simulated quantum annealing, we show this new mapping to be significantly superior. We discuss how this advantage can translate to actual physical implementations of TSP on quantum annealers.

Relationship of students' conceptual representations and problem-solving abilities in acid-base chemistry

NASA Astrophysics Data System (ADS)

Powers, Angela R.

2000-10-01

This study explored the relationship between secondary chemistry students' conceptual representations of acid-base chemistry, as shown in student-constructed concept maps, and their ability to solve acid-base problems, represented by their score on an 18-item paper and pencil test, the Acid-Base Concept Assessment (ABCA). The ABCA, consisting of both multiple-choice and short-answer items, was originally designed using a question-type by subtopic matrix, validated by a panel of experts, and refined through pilot studies and factor analysis to create the final instrument. The concept map task included a short introduction to concept mapping, a prototype concept map, a practice concept-mapping activity, and the instructions for the acid-base concept map task. The instruments were administered to chemistry students at two high schools; 108 subjects completed both instruments for this study. Factor analysis of ABCA results indicated that the test was unifactorial for these students, despite the intention to create an instrument with multiple "question-type" scales. Concept maps were scored both holistically and by counting valid concepts. The two approaches were highly correlated (r = 0.75). The correlation between ABCA score and concept-map score was 0.29 for holistically-scored concept maps and 0.33 for counted-concept maps. Although both correlations were significant, they accounted for only 8.8 and 10.2% of variance in ABCA scores, respectively. However, when the reliability of the instruments used is considered, more than 20% of the variance in ABCA scores may be explained by concept map scores. MANOVAs for ABCA and concept map scores by instructor, student gender, and year in school showed significant differences for both holistic and counted concept-map scores. Discriminant analysis revealed that the source of these differences was the instruction variable. Significant differences between classes receiving different instruction were found in the frequency of concepts listed by students for 9 of 10 concepts evaluated. Mean ABCA scores did not differ significantly between the two instruction groups. The results of this study failed to provide evidence of conceptual distinctions among different "types" of problem-solving items. The results suggested that several factors influence success in chemistry problem solving, including concept knowledge and organization. Further research into the nature of chemistry problems and problem solving is recommended.

Conformal mapping for multiple terminals

PubMed Central

Wang, Weimin; Ma, Wenying; Wang, Qiang; Ren, Hao

2016-01-01

Conformal mapping is an important mathematical tool that can be used to solve various physical and engineering problems in many fields, including electrostatics, fluid mechanics, classical mechanics, and transformation optics. It is an accurate and convenient way to solve problems involving two terminals. However, when faced with problems involving three or more terminals, which are more common in practical applications, existing conformal mapping methods apply assumptions or approximations. A general exact method does not exist for a structure with an arbitrary number of terminals. This study presents a conformal mapping method for multiple terminals. Through an accurate analysis of boundary conditions, additional terminals or boundaries are folded into the inner part of a mapped region. The method is applied to several typical situations, and the calculation process is described for two examples of an electrostatic actuator with three electrodes and of a light beam splitter with three ports. Compared with previously reported results, the solutions for the two examples based on our method are more precise and general. The proposed method is helpful in promoting the application of conformal mapping in analysis of practical problems. PMID:27830746

Gosses Bluff

NASA Image and Video Library

2017-12-08

August 14th, 2002: Description: 142 million years ago, an asteroid or comet slammed into what is now the Missionary Plains in Australia’s Northern Territory, forming a crater 24 kilometers in diameter and 5 kilometers deep. Today, like a bull’s eye, the circular ring of hills that defines Gosses Bluff stands as a stark reminder of the event. Source: Landsat 7 To learn more about the Landsat satellite go to: landsat.gsfc.nasa.gov/

Smashing Protons to Smithereens

ScienceCinema

Pleier, Marc-André

2018-01-05

Pleier discusses the extraordinary research taking place at the Large Hadron Collider (LHC) — the world’s newest, biggest, and highest energy particle accelerator located at CERN. Pleier is one of hundreds of researchers from around the world working on ATLAS, a seven-story particle detector positioned at a point where the LHC’s oppositely circulating beams of protons slam into one another head-on.

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

DTIC Science & Technology

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

Mining and Exploitation of Rare Earth Elements in Africa as an Engagement Strategy in US Africa Command

DTIC Science & Technology

2011-06-17

rechargeable batteries, cell phones, catalytic converters, fluorescent lights, hybrid vehicle batteries, and other pollution control devices.21 Figure...79 Lee Yong-tim, “South China Villagers Slam Pollution from Rare Earth Mine,” February 22, 2008, http://www.rfa.org/english...writing and implementing new environmental standards. “The rules will limit pollutants allowed in waste water and emissions of radioactive elements

Some personal and historical notes on the utility of "deep-etch" electron microscopy for making cell structure/function correlations.

PubMed

Heuser, John E

2014-11-01

This brief essay talks up the advantages of metal replicas for electron microscopy and explains why they are still the best way to image frozen cells in the electron microscope. Then it explains our approach to freezing, namely the Van Harreveld trick of "slamming" living cells onto a supercold block of metal sprayed with liquid helium at -269ºC, and further talks up this slamming over the alternative of high-pressure freezing, which is much trickier but enjoys greater favor at the moment. This leads me to bemoan the fact that there are not more young investigators today who want to get their hands on electron microscopes and use our approach to get the most "true to life" views of cells out of them with a minimum of hassle. Finally, it ends with a few perspectives on my own career and concludes that, personally, I'm permanently stuck with the view of the "founding fathers" that cell ultrastructure will ultimately display and explain all of cell function, or as Palade said in his Nobel lecture,electron micrographs are "irresistible and half transparent … their meaning buried under only a few years of work," and "reasonable working hypotheses are already suggested by the ultrastructural organization itself." © 2014 Heuser.

Cetacean Morbillivirus: Current Knowledge and Future Directions

PubMed Central

Van Bressem, Marie-Françoise; Duignan, Pádraig J.; Banyard, Ashley; Barbieri, Michelle; Colegrove, Kathleen M; De Guise, Sylvain; Di Guardo, Giovanni; Dobson, Andrew; Domingo, Mariano; Fauquier, Deborah; Fernandez, Antonio; Goldstein, Tracey; Grenfell, Bryan; Groch, Kátia R.; Gulland, Frances; Jensen, Brenda A; Jepson, Paul D; Hall, Ailsa; Kuiken, Thijs; Mazzariol, Sandro; Morris, Sinead E; Nielsen, Ole; Raga, Juan A; Rowles, Teresa K; Saliki, Jeremy; Sierra, Eva; Stephens, Nahiid; Stone, Brett; Tomo, Ikuko; Wang, Jianning; Waltzek, Thomas; Wellehan, James FX

2014-01-01

We review the molecular and epidemiological characteristics of cetacean morbillivirus (CeMV) and the diagnosis and pathogenesis of associated disease, with six different strains detected in cetaceans worldwide. CeMV has caused epidemics with high mortality in odontocetes in Europe, the USA and Australia. It represents a distinct species within the Morbillivirus genus. Although most CeMV strains are phylogenetically closely related, recent data indicate that morbilliviruses recovered from Indo-Pacific bottlenose dolphins (Tursiops aduncus), from Western Australia, and a Guiana dolphin (Sotalia guianensis), from Brazil, are divergent. The signaling lymphocyte activation molecule (SLAM) cell receptor for CeMV has been characterized in cetaceans. It shares higher amino acid identity with the ruminant SLAM than with the receptors of carnivores or humans, reflecting the evolutionary history of these mammalian taxa. In Delphinidae, three amino acid substitutions may result in a higher affinity for the virus. Infection is diagnosed by histology, immunohistochemistry, virus isolation, RT-PCR, and serology. Classical CeMV-associated lesions include bronchointerstitial pneumonia, encephalitis, syncytia, and lymphoid depletion associated with immunosuppression. Cetaceans that survive the acute disease may develop fatal secondary infections and chronic encephalitis. Endemically infected, gregarious odontocetes probably serve as reservoirs and vectors. Transmission likely occurs through the inhalation of aerosolized virus but mother to fetus transmission was also reported. PMID:25533660

MAP Estimators for Piecewise Continuous Inversion

DTIC Science & Technology

2016-08-08

MAP estimators for piecewise continuous inversion M M Dunlop1 and A M Stuart Mathematics Institute, University of Warwick, Coventry, CV4 7AL, UK E...Published 8 August 2016 Abstract We study the inverse problem of estimating a field ua from data comprising a finite set of nonlinear functionals of ua...then natural to study maximum a posterior (MAP) estimators. Recently (Dashti et al 2013 Inverse Problems 29 095017) it has been shown that MAP

Numerical Conformal Mapping Using Cross-Ratios and Delaunay Triangulation

NASA Technical Reports Server (NTRS)

Driscoll, Tobin A.; Vavasis, Stephen A.

1996-01-01

We propose a new algorithm for computing the Riemann mapping of the unit disk to a polygon, also known as the Schwarz-Christoffel transformation. The new algorithm, CRDT, is based on cross-ratios of the prevertices, and also on cross-ratios of quadrilaterals in a Delaunay triangulation of the polygon. The CRDT algorithm produces an accurate representation of the Riemann mapping even in the presence of arbitrary long, thin regions in the polygon, unlike any previous conformal mapping algorithm. We believe that CRDT can never fail to converge to the correct Riemann mapping, but the correctness and convergence proof depend on conjectures that we have so far not been able to prove. We demonstrate convergence with computational experiments. The Riemann mapping has applications to problems in two-dimensional potential theory and to finite-difference mesh generation. We use CRDT to produce a mapping and solve a boundary value problem on long, thin regions for which no other algorithm can solve these problems.

Sparsity-promoting and edge-preserving maximum a posteriori estimators in non-parametric Bayesian inverse problems

NASA Astrophysics Data System (ADS)

Agapiou, Sergios; Burger, Martin; Dashti, Masoumeh; Helin, Tapio

2018-04-01

We consider the inverse problem of recovering an unknown functional parameter u in a separable Banach space, from a noisy observation vector y of its image through a known possibly non-linear map {{\\mathcal G}} . We adopt a Bayesian approach to the problem and consider Besov space priors (see Lassas et al (2009 Inverse Problems Imaging 3 87-122)), which are well-known for their edge-preserving and sparsity-promoting properties and have recently attracted wide attention especially in the medical imaging community. Our key result is to show that in this non-parametric setup the maximum a posteriori (MAP) estimates are characterized by the minimizers of a generalized Onsager-Machlup functional of the posterior. This is done independently for the so-called weak and strong MAP estimates, which as we show coincide in our context. In addition, we prove a form of weak consistency for the MAP estimators in the infinitely informative data limit. Our results are remarkable for two reasons: first, the prior distribution is non-Gaussian and does not meet the smoothness conditions required in previous research on non-parametric MAP estimates. Second, the result analytically justifies existing uses of the MAP estimate in finite but high dimensional discretizations of Bayesian inverse problems with the considered Besov priors.

A Simulated Research Problem for Undergraduate Metamorphic Petrology.

ERIC Educational Resources Information Center

Amenta, Roddy V.

1984-01-01

Presents a laboratory problem in metamorphic petrology designed to simulate a research experience. The problem deals with data on scales ranging from a geologic map to hand specimens to thin sections. Student analysis includes identifying metamorphic index minerals, locating their isograds on the map, and determining the folding sequence. (BC)

Example-based learning: comparing the effects of additionally providing three different integrative learning activities on physiotherapy intervention knowledge.

PubMed

Dyer, Joseph-Omer; Hudon, Anne; Montpetit-Tourangeau, Katherine; Charlin, Bernard; Mamede, Sílvia; van Gog, Tamara

2015-03-07

Example-based learning using worked examples can foster clinical reasoning. Worked examples are instructional tools that learners can use to study the steps needed to solve a problem. Studying worked examples paired with completion examples promotes acquisition of problem-solving skills more than studying worked examples alone. Completion examples are worked examples in which some of the solution steps remain unsolved for learners to complete. Providing learners engaged in example-based learning with self-explanation prompts has been shown to foster increased meaningful learning compared to providing no self-explanation prompts. Concept mapping and concept map study are other instructional activities known to promote meaningful learning. This study compares the effects of self-explaining, completing a concept map and studying a concept map on conceptual knowledge and problem-solving skills among novice learners engaged in example-based learning. Ninety-one physiotherapy students were randomized into three conditions. They performed a pre-test and a post-test to evaluate their gains in conceptual knowledge and problem-solving skills (transfer performance) in intervention selection. They studied three pairs of worked/completion examples in a digital learning environment. Worked examples consisted of a written reasoning process for selecting an optimal physiotherapy intervention for a patient. The completion examples were partially worked out, with the last few problem-solving steps left blank for students to complete. The students then had to engage in additional self-explanation, concept map completion or model concept map study in order to synthesize and deepen their knowledge of the key concepts and problem-solving steps. Pre-test performance did not differ among conditions. Post-test conceptual knowledge was higher (P < .001) in the concept map study condition (68.8 ± 21.8%) compared to the concept map completion (52.8 ± 17.0%) and self-explanation (52.2 ± 21.7%) conditions. Post-test problem-solving performance was higher (P < .05) in the self-explanation (63.2 ± 16.0%) condition compared to the concept map study (53.3 ± 16.4%) and concept map completion (51.0 ± 13.6%) conditions. Students in the self-explanation condition also invested less mental effort in the post-test. Studying model concept maps led to greater conceptual knowledge, whereas self-explanation led to higher transfer performance. Self-explanation and concept map study can be combined with worked example and completion example strategies to foster intervention selection.

Applying Computerized Concept Maps in Guiding Pupils to Reason and Solve Mathematical Problems: The Design Rationale and Effect

ERIC Educational Resources Information Center

Chen, I-Ching; Hu, Shueh-Cheng

2013-01-01

The capability of solving fundamental mathematical problems is essential to elementary school students; however instruction based on ordinary narration usually perplexes students. Concept mapping is well known for its effectiveness on assimilating and organizing knowledge, which is essential to meaningful learning. A variety of concept map-based…

Grid generation using classical techniques

NASA Technical Reports Server (NTRS)

Moretti, G.

1980-01-01

A brief historical review of conformal mapping and its applications to problems in fluid mechanics and electromagnetism is presented. The use of conformal mapping as a grid generator is described. The philosophy of the 'closed form' approach and its application to a Neumann problem is discussed. Karman-Trefftz mappings and grids for ablated, three dimensional bodies are also discussed.

An embodied perspective on expertise in solving the problem of making a geologic map

NASA Astrophysics Data System (ADS)

Callahan, Caitlin Norah

The task of constructing a geologic map is a cognitively and physically demanding field-based problem. The map produced is understood to be an individual's two-dimensional interpretation or mental model of the three-dimensional underlying geology. A popular view within the geoscience community is that teaching students how to make a geologic map is valuable for preparing them to deal with disparate and incomplete data sets, for helping them develop problem-solving skills, and for acquiring expertise in geology. Few previous studies have focused specifically on expertise in geologic mapping. Drawing from literature related to expertise, to problem solving, and to mental models, two overarching research questions were identified: How do geologists of different levels of expertise constrain and solve an ill-structured problem such as making a geologic map? How do geologists address the uncertainties inherent to the processes and interpretations involved in solving a geologic mapping problem? These questions were answered using a methodology that captured the physical actions, expressed thoughts, and navigation paths of geologists as they made a geologic map. Eight geologists, from novice to expert, wore a head-mounted video camera with an attached microphone to record those actions and thoughts, creating "video logs" while in the field. The video logs were also time-stamped, which allowed the visual and audio data to be synchronized with the GPS data that tracked participants' movements in the field. Analysis of the video logs yielded evidence that all eight participants expressed thoughts that reflected the process of becoming mentally situated in the mapping task (e.g. relating between distance on a map and distance in three-dimensional space); the prominence of several of these early thoughts waned in the expressed thoughts later in the day. All participants collected several types of data while in the field; novices, however, did so more continuously throughout the day whereas the experts collected more of their data earlier in the day. Experts and novices also differed in that experts focused more on evaluating certainty in their interpretations; the novices focused more on evaluating the certainty of their observations and sense of location.

Metaphor and analogy in everyday problem solving.

PubMed

Keefer, Lucas A; Landau, Mark J

2016-11-01

Early accounts of problem solving focused on the ways people represent information directly related to target problems and possible solutions. Subsequent theory and research point to the role of peripheral influences such as heuristics and bodily states. We discuss how metaphor and analogy similarly influence stages of everyday problem solving: Both processes mentally map features of a target problem onto the structure of a relatively more familiar concept. When individuals apply this structure, they use a well-known concept as a framework for reasoning about real world problems and candidate solutions. Early studies found that analogy use helped people gain insight into novel problems. More recent research on metaphor goes further to show that activating mappings has subtle, sometimes surprising effects on judgment and reasoning in everyday problem solving. These findings highlight situations in which mappings can help or hinder efforts to solve problems. WIREs Cogn Sci 2016, 7:394-405. doi: 10.1002/wcs.1407 For further resources related to this article, please visit the WIREs website. © 2016 Wiley Periodicals, Inc.

Using Creative Problem Solving to Promote Students' Performance of Concept Mapping

ERIC Educational Resources Information Center

Tseng, Kuo-Hung; Chang, Chi-Cheng; Lou, Shi-Jer; Hsu, Pi-Shan

2013-01-01

The purpose of the study was to explore that using creative problem solving can promote students' performance of concept mapping (CMPING). Students were encouraged to use creative problem solving (CPS) in constructing nanometer knowledge structure, and then to promote the performance of CMPING. The knowledge structure was visualized through…

The effectiveness of learning with concept mapping on the science problem-solving of sixth-grade children

NASA Astrophysics Data System (ADS)

Jolly, Anju B.

The purpose of this study was to analyze the relationship of concept mapping to science problem solving in sixth grade elementary school children. The study proposes to determine whether the students' ability to perform higher cognitive processes was a predictor of students' performance in solving problems in science and whether gender and socioeconomic status are related to performance in solving problems. Two groups participated in the study. Both groups were given a pre-test of higher cognitive ability--the Ross Test of Higher Cognitive Ability. One group received instruction on a science unit of study in concept mapping format and the other group received instruction in traditional format. The instruction lasted approximately 4 weeks. Both groups were given a problem-solving post-test. A comparison of post-test means was done using Analysis of Covariance (ANCOVA) as the statistical procedure with scores on the test of higher cognitive ability as the covariate. Also, Multiple Regression was performed to analyze the influence of participants' gender and socioeconomic status on their performance in solving problems. Results from the analysis of covariance showed that the group receiving instruction in the concept mapping format performed significantly better than the group receiving instruction in traditional format. Also the Ross Test of Higher Cognitive Processes emerged to be a predictor of performance on problem solving. There was no significant difference in the analysis of the performance of males and females. No pattern emerged regarding the influence of socioeconomic status on problem solving performance. In conclusion, the study showed that concept mapping improved problem solving in the classroom, and that gender and socioeconomic status are not predictors of student success in problem solving.

Conflation and integration of archived geologic maps and associated uncertainties

USGS Publications Warehouse

Shoberg, Thomas G.

2016-01-01

Old, archived geologic maps are often available with little or no associated metadata. This creates special problems in terms of extracting their data to use with a modern database. This research focuses on some problems and uncertainties associated with conflating older geologic maps in regions where modern geologic maps are, as yet, non-existent as well as vertically integrating the conflated maps with layers of modern GIS data (in this case, The National Map of the U.S. Geological Survey). Ste. Genevieve County, Missouri was chosen as the test area. It is covered by six archived geologic maps constructed in the years between 1928 and 1994. Conflating these maps results in a map that is internally consistent with these six maps, is digitally integrated with hydrography, elevation and orthoimagery data, and has a 95% confidence interval useful for further data set integration.

A Fast and Scalable Radiation Hybrid Map Construction and Integration Strategy

PubMed Central

Agarwala, Richa; Applegate, David L.; Maglott, Donna; Schuler, Gregory D.; Schäffer, Alejandro A.

2000-01-01

This paper describes a fast and scalable strategy for constructing a radiation hybrid (RH) map from data on different RH panels. The maps on each panel are then integrated to produce a single RH map for the genome. Recurring problems in using maps from several sources are that the maps use different markers, the maps do not place the overlapping markers in same order, and the objective functions for map quality are incomparable. We use methods from combinatorial optimization to develop a strategy that addresses these issues. We show that by the standard objective functions of obligate chromosome breaks and maximum likelihood, software for the traveling salesman problem produces RH maps with better quality much more quickly than using software specifically tailored for RH mapping. We use known algorithms for the longest common subsequence problem as part of our map integration strategy. We demonstrate our methods by reconstructing and integrating maps for markers typed on the Genebridge 4 (GB4) and the Stanford G3 panels publicly available from the RH database. We compare map quality of our integrated map with published maps for GB4 panel and G3 panel by considering whether markers occur in the same order on a map and in DNA sequence contigs submitted to GenBank. We find that all of the maps are inconsistent with the sequence data for at least 50% of the contigs, but our integrated maps are more consistent. The map integration strategy not only scales to multiple RH maps but also to any maps that have comparable criteria for measuring map quality. Our software improves on current technology for doing RH mapping in areas of computation time and algorithms for considering a large number of markers for mapping. The essential impediments to producing dense high-quality RH maps are data quality and panel size, not computation. PMID:10720576

Mapping Language Problems in the Brain

MedlinePlus

... issue Health Capsule Mapping Language Problems in the Brain En español Send us your comments We often ... more about how language is organized in the brain, an NIH-funded research team studied people with ...

A Ranking Analysis/An Interlinking Approach of New Triangular Fuzzy Cognitive Maps and Combined Effective Time Dependent Matrix

NASA Astrophysics Data System (ADS)

Adiga, Shreemathi; Saraswathi, A.; Praveen Prakash, A.

2018-04-01

This paper aims an interlinking approach of new Triangular Fuzzy Cognitive Maps (TrFCM) and Combined Effective Time Dependent (CETD) matrix to find the ranking of the problems of Transgenders. Section one begins with an introduction that briefly describes the scope of Triangular Fuzzy Cognitive Maps (TrFCM) and CETD Matrix. Section two provides the process of causes of problems faced by Transgenders using Fuzzy Triangular Fuzzy Cognitive Maps (TrFCM) method and performs the calculations using the collected data among the Transgender. In Section 3, the reasons for the main causes for the problems of the Transgenders. Section 4 describes the Charles Spearmans coefficients of rank correlation method by interlinking of Triangular Fuzzy Cognitive Maps (TrFCM) Method and CETD Matrix. Section 5 shows the results based on our study.

Transformational and derivational strategies in analogical problem solving.

PubMed

Schelhorn, Sven-Eric; Griego, Jacqueline; Schmid, Ute

2007-03-01

Analogical problem solving is mostly described as transfer of a source solution to a target problem based on the structural correspondences (mapping) between source and target. Derivational analogy (Carbonell, Machine learning: an artificial intelligence approach Los Altos. Morgan Kaufmann, 1986) proposes an alternative view: a target problem is solved by replaying a remembered problem-solving episode. Thus, the experience with the source problem is used to guide the search for the target solution by applying the same solution technique rather than by transferring the complete solution. We report an empirical study using the path finding problems presented in Novick and Hmelo (J Exp Psychol Learn Mem Cogn 20:1296-1321, 1994) as material. We show that both transformational and derivational analogy are problem-solving strategies realized by human problem solvers. Which strategy is evoked in a given problem-solving context depends on the constraints guiding object-to-object mapping between source and target problem. Specifically, if constraints facilitating mapping are available, subjects are more likely to employ a transformational strategy, otherwise they are more likely to use a derivational strategy.

The Psychological Four-Color Mapping Problem

ERIC Educational Resources Information Center

Francis, Gregory; Bias, Keri; Shive, Joshua

2010-01-01

Mathematicians have proven that four colors are sufficient to color 2-D maps so that no neighboring regions share the same color. Here we consider the psychological 4-color problem: Identifying which 4 colors should be used to make a map easy to use. We build a model of visual search for this design task and demonstrate how to apply it to the task…

Environmental impact of Hurricane Katrina on Lake Pontchartrain: Chapter 7G in Science and the storms-the USGS response to the hurricanes of 2005

USGS Publications Warehouse

Heitmuller, Thomas; Perez, Brian C.

2007-01-01

Hurricane Katrina slammed the Louisiana-Mississippi Gulf Coast with 135-mi/hour (217-km/hour) winds and up to a 30-ft (9-m) storm surge. Lake Pontchartrain was further subjected to environmental threat by way of the millions of gallons of contaminated flood water that were pumped daily from the city of New Orleans into the lake.

A User Definable SLAM Airfield Model Designed for Experimentation and Analysis. Volume II

DTIC Science & Technology

1982-03-01

St), 2015 ATRIB(8)=TNOWU; 2016 ACT, ,USERF (37) .GE.ZvLZF4; 2#17 ACT, .0001,*L2SZ; 2018 2#19 LZF4 ASSIGNiI:ATRIB(46), 72 2521 ACTi.1991ttLZSZ; 2922...nature than thobe covered in the main text. So.ne were added because thcre were adlditional co1aLlenltS which needed to bL made to a jjo bible user

Air-Sea Battle through Joint Training: Power Projection Sustainability

DTIC Science & Technology

2014-05-15

9 generate our decisive advantage.” 39 An example of cross-domain operations employed by the USN and USAF was the release of an AGM-154C Joint...and Herzegovina. While employing a USAF GBU -15 “electro-optically guided” bomb within close range of a USN AGM-84 SLAM-ER, “electronic... 39 U.S. Office of the Chairman, Joint Chiefs of Staff. Capstone Concept for Joint Operations: Joint Force 2020

A General Purpose Feature Extractor for Light Detection and Ranging Data

DTIC Science & Technology

2010-11-17

datasets, and the 3D MIT DARPA Urban Challenge dataset. Keywords: SLAM ; LIDARs ; feature detection; uncertainty estimates; descriptors 1. Introduction The...November 2010 Abstract: Feature extraction is a central step of processing Light Detection and Ranging ( LIDAR ) data. Existing detectors tend to exploit...detector for both 2D and 3D LIDAR data that is applicable to virtually any environment. Our method adapts classic feature detection methods from the image

Ceramic Gas Turbine Engine Demonstration Program

DTIC Science & Technology

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

Active Visual SLAM with Exploration for Autonomous Underwater Navigation

DTIC Science & Technology

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...representation. Originally developed for text-based applications, expansion of this approach to images were found in Leung and Malik (2001), Sivic and Zisserman

Problem Solving in a Natural Language Environment.

DTIC Science & Technology

1979-07-21

another mapping that can map the "values" of those slots onto each other. 11.2 Kowledge Reoresentation Systems Several general knowledge...Hirach Frames The problem solving frames are general descriptions of problems (and solutions). Much more power could be milked from the concept of...general and powerful matching routines can be seen if the problem solving frames are going to work. The matcher must find matches between an element

Galactic background maps at 3.93 and 6.55 MHz. M.S. Thesis - Maryland Univ.

NASA Technical Reports Server (NTRS)

Novaco, J. C.

1973-01-01

The Radio Astronomy Explorer Satellite (RAE-1), its hardware and its data processing are discussed. The data from the prime mapping antenna are discussed with emphasis on the problems involved in reducing the data. Particular attention is drawn to two problems - receiver instability and ground breakthrough - and their influence on the data. Galactic background maps of the nonthermal radiation at 3.93 and 6.55 MHz are produced. It is demonstrated that the positional uncertainity of the maps is about 20 deg. The maps at 3.93 and 6.55 MHz are compared to two ground based maps made at higher frequencies that are smoothed to the larger RAE antenna patterns.

A case study in programming a quantum annealer for hard operational planning problems

NASA Astrophysics Data System (ADS)

Rieffel, Eleanor G.; Venturelli, Davide; O'Gorman, Bryan; Do, Minh B.; Prystay, Elicia M.; Smelyanskiy, Vadim N.

2015-01-01

We report on a case study in programming an early quantum annealer to attack optimization problems related to operational planning. While a number of studies have looked at the performance of quantum annealers on problems native to their architecture, and others have examined performance of select problems stemming from an application area, ours is one of the first studies of a quantum annealer's performance on parametrized families of hard problems from a practical domain. We explore two different general mappings of planning problems to quadratic unconstrained binary optimization (QUBO) problems, and apply them to two parametrized families of planning problems, navigation-type and scheduling-type. We also examine two more compact, but problem-type specific, mappings to QUBO, one for the navigation-type planning problems and one for the scheduling-type planning problems. We study embedding properties and parameter setting and examine their effect on the efficiency with which the quantum annealer solves these problems. From these results, we derive insights useful for the programming and design of future quantum annealers: problem choice, the mapping used, the properties of the embedding, and the annealing profile all matter, each significantly affecting the performance.

Green Map Exercises as an Avenue for Problem-Based Learning in a Data-Rich Environment

ERIC Educational Resources Information Center

Tulloch, David; Graff, Elizabeth

2007-01-01

This article describes a series of data-based Green Map learning exercises positioned within a problem-based framework and examines the appropriateness of projects like these as a form of geography education. Problem-based learning (PBL) is an educational technique that engages students in learning through activities that require creative problem…

Improving Operational Effectiveness of Tactical Long Endurance Unmanned Aerial Systems (TALEUAS) by Utilizing Solar Power

DTIC Science & Technology

2014-06-01

Speed xiii TEK Total Energy Compensated TSP traveling salesman problem UAV unmanned aerial vehicle UDP user datagram protocol UKF unscented...discretized map, and use the map to optimally solve the navigation task. The optimal navigation solution utilizes the well-known “ travelling salesman problem ...2 C. FORMULATION OF THE PROBLEM .................................................. 3 D

Applications of Remote Sensing and GIS(Geographic Information System) in Crime Analysis of Gujranwala City.

NASA Astrophysics Data System (ADS)

Munawar, Iqra

2016-07-01

Crime mapping is a dynamic process. It can be used to assist all stages of the problem solving process. Mapping crime can help police protect citizens more effectively. The decision to utilize a certain type of map or design element may change based on the purpose of a map, the audience or the available data. If the purpose of the crime analysis map is to assist in the identification of a particular problem, selected data may be mapped to identify patterns of activity that have been previously undetected. The main objective of this research was to study the spatial distribution patterns of the four common crimes i.e Narcotics, Arms, Burglary and Robbery in Gujranwala City using spatial statistical techniques to identify the hotspots. Hotspots or location of clusters were identified using Getis-Ord Gi* Statistic. Crime analysis mapping can be used to conduct a comprehensive spatial analysis of the problem. Graphic presentations of such findings provide a powerful medium to communicate conditions, patterns and trends thus creating an avenue for analysts to bring about significant policy changes. Moreover Crime mapping also helps in the reduction of crime rate.

Satellite Imagery Assisted Road-Based Visual Navigation System

NASA Astrophysics Data System (ADS)

Volkova, A.; Gibbens, P. W.

2016-06-01

There is a growing demand for unmanned aerial systems as autonomous surveillance, exploration and remote sensing solutions. Among the key concerns for robust operation of these systems is the need to reliably navigate the environment without reliance on global navigation satellite system (GNSS). This is of particular concern in Defence circles, but is also a major safety issue for commercial operations. In these circumstances, the aircraft needs to navigate relying only on information from on-board passive sensors such as digital cameras. An autonomous feature-based visual system presented in this work offers a novel integral approach to the modelling and registration of visual features that responds to the specific needs of the navigation system. It detects visual features from Google Earth* build a feature database. The same algorithm then detects features in an on-board cameras video stream. On one level this serves to localise the vehicle relative to the environment using Simultaneous Localisation and Mapping (SLAM). On a second level it correlates them with the database to localise the vehicle with respect to the inertial frame. The performance of the presented visual navigation system was compared using the satellite imagery from different years. Based on comparison results, an analysis of the effects of seasonal, structural and qualitative changes of the imagery source on the performance of the navigation algorithm is presented. * The algorithm is independent of the source of satellite imagery and another provider can be used

Mental model mapping as a new tool to analyse the use of information in decision-making in integrated water management

NASA Astrophysics Data System (ADS)

Kolkman, M. J.; Kok, M.; van der Veen, A.

The solution of complex, unstructured problems is faced with policy controversy and dispute, unused and misused knowledge, project delay and failure, and decline of public trust in governmental decisions. Mental model mapping (also called concept mapping) is a technique to analyse these difficulties on a fundamental cognitive level, which can reveal experiences, perceptions, assumptions, knowledge and subjective beliefs of stakeholders, experts and other actors, and can stimulate communication and learning. This article presents the theoretical framework from which the use of mental model mapping techniques to analyse this type of problems emerges as a promising technique. The framework consists of the problem solving or policy design cycle, the knowledge production or modelling cycle, and the (computer) model as interface between the cycles. Literature attributes difficulties in the decision-making process to communication gaps between decision makers, stakeholders and scientists, and to the construction of knowledge within different paradigm groups that leads to different interpretation of the problem situation. Analysis of the decision-making process literature indicates that choices, which are made in all steps of the problem solving cycle, are based on an individual decision maker’s frame of perception. This frame, in turn, depends on the mental model residing in the mind of the individual. Thus we identify three levels of awareness on which the decision process can be analysed. This research focuses on the third level. Mental models can be elicited using mapping techniques. In this way, analysing an individual’s mental model can shed light on decision-making problems. The steps of the knowledge production cycle are, in the same manner, ultimately driven by the mental models of the scientist in a specific discipline. Remnants of this mental model can be found in the resulting computer model. The characteristics of unstructured problems (complexity, uncertainty and disagreement) can be positioned in the framework, as can the communities of knowledge construction and valuation involved in the solution of these problems (core science, applied science, and professional consultancy, and “post-normal” science). Mental model maps, this research hypothesises, are suitable to analyse the above aspects of the problem. This hypothesis is tested for the case of the Zwolle storm surch barrier. Analysis can aid integration between disciplines, participation of public stakeholders, and can stimulate learning processes. Mental model mapping is recommended to visualise the use of knowledge, to analyse difficulties in problem solving process, and to aid information transfer and communication. Mental model mapping help scientists to shape their new, post-normal responsibilities in a manner that complies with integrity when dealing with unstructured problems in complex, multifunctional systems.

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.

PubMed

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. Copyright © 2016 Roberts et al. Open Access article distributed under the terms of CC BY. Published by Elsevier Ltd.. All rights reserved.

Identification of amino acid substitutions with compensational effects in the attachment protein of canine distemper virus.

PubMed

Sattler, Ursula; Khosravi, Mojtaba; Avila, Mislay; Pilo, Paola; Langedijk, Johannes P; Ader-Ebert, Nadine; Alves, Lisa A; Plattet, Philippe; Origgi, Francesco C

2014-07-01

The hemagglutinin (H) gene of canine distemper virus (CDV) encodes the receptor-binding protein. This protein, together with the fusion (F) protein, is pivotal for infectivity since it contributes to the fusion of the viral envelope with the host cell membrane. Of the two receptors currently known for CDV (nectin-4 and the signaling lymphocyte activation molecule [SLAM]), SLAM is considered the most relevant for host susceptibility. To investigate how evolution might have impacted the host-CDV interaction, we examined the functional properties of a series of missense single nucleotide polymorphisms (SNPs) naturally accumulating within the H-gene sequences during the transition between two distinct but related strains. The two strains, a wild-type strain and a consensus strain, were part of a single continental outbreak in European wildlife and occurred in distinct geographical areas 2 years apart. The deduced amino acid sequence of the two H genes differed at 5 residues. A panel of mutants carrying all the combinations of the SNPs was obtained by site-directed mutagenesis. The selected mutant, wild type, and consensus H proteins were functionally evaluated according to their surface expression, SLAM binding, fusion protein interaction, and cell fusion efficiencies. The results highlight that the most detrimental functional effects are associated with specific sets of SNPs. Strikingly, an efficient compensational system driven by additional SNPs appears to come into play, virtually neutralizing the negative functional effects. This system seems to contribute to the maintenance of the tightly regulated function of the H-gene-encoded attachment protein. Importance: To investigate how evolution might have impacted the host-canine distemper virus (CDV) interaction, we examined the functional properties of naturally occurring single nucleotide polymorphisms (SNPs) in the hemagglutinin gene of two related but distinct strains of CDV. The hemagglutinin gene encodes the attachment protein, which is pivotal for infection. Our results show that few SNPs have a relevant detrimental impact and they generally appear in specific combinations (molecular signatures). These drastic negative changes are neutralized by compensatory mutations, which contribute to maintenance of an overall constant bioactivity of the attachment protein. This compensational mechanism might reflect the reaction of the CDV machinery to the changes occurring in the virus following antigenic variations critical for virulence. Copyright © 2014, American Society for Microbiology. All Rights Reserved.

Flexibility Considerations on the Hydrodynamic Loading on a Vertical Wedge Drop

NASA Astrophysics Data System (ADS)

Ren, Zhongshu; Wang, Zhaoyuan; Judge, Carolyn; Stern, Fred; Ikeda, Christine

2017-11-01

High-speed craft operating at in waves frequently become airborne and slam into the water surface. This fluid-structure interaction problem is important to understand in order to increase the operating envelope of these craft. The goals of the current work are to investigate both the hydrodynamic loads and the resulting structural response on a planing hull. A V-shaped wedge is dropped vertically into calm water. The hydrodynamic pressure is measured using pressure sensors at discrete points on the hull. Two hulls are studied: one is rigid and one is flexible. Predictions of the hydrodynamic loading are made using Wagner's theory, Vorus's theory, and simulations in CFDShip Iowa. These predictions assume the structure is completely rigid. These predictions of the pressure coefficient match well with the rigid hull, as expected. The spray root is tracked in the rigid experimental set and compared with the theoretical and computational models. The pressure coefficient measured on the flexible hull shows discrepancies with the predictions due to the fluid-structure interaction. These discrepancies are quantified and interpreted in light of the structural flexibility. Funding for this work is from the Office of Naval Research Grant Number N00014-16-1-3188.

Floating shock fitting via Lagrangian adaptive meshes

NASA Technical Reports Server (NTRS)

Vanrosendale, John

1995-01-01

In recent work we have formulated a new approach to compressible flow simulation, combining the advantages of shock-fitting and shock-capturing. Using a cell-centered on Roe scheme discretization on unstructured meshes, we warp the mesh while marching to steady state, so that mesh edges align with shocks and other discontinuities. This new algorithm, the Shock-fitting Lagrangian Adaptive Method (SLAM), is, in effect, a reliable shock-capturing algorithm which yields shock-fitted accuracy at convergence.

An Improved Maintenance Model for the Simulation of Strategic Airlift Capability.

DTIC Science & Technology

1982-03-01

developed using SLAM as the primary simulation language. Maintenance manning is modeled at the Air Force Specialty Code level, to allow the possibility of...Atlantic Treaty Organization (NATO) allies is one of our primary national objectives, but recent increases in Soviet ground and air forces (Ref 5:100) have...arrive from the United States. Consequently, the primary objective of the United States Air Force mobility program is to be able, by 1982, to double the

Profile of a Terrorist.

DTIC Science & Technology

1988-04-01

in their quarters by the Beirut International Airport. A Mercedes - Benz truck passed a Lebanese checkpoint and a Marine sentry guard before slamming...as "the use or threat of violence, a method of combat or strategy to achieve certain goals, that its aim is to induce a state of fear in the victim...that it is ruthless, and does not conform to humanitarian norms and that publicity is an essential factor in terrorist strategy ." (19:88) This is the

Earth Science

NASA Image and Video Library

2002-10-02

This photo of hurricane Lili, captured during the Expedition Five mission, shows the compact storm system and the structure of its estimated 15 nautical mile wide eye. After strengthening to a Category 4 storm (125 knots with the central pressure of 940 millibars), Lili weakened to a Category 2 before slamming into the central coast of Louisiana just south of Lafayette. This is one of many photos that stem form the Crew Observation (CEO) experiment that has been a part of every Space Station expedition.

Hurricane Lili

NASA Technical Reports Server (NTRS)

2002-01-01

This photo of hurricane Lili, captured during the Expedition Five mission, shows the compact storm system and the structure of its estimated 15 nautical mile wide eye. After strengthening to a Category 4 storm (125 knots with the central pressure of 940 millibars), Lili weakened to a Category 2 before slamming into the central coast of Louisiana just south of Lafayette. This is one of many photos that stem form the Crew Observation (CEO) experiment that has been a part of every Space Station expedition.

An Analysis of the Centaur Ground Processing System at the Kennedy Space Center/Cape Canaveral AFS.

DTIC Science & Technology

1985-12-01

SPONSORING 8tn OFF ICE SYMBOL 9 . PROCUREMENT INSTRUMENT IDENTIFiCATION NUMBER 0 RG4NICATICN II appsicable, * cADDRESS C-;t,. S:sI. and~ /11’ L,a,, .0...The PERT Network................8 2. The SLAM Model................. 9 F. Outline of the Paper................13 Ii. The Shuttle/Centaur G System...104 9 . AWAIT NODE..................104 10. FREE NODE...................105 11. ASSIGN NODE..................105 w 12. COLCT NODE

Antigen Specific Responses and ANA production in B6.Sle1b mice: A role for SAP

PubMed Central

Jennings, Paula; Chan, Alice; Schwartzberg, Pamela; Wakeland, Edward K.; Yuan, Dorothy

2010-01-01

B6.Sle1b mice, which contain the Sle1b gene interval derived from lupus prone NZM2410 mice on a C57BL/6 background, present with gender-biased, highly penetrant anti-nuclear antibody (ANA) production. To obtain some insight into the possible induction mechanism of autoantibodies in these mice we compared antigen specific T dependent (TD) and T independent (TI-II) responses between B6.Sle1b and B6 mice before the development of high ANA titers. Our results show that B6.Sle1b mice mount enhanced responses to a TI-II antigen. Additionally, the memory T cell response generated by a TD antigen was also increased. This enhancement correlates with the greater ability of B cells from B6.Sle1b mice to present antigen to T cells. The SLAM Associated Protein (SAP) is critical for signaling of many of the molecules encoded by the SLAM/CD2 gene cluster, candidates for mediating the Sle1b phenotype; therefore, we also investigated the effect of sap deletion in these strains on the TD and TI-II responses as well as on ANA production. The results of these studies of responses to non-self antigens provide further insight for the mechanism by which responses to self-antigens might be initiated in the context of specific genetic alterations. PMID:18845419

Characterization of a new disease-causing mutation of SH2D1A in a family with X-linked lymphoproliferative disease.

PubMed

Erdõs, Melinda; Uzvölgyi, Eva; Nemes, Zoltán; Török, Olga; Rákóczi, Eva; Went-Sümegi, Nils; Sümegi, János; Maródi, László

2005-05-01

Males with an expressed mutation in the SH2D1A gene that encodes an SH2 domain protein named SH2D1A or SAP (NP_002342; signaling lymphocyte activating molecule [SLAM]-associated protein), have an X-linked syndrome characterized by an increased vulnerability to infection with Epstein-Barr virus (EBV). We evaluated two related male patients with fatal infectious mononucleosis (FIM) and mutation in the SH2D1A gene. Sequence analysis revealed a hemizygous c.47G>A mutation in one of the patients, and heterozygosity for this mutation in the genomic DNA from his mother and maternal grandmother. This mutation resulted in p.G16D amino acid change in the sequence of the SAP protein. To analyze the effect of this missense mutation on protein function cDNA was generated by site-directed mutagenesis and expressed in COS cells. We found that half-life of the p.G16D protein was comparable to that of wild type SAP. However, the mutant protein was defective in binding to its physiological ligands SLAM and 2B4. These results suggest that a defect in ligand binding contributes to the loss of function of the SAP protein in patients carrying p.G16D mutation.

Study of application of ERTS-A imagery to fracture-related mine safety hazards in the coal mining industry

NASA Technical Reports Server (NTRS)

Wier, C. E.; Wobber, F. J. (Principal Investigator); Russell, O. R.; Amato, R. V.; Leshendok, T.

1973-01-01

The author has identified the following significant results. The Kings Station Mine in Gibson County, Indiana has experienced considerable roof fall problems. Detailed fracture mapping of the mine area was done with ERTS-1 and aircraft imagery, and a prediction map of roof problem areas was produced in advance of a visit. The visit to the mine and discussions with the operator indicated that of four zones mapped as potential problem areas, three coincided with areas of excessive roof fall. This positive correlation of 75% lends confidence to the validity of the technique being applied in the investigation. The mine officials expressed an interest in the project and are anxious to see the final product maps which are forthcoming.

WE-AB-209-10: Optimizing the Delivery of Sequential Fluence Maps for Efficient VMAT Delivery

DOE Office of Scientific and Technical Information (OSTI.GOV)

Craft, D; Balvert, M

2016-06-15

Purpose: To develop an optimization model and solution approach for computing MLC leaf trajectories and dose rates for high quality matching of a set of optimized fluence maps to be delivered sequentially around a patient in a VMAT treatment. Methods: We formulate the fluence map matching problem as a nonlinear optimization problem where time is discretized but dose rates and leaf positions are continuous variables. For a given allotted time, which is allocated across the fluence maps based on the complexity of each fluence map, the optimization problem searches for the best leaf trajectories and dose rates such that themore » original fluence maps are closely recreated. Constraints include maximum leaf speed, maximum dose rate, and leaf collision avoidance, as well as the constraint that the ending leaf positions for one map are the starting leaf positions for the next map. The resulting model is non-convex but smooth, and therefore we solve it by local searches from a variety of starting positions. We improve solution time by a custom decomposition approach which allows us to decouple the rows of the fluence maps and solve each leaf pair individually. This decomposition also makes the problem easily parallelized. Results: We demonstrate method on a prostate case and a head-and-neck case and show that one can recreate fluence maps to high degree of fidelity in modest total delivery time (minutes). Conclusion: We present a VMAT sequencing method that reproduces optimal fluence maps by searching over a vast number of possible leaf trajectories. By varying the total allotted time given, this approach is the first of its kind to allow users to produce VMAT solutions that span the range of wide-field coarse VMAT deliveries to narrow-field high-MU sliding window-like approaches.« less

[The primary research and development of software oversampling mapping system for electrocardiogram].

PubMed

Zhou, Yu; Ren, Jie

2011-04-01

We put forward a new concept of software oversampling mapping system for electrocardiogram (ECG) to assist the research of the ECG inverse problem to improve the generality of mapping system and the quality of mapping signals. We then developed a conceptual system based on the traditional ECG detecting circuit, Labview and DAQ card produced by National Instruments, and at the same time combined the newly-developed oversampling method into the system. The results indicated that the system could map ECG signals accurately and the quality of the signals was good. The improvement of hardware and enhancement of software made the system suitable for mapping in different situations. So the primary development of the software for oversampling mapping system was successful and further research and development can make the system a powerful tool for researching ECG inverse problem.

Efficient mapping algorithms for scheduling robot inverse dynamics computation on a multiprocessor system

NASA Technical Reports Server (NTRS)

Lee, C. S. G.; Chen, C. L.

1989-01-01

Two efficient mapping algorithms for scheduling the robot inverse dynamics computation consisting of m computational modules with precedence relationship to be executed on a multiprocessor system consisting of p identical homogeneous processors with processor and communication costs to achieve minimum computation time are presented. An objective function is defined in terms of the sum of the processor finishing time and the interprocessor communication time. The minimax optimization is performed on the objective function to obtain the best mapping. This mapping problem can be formulated as a combination of the graph partitioning and the scheduling problems; both have been known to be NP-complete. Thus, to speed up the searching for a solution, two heuristic algorithms were proposed to obtain fast but suboptimal mapping solutions. The first algorithm utilizes the level and the communication intensity of the task modules to construct an ordered priority list of ready modules and the module assignment is performed by a weighted bipartite matching algorithm. For a near-optimal mapping solution, the problem can be solved by the heuristic algorithm with simulated annealing. These proposed optimization algorithms can solve various large-scale problems within a reasonable time. Computer simulations were performed to evaluate and verify the performance and the validity of the proposed mapping algorithms. Finally, experiments for computing the inverse dynamics of a six-jointed PUMA-like manipulator based on the Newton-Euler dynamic equations were implemented on an NCUBE/ten hypercube computer to verify the proposed mapping algorithms. Computer simulation and experimental results are compared and discussed.

Mapping the Universe: Slices and Bubbles.

ERIC Educational Resources Information Center

Geller, Margaret J.

1990-01-01

Map making is described in the context of extraterrestrial areas. An analogy to terrestrial map making is used to provide some background. The status of projects designed to map extraterrestrial areas are discussed including problems unique to this science. (CW)

JIGSAW: Joint Inhomogeneity estimation via Global Segment Assembly for Water-fat separation.

PubMed

Lu, Wenmiao; Lu, Yi

2011-07-01

Water-fat separation in magnetic resonance imaging (MRI) is of great clinical importance, and the key to uniform water-fat separation lies in field map estimation. This work deals with three-point field map estimation, in which water and fat are modelled as two single-peak spectral lines, and field inhomogeneities shift the spectrum by an unknown amount. Due to the simplified spectrum modelling, there exists inherent ambiguity in forming field maps from multiple locally feasible field map values at each pixel. To resolve such ambiguity, spatial smoothness of field maps has been incorporated as a constraint of an optimization problem. However, there are two issues: the optimization problem is computationally intractable and even when it is solved exactly, it does not always separate water and fat images. Hence, robust field map estimation remains challenging in many clinically important imaging scenarios. This paper proposes a novel field map estimation technique called JIGSAW. It extends a loopy belief propagation (BP) algorithm to obtain an approximate solution to the optimization problem. The solution produces locally smooth segments and avoids error propagation associated with greedy methods. The locally smooth segments are then assembled into a globally consistent field map by exploiting the periodicity of the feasible field map values. In vivo results demonstrate that JIGSAW outperforms existing techniques and produces correct water-fat separation in challenging imaging scenarios.

Local search for optimal global map generation using mid-decadal landsat images

USGS Publications Warehouse

Khatib, L.; Gasch, J.; Morris, Robert; Covington, S.

2007-01-01

NASA and the US Geological Survey (USGS) are seeking to generate a map of the entire globe using Landsat 5 Thematic Mapper (TM) and Landsat 7 Enhanced Thematic Mapper Plus (ETM+) sensor data from the "mid-decadal" period of 2004 through 2006. The global map is comprised of thousands of scene locations and, for each location, tens of different images of varying quality to chose from. Furthermore, it is desirable for images of adjacent scenes be close together in time of acquisition, to avoid obvious discontinuities due to seasonal changes. These characteristics make it desirable to formulate an automated solution to the problem of generating the complete map. This paper formulates a Global Map Generator problem as a Constraint Optimization Problem (GMG-COP) and describes an approach to solving it using local search. Preliminary results of running the algorithm on image data sets are summarized. The results suggest a significant improvement in map quality using constraint-based solutions. Copyright ?? 2007, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved.

Execution models for mapping programs onto distributed memory parallel computers

NASA Technical Reports Server (NTRS)

Sussman, Alan

1992-01-01

The problem of exploiting the parallelism available in a program to efficiently employ the resources of the target machine is addressed. The problem is discussed in the context of building a mapping compiler for a distributed memory parallel machine. The paper describes using execution models to drive the process of mapping a program in the most efficient way onto a particular machine. Through analysis of the execution models for several mapping techniques for one class of programs, we show that the selection of the best technique for a particular program instance can make a significant difference in performance. On the other hand, the results of benchmarks from an implementation of a mapping compiler show that our execution models are accurate enough to select the best mapping technique for a given program.

Indexing a sequence for mapping reads with a single mismatch.

PubMed

Crochemore, Maxime; Langiu, Alessio; Rahman, M Sohel

2014-05-28

Mapping reads against a genome sequence is an interesting and useful problem in computational molecular biology and bioinformatics. In this paper, we focus on the problem of indexing a sequence for mapping reads with a single mismatch. We first focus on a simpler problem where the length of the pattern is given beforehand during the data structure construction. This version of the problem is interesting in its own right in the context of the next generation sequencing. In the sequel, we show how to solve the more general problem. In both cases, our algorithm can construct an efficient data structure in O(n log(1+ε) n) time and space and can answer subsequent queries in O(m log log n + K) time. Here, n is the length of the sequence, m is the length of the read, 0<ε<1 and is the optimal output size.

Dense real-time stereo matching using memory efficient semi-global-matching variant based on FPGAs

NASA Astrophysics Data System (ADS)

Buder, Maximilian

2012-06-01

This paper presents a stereo image matching system that takes advantage of a global image matching method. The system is designed to provide depth information for mobile robotic applications. Typical tasks of the proposed system are to assist in obstacle avoidance, SLAM and path planning. Mobile robots pose strong requirements about size, energy consumption, reliability and output quality of the image matching subsystem. Current available systems either rely on active sensors or on local stereo image matching algorithms. The first are only suitable in controlled environments while the second suffer from low quality depth-maps. Top ranking quality results are only achieved by an iterative approach using global image matching and color segmentation techniques which are computationally demanding and therefore difficult to be executed in realtime. Attempts were made to still reach realtime performance with global methods by simplifying the routines. The depth maps are at the end almost comparable to local methods. An equally named semi-global algorithm was proposed earlier that shows both very good image matching results and relatively simple operations. A memory efficient variant of the Semi-Global-Matching algorithm is reviewed and adopted for an implementation based on reconfigurable hardware. The implementation is suitable for realtime execution in the field of robotics. It will be shown that the modified version of the efficient Semi-Global-Matching method is delivering equivalent result compared to the original algorithm based on the Middlebury dataset. The system has proven to be capable of processing VGA sized images with a disparity resolution of 64 pixel at 33 frames per second based on low cost to mid-range hardware. In case the focus is shifted to a higher image resolution, 1024×1024-sized stereo frames may be processed with the same hardware at 10 fps. The disparity resolution settings stay unchanged. A mobile system that covers preprocessing, matching and interfacing operations is also presented.

Improving the quality of mass produced maps

USGS Publications Warehouse

Simley, J.

2001-01-01

Quality is critical in cartography because key decisions are often made based on the information the map communicates. The mass production of digital cartographic information to support geographic information science has now added a new dimension to the problem of cartographic quality, as problems once limited to small volumes can now proliferate in mass production programs. These problems can also affect the economics of map production by diverting a sizeable portion of production cost to pay for rework on maps with poor quality. Such problems are common to general industry-in response, the quality engineering profession has developed a number of successful methods to overcome these problems. Two important methods are the reduction of error through statistical analysis and addressing the quality environment in which people work. Once initial and obvious quality problems have been solved, outside influences periodically appear that cause adverse variations in quality and consequently increase production costs. Such errors can be difficult to detect before the customer is affected. However, a number of statistical techniques can be employed to detect variation so that the problem is eliminated before significant damage is caused. Additionally, the environment in which the workforce operates must be conductive to quality. Managers have a powerful responsibility to create this environment. Two sets of guidelines, known as Deming's Fourteen Points and ISO-9000, provide models for this environment.

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

DTIC Science & Technology

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

America First Isolationism in U.S. Foreign Policy from the 19th to the 21st Century

DTIC Science & Technology

2017-06-01

internationalist policy pursued since the Second World War. I assume the answer is “No,” but an ex - post analysis will show the impact of his new mercantilist...his opponent Hillary Clinton to describe him as a “dangerous isolationist,” according to Washington Post correspondent Anne Gearan.3 But, is...Speech,” Washington Post , August 31, 2016, https://www.washingtonpost.com/news/ post - politics/wp/2016/08/31/clinton-plans-to-slam-trump-as-a-dangerous

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

DTIC Science & Technology

1991-12-31

constants of graphite fibers using SLAM, operating in a interferogram mode. Also measuring the stress in a Nicalon (SiC) fiber reinforced LAS ...demonstrated. Several Nicolan fibers reinforced LAS composites were used in the studies. A four-point bending fixture applying a known strain to the...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

Evaluation of Hardware and Software for a Small Autonomous Underwater Vehicle Navigation System (SANS)

DTIC Science & Technology

1994-09-01

Hyslop , G.L., Schieber, G.E., Schwartz, M.K., "Automated Mission Planning for the Standoff Land Attack Missile (SLAM)", Proceedings of the...1993, pp. 277-290. [PARK80] Parkinson, B.W., "Overview", Global Positioning System, Vol. 1, The Institute of Navigation, Washington, D.C., 1980 , pp...Navigation Message", Global Positioning System, Vol. 1, The Institute of Navigation, Washington, D.C., 1980 , pp. 55-73. 139 [WOOD851 Wooden, W. H

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

DTIC Science & Technology

2016-06-30

measurements as well as of the stiffness of the hull can be obtained by using measurements (accelerometer and gyro data) from one location of the boat to...assuming a rigid hull ) to bulkhead #5. The two estimates match exceptionally well. The data shown are fairly typical from operating the Nurnerette in...indicated in dE~ figure. The hull was designed to 2: G so it should be no surprise that the structure under ..vent permanent deformation during this

Methods of analysis and resources available for genetic trait mapping.

PubMed

Ott, J

1999-01-01

Methods of genetic linkage analysis are reviewed and put in context with other mapping techniques. Sources of information are outlined (books, web sites, computer programs). Special consideration is given to statistical problems in canine genetic mapping (heterozygosity, inbreeding, marker maps).

Synthesis Road Map Problems in Organic Chemistry

ERIC Educational Resources Information Center

Schaller, Chris P.; Graham, Kate J.; Jones, T. Nicholas

2014-01-01

Road map problems ask students to integrate their knowledge of organic reactions with pattern recognition skills to "fill in the blanks" in the synthesis of an organic compound. Students are asked to identify familiar organic reactions in unfamiliar contexts. A practical context, such as a medicinally useful target compound, helps…

Dynamic map labeling.

PubMed

Been, Ken; Daiches, Eli; Yap, Chee

2006-01-01

We address the problem of filtering, selecting and placing labels on a dynamic map, which is characterized by continuous zooming and panning capabilities. This consists of two interrelated issues. The first is to avoid label popping and other artifacts that cause confusion and interrupt navigation, and the second is to label at interactive speed. In most formulations the static map labeling problem is NP-hard, and a fast approximation might have O(nlogn) complexity. Even this is too slow during interaction, when the number of labels shown can be several orders of magnitude less than the number in the map. In this paper we introduce a set of desiderata for "consistent" dynamic map labeling, which has qualities desirable for navigation. We develop a new framework for dynamic labeling that achieves the desiderata and allows for fast interactive display by moving all of the selection and placement decisions into the preprocessing phase. This framework is general enough to accommodate a variety of selection and placement algorithms. It does not appear possible to achieve our desiderata using previous frameworks. Prior to this paper, there were no formal models of dynamic maps or of dynamic labels; our paper introduces both. We formulate a general optimization problem for dynamic map labeling and give a solution to a simple version of the problem. The simple version is based on label priorities and a versatile and intuitive class of dynamic label placements we call "invariant point placements". Despite these restrictions, our approach gives a useful and practical solution. Our implementation is incorporated into the G-Vis system which is a full-detail dynamic map of the continental USA. This demo is available through any browser.

MODIS Snow Cover Mapping Decision Tree Technique: Snow and Cloud Discrimination

NASA Technical Reports Server (NTRS)

Riggs, George A.; Hall, Dorothy K.

2010-01-01

Accurate mapping of snow cover continues to challenge cryospheric scientists and modelers. The Moderate-Resolution Imaging Spectroradiometer (MODIS) snow data products have been used since 2000 by many investigators to map and monitor snow cover extent for various applications. Users have reported on the utility of the products and also on problems encountered. Three problems or hindrances in the use of the MODIS snow data products that have been reported in the literature are: cloud obscuration, snow/cloud confusion, and snow omission errors in thin or sparse snow cover conditions. Implementation of the MODIS snow algorithm in a decision tree technique using surface reflectance input to mitigate those problems is being investigated. The objective of this work is to use a decision tree structure for the snow algorithm. This should alleviate snow/cloud confusion and omission errors and provide a snow map with classes that convey information on how snow was detected, e.g. snow under clear sky, snow tinder cloud, to enable users' flexibility in interpreting and deriving a snow map. Results of a snow cover decision tree algorithm are compared to the standard MODIS snow map and found to exhibit improved ability to alleviate snow/cloud confusion in some situations allowing up to about 5% increase in mapped snow cover extent, thus accuracy, in some scenes.

Quantum vertex model for reversible classical computing.

PubMed

Chamon, C; Mucciolo, E R; Ruckenstein, A E; Yang, Z-C

2017-05-12

Mappings of classical computation onto statistical mechanics models have led to remarkable successes in addressing some complex computational problems. However, such mappings display thermodynamic phase transitions that may prevent reaching solution even for easy problems known to be solvable in polynomial time. Here we map universal reversible classical computations onto a planar vertex model that exhibits no bulk classical thermodynamic phase transition, independent of the computational circuit. Within our approach the solution of the computation is encoded in the ground state of the vertex model and its complexity is reflected in the dynamics of the relaxation of the system to its ground state. We use thermal annealing with and without 'learning' to explore typical computational problems. We also construct a mapping of the vertex model into the Chimera architecture of the D-Wave machine, initiating an approach to reversible classical computation based on state-of-the-art implementations of quantum annealing.

Mobile robot motion estimation using Hough transform

NASA Astrophysics Data System (ADS)

Aldoshkin, D. N.; Yamskikh, T. N.; Tsarev, R. Yu

2018-05-01

This paper proposes an algorithm for estimation of mobile robot motion. The geometry of surrounding space is described with range scans (samples of distance measurements) taken by the mobile robot’s range sensors. A similar sample of space geometry in any arbitrary preceding moment of time or the environment map can be used as a reference. The suggested algorithm is invariant to isotropic scaling of samples or map that allows using samples measured in different units and maps made at different scales. The algorithm is based on Hough transform: it maps from measurement space to a straight-line parameters space. In the straight-line parameters, space the problems of estimating rotation, scaling and translation are solved separately breaking down a problem of estimating mobile robot localization into three smaller independent problems. The specific feature of the algorithm presented is its robustness to noise and outliers inherited from Hough transform. The prototype of the system of mobile robot orientation is described.

Quantum vertex model for reversible classical computing

NASA Astrophysics Data System (ADS)

Chamon, C.; Mucciolo, E. R.; Ruckenstein, A. E.; Yang, Z.-C.

2017-05-01

Mappings of classical computation onto statistical mechanics models have led to remarkable successes in addressing some complex computational problems. However, such mappings display thermodynamic phase transitions that may prevent reaching solution even for easy problems known to be solvable in polynomial time. Here we map universal reversible classical computations onto a planar vertex model that exhibits no bulk classical thermodynamic phase transition, independent of the computational circuit. Within our approach the solution of the computation is encoded in the ground state of the vertex model and its complexity is reflected in the dynamics of the relaxation of the system to its ground state. We use thermal annealing with and without `learning' to explore typical computational problems. We also construct a mapping of the vertex model into the Chimera architecture of the D-Wave machine, initiating an approach to reversible classical computation based on state-of-the-art implementations of quantum annealing.

Cognitive Mapping Techniques: Implications for Research in Engineering and Technology Education

ERIC Educational Resources Information Center

Dixon, Raymond A.; Lammi, Matthew

2014-01-01

The primary goal of this paper is to present the theoretical basis and application of two types of cognitive maps, concept map and mind map, and explain how they can be used by educational researchers in engineering design research. Cognitive mapping techniques can be useful to researchers as they study students' problem solving strategies…

Public channel cryptography: chaos synchronization and Hilbert's tenth problem.

PubMed

Kanter, Ido; Kopelowitz, Evi; Kinzel, Wolfgang

2008-08-22

The synchronization process of two mutually delayed coupled deterministic chaotic maps is demonstrated both analytically and numerically. The synchronization is preserved when the mutually transmitted signals are concealed by two commutative private filters, a convolution of the truncated time-delayed output signals or some powers of the delayed output signals. The task of a passive attacker is mapped onto Hilbert's tenth problem, solving a set of nonlinear Diophantine equations, which was proven to be in the class of NP-complete problems [problems that are both NP (verifiable in nondeterministic polynomial time) and NP-hard (any NP problem can be translated into this problem)]. This bridge between nonlinear dynamics and NP-complete problems opens a horizon for new types of secure public-channel protocols.

Bounded state variables and the calculus of variations

NASA Technical Reports Server (NTRS)

Hanafy, L. M.

1972-01-01

An optimal control problem with bounded state variables is transformed into a Lagrange problem by means of differentiable mappings which take some Euclidean space onto the control and state regions. Whereas all such mappings lead to a Lagrange problem, it is shown that only those which are defined as acceptable pairs of transformations are suitable in the sense that solutions to the transformed Lagrange problem will lead to solutions to the original bounded state problem and vice versa. In particular, an acceptable pair of transformations is exhibited for the case when the control and state regions are right parallelepipeds. Finally, a description of the necessary conditions for the bounded state problem which were obtained by this method is given.

Assessing the Structure of a Concept Map

ERIC Educational Resources Information Center

Giouvanakis, Thanasis; Samaras, Haido; Kehris, Evangelos; Mpakavos, Asterios

2013-01-01

This paper presents a framework for the evaluation of concept maps. We focus on supporting the student in dealing with ill-structured and complex problems. We argue that these problems require the application of "the modularity approach." In view of this, the paper describes ways of providing student support for the implementation of…

Partial differential equations constrained combinatorial optimization on an adiabatic quantum computer

NASA Astrophysics Data System (ADS)

Chandra, Rishabh

Partial differential equation-constrained combinatorial optimization (PDECCO) problems are a mixture of continuous and discrete optimization problems. PDECCO problems have discrete controls, but since the partial differential equations (PDE) are continuous, the optimization space is continuous as well. Such problems have several applications, such as gas/water network optimization, traffic optimization, micro-chip cooling optimization, etc. Currently, no efficient classical algorithm which guarantees a global minimum for PDECCO problems exists. A new mapping has been developed that transforms PDECCO problem, which only have linear PDEs as constraints, into quadratic unconstrained binary optimization (QUBO) problems that can be solved using an adiabatic quantum optimizer (AQO). The mapping is efficient, it scales polynomially with the size of the PDECCO problem, requires only one PDE solve to form the QUBO problem, and if the QUBO problem is solved correctly and efficiently on an AQO, guarantees a global optimal solution for the original PDECCO problem.

Fully Self-Contained Vision-Aided Navigation and Landing of a Micro Air Vehicle Independent from External Sensor Inputs

NASA Technical Reports Server (NTRS)

Brockers, Roland; Susca, Sara; Zhu, David; Matthies, Larry

2012-01-01

Direct-lift micro air vehicles have important applications in reconnaissance. In order to conduct persistent surveillance in urban environments, it is essential that these systems can perform autonomous landing maneuvers on elevated surfaces that provide high vantage points without the help of any external sensor and with a fully contained on-board software solution. In this paper, we present a micro air vehicle that uses vision feedback from a single down looking camera to navigate autonomously and detect an elevated landing platform as a surrogate for a roof top. Our method requires no special preparation (labels or markers) of the landing location. Rather, leveraging the planar character of urban structure, the landing platform detection system uses a planar homography decomposition to detect landing targets and produce approach waypoints for autonomous landing. The vehicle control algorithm uses a Kalman filter based approach for pose estimation to fuse visual SLAM (PTAM) position estimates with IMU data to correct for high latency SLAM inputs and to increase the position estimate update rate in order to improve control stability. Scale recovery is achieved using inputs from a sonar altimeter. In experimental runs, we demonstrate a real-time implementation running on-board a micro aerial vehicle that is fully self-contained and independent from any external sensor information. With this method, the vehicle is able to search autonomously for a landing location and perform precision landing maneuvers on the detected targets.

Mice Lacking the SLAM Family Member CD84 Display Unaltered Platelet Function in Hemostasis and Thrombosis

PubMed Central

Hofmann, Sebastian; Braun, Attila; Pozgaj, Rastislav; Morowski, Martina; Vögtle, Timo; Nieswandt, Bernhard

2014-01-01

Background Platelets are anuclear cell fragments derived from bone marrow megakaryocytes that safeguard vascular integrity by forming thrombi at sites of vascular injury. Although the early events of thrombus formation—platelet adhesion and aggregation—have been intensively studied, less is known about the mechanisms and receptors that stabilize platelet-platelet interactions once a thrombus has formed. One receptor that has been implicated in this process is the signaling lymphocyte activation molecule (SLAM) family member CD84, which can undergo homophilic interactions and becomes phosphorylated upon platelet aggregation. Objective The role of CD84 in platelet physiology and thrombus formation was investigated in CD84-deficient mice. Methods and Results We generated CD84-deficient mice and analyzed their platelets in vitro and in vivo. Cd84−/− platelets exhibited normal activation and aggregation responses to classical platelet agonists. Furthermore, CD84 deficiency did not affect integrin-mediated clot retraction and spreading of activated platelets on fibrinogen. Notably, also the formation of stable three-dimensional thrombi on collagen-coated surfaces under flow ex vivo was unaltered in the blood of Cd84−/− mice. In vivo, Cd84−/− mice exhibited unaltered hemostatic function and arterial thrombus formation. Conclusion These results show that CD84 is dispensable for thrombus formation and stabilization, indicating that its deficiency may be functionally compensated by other receptors or that it may be important for platelet functions different from platelet-platelet interactions. PMID:25551754

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.

PubMed

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.

Epithelial-mesenchymal transition abolishes the susceptibility of polarized epithelial cell lines to measles virus.

PubMed

Shirogane, Yuta; Takeda, Makoto; Tahara, Maino; Ikegame, Satoshi; Nakamura, Takanori; Yanagi, Yusuke

2010-07-02

Measles virus (MV), an enveloped negative-strand RNA virus, remains a major cause of morbidity and mortality in developing countries. MV predominantly infects immune cells by using signaling lymphocyte activation molecule (SLAM; also called CD150) as a receptor, but it also infects polarized epithelial cells, forming tight junctions in a SLAM-independent manner. Although the ability of MV to infect polarized epithelial cells is thought to be important for its transmission, the epithelial cell receptor for MV has not been identified. A transcriptional repressor, Snail, induces epithelial-mesenchymal transition (EMT), in which epithelial cells lose epithelial cell phenotypes, such as adherens and tight junctions. In this study, EMT was induced by expressing Snail in a lung adenocarcinoma cell line, II-18, which is highly susceptible to wild-type MV. Snail-expressing II-18 cells lost adherens and tight junctions. Microarray analysis confirmed the induction of EMT in II-18 cells and suggested a novel function of Snail in protein degradation and distribution. Importantly, wild-type MV no longer entered EMT-induced II-18 cells, suggesting that the epithelial cell receptor is down-regulated by the induction of EMT. Other polarized cell lines, NCI-H358 and HT-29, also lost susceptibility to wild-type MV when EMT was induced. However, the complete formation of tight junctions rather reduced MV entry into HT-29 cells. Taken together, these data suggest that the unidentified epithelial cell receptor for MV is involved in the formation of epithelial intercellular junctions.

Profiling a Mind Map User: A Descriptive Appraisal

ERIC Educational Resources Information Center

Tucker, Joanne M.; Armstrong, Gary R.; Massad, Victor J.

2010-01-01

Whether manually or through the use of software, a non-linear information organization framework known as mind mapping offers an alternative method for capturing thoughts, ideas and information to linear thinking modes such as outlining. Mind mapping is brainstorming, organizing, and problem solving. This paper examines mind mapping techniques,…

An Application of Multi-Criteria Shortest Path to a Customizable Hex-Map Environment

DTIC Science & Technology

2015-03-26

forces which could act as intermediate destinations or obstacles to movement through the network. This is similar to a traveling salesman problem ...118 Abstract The shortest path problem of finding the optimal path through a complex network is well-studied in the field of operations research. This...research presents an applica- tion of the shortest path problem to a customizable map with terrain features and enemy engagement risk. The PathFinder

US EPA 2012 Air Quality Fused Surface for the Conterminous U.S. Map Service

EPA Pesticide Factsheets

This web service contains a polygon layer that depicts fused air quality predictions for 2012 for census tracts in the conterminous United States. Fused air quality predictions (for ozone and PM2.5) are modeled using a Bayesian space-time downscaling fusion model approach described in a series of three published journal papers: 1) (Berrocal, V., Gelfand, A. E. and Holland, D. M. (2012). Space-time fusion under error in computer model output: an application to modeling air quality. Biometrics 68, 837-848; 2) Berrocal, V., Gelfand, A. E. and Holland, D. M. (2010). A bivariate space-time downscaler under space and time misalignment. The Annals of Applied Statistics 4, 1942-1975; and 3) Berrocal, V., Gelfand, A. E., and Holland, D. M. (2010). A spatio-temporal downscaler for output from numerical models. J. of Agricultural, Biological,and Environmental Statistics 15, 176-197) is used to provide daily, predictive PM2.5 (daily average) and O3 (daily 8-hr maximum) surfaces for 2012. Summer (O3) and annual (PM2.5) means calculated and published. The downscaling fusion model uses both air quality monitoring data from the National Air Monitoring Stations/State and Local Air Monitoring Stations (NAMS/SLAMS) and numerical output from the Models-3/Community Multiscale Air Quality (CMAQ). Currently, predictions at the US census tract centroid locations within the 12 km CMAQ domain are archived. Predictions at the CMAQ grid cell centroids, or any desired set of locations co

Displays, instruments, and the multi-dimensional world of cartography

NASA Technical Reports Server (NTRS)

Mccleary, George F., Jr.

1989-01-01

Cartographers are creators and purveyors of maps. Maps are representations of space, geographical images of the environment. Maps organize spatial information for convenience, particularly for use in performing tasks which involve the environment. There are many different kinds of maps, and there are as many different uses of maps as there are spatial problems to be solved. Maps and the display instrument dichotomy are examined. Also examined are the categories of map use along with the characteristics of maps.

Decomposition Technique for Remaining Useful Life Prediction

NASA Technical Reports Server (NTRS)

Saha, Bhaskar (Inventor); Goebel, Kai F. (Inventor); Saxena, Abhinav (Inventor); Celaya, Jose R. (Inventor)

2014-01-01

The prognostic tool disclosed here decomposes the problem of estimating the remaining useful life (RUL) of a component or sub-system into two separate regression problems: the feature-to-damage mapping and the operational conditions-to-damage-rate mapping. These maps are initially generated in off-line mode. One or more regression algorithms are used to generate each of these maps from measurements (and features derived from these), operational conditions, and ground truth information. This decomposition technique allows for the explicit quantification and management of different sources of uncertainty present in the process. Next, the maps are used in an on-line mode where run-time data (sensor measurements and operational conditions) are used in conjunction with the maps generated in off-line mode to estimate both current damage state as well as future damage accumulation. Remaining life is computed by subtracting the instance when the extrapolated damage reaches the failure threshold from the instance when the prediction is made.

Solution of the problem of superposing image and digital map for detection of new objects

NASA Astrophysics Data System (ADS)

Rizaev, I. S.; Miftakhutdinov, D. I.; Takhavova, E. G.

2018-01-01

The problem of superposing the map of the terrain with the image of the terrain is considered. The image of the terrain may be represented in different frequency bands. Further analysis of the results of collation the digital map with the image of the appropriate terrain is described. Also the approach to detection of differences between information represented on the digital map and information of the image of the appropriate area is offered. The algorithm for calculating the values of brightness of the converted image area on the original picture is offered. The calculation is based on using information about the navigation parameters and information according to arranged bench marks. For solving the posed problem the experiments were performed. The results of the experiments are shown in this paper. The presented algorithms are applicable to the ground complex of remote sensing data to assess differences between resulting images and accurate geopositional data. They are also suitable for detecting new objects in the image, based on the analysis of the matching the digital map and the image of corresponding locality.

Methamphetamine-associated psychosis: a new health challenge in Iran

PubMed Central

2013-01-01

The rapidly growing popularity of methamphetamine use in Iran has posed a new health challenge to the Iranian health sector. Methamphetamine-associated psychosis (MAP) has been frequently reported in Iran in recent years. Although methamphetamine use and MAP are considerable health problems in Iran but there is still a need to conduct epidemiological studies on the prevalence of MAP and its health-related problems. The present paper emphasizes that health policy makers should consider the immediate needs of drug users, their families and the community to be informed about the detrimental health effects associated with MAP. Although MAP could be managed by prescribing benzodiazepines and psychiatric medications but the most effective regime for stabilizing patients with MAP still needs to be studied in Iran. Constant collaborations among psychiatric services and outpatient psychotherapeutic services should be established to successfully manage MAP in Iran. Iranian clinicians especially emergency medicine specialists should be informed about the differences between the two forms of transient and recurrent MAP in order to implement appropriate pharmacological therapies to manage MAP. It is hoped that special training courses are designed and implemented by health policy makers to inform clinicians, health providers and especially emergency medicine specialists to effectively deal with MAP. PMID:23577655

Design of an image encryption scheme based on a multiple chaotic map

NASA Astrophysics Data System (ADS)

Tong, Xiao-Jun

2013-07-01

In order to solve the problem that chaos is degenerated in limited computer precision and Cat map is the small key space, this paper presents a chaotic map based on topological conjugacy and the chaotic characteristics are proved by Devaney definition. In order to produce a large key space, a Cat map named block Cat map is also designed for permutation process based on multiple-dimensional chaotic maps. The image encryption algorithm is based on permutation-substitution, and each key is controlled by different chaotic maps. The entropy analysis, differential analysis, weak-keys analysis, statistical analysis, cipher random analysis, and cipher sensibility analysis depending on key and plaintext are introduced to test the security of the new image encryption scheme. Through the comparison to the proposed scheme with AES, DES and Logistic encryption methods, we come to the conclusion that the image encryption method solves the problem of low precision of one dimensional chaotic function and has higher speed and higher security.

Complex mapping of aerofoils - a different perspective

NASA Astrophysics Data System (ADS)

Matthews, Miccal T.

2012-01-01

In this article an application of conformal mapping to aerofoil theory is studied from a geometric and calculus point of view. The problem is suitable for undergraduate teaching in terms of a project or extended piece of work, and brings together the concepts of geometric mapping, parametric equations, complex numbers and calculus. The Joukowski and Karman-Trefftz aerofoils are studied, and it is shown that the Karman-Trefftz aerofoil is an improvement over the Joukowski aerofoil from a practical point of view. For the most part only a spreadsheet program and pen and paper is required, only for the last portion of the study of the Karman-Trefftz aerofoils a symbolic computer package is employed. Ignoring the concept of a conformal mapping and instead viewing the problem from a parametric point of view, some interesting mappings are obtained. By considering the derivative of the mapped mapping via the chain rule, some new and interesting analytical results are obtained for the Joukowski aerofoil, and numerical results for the Karman-Trefftz aerofoil.

GIS Mapping and Monitoring of Health Problems Among the Elderly.

PubMed

Dermatis, Zacharias; Tsaloukidis, Nikolaos; Zacharopoulou, Georgia; Lazakidou, Athina

2017-01-01

The electronic survey in conjunction with GIS in the current study aims at presenting the needs and health problems of the elderly in individual Open Elderly Care Centres in Greece. The online GIS survey enables the continuous monitoring and developing of the health problems of the elderly and helps them in their early care by the healthcare units. GIS survey123 is a customizable tool, which can be used to conduct research that is then published on an Android, iOS, and web platform. The ArcGIS software was used for the geographic mapping of data collected from a wide range of sources, so that health care professionals can investigate the factors associated with the onset of the diseases. Also, direct geographic mapping aims at identifying health problems of the elderly in Greece and transferring information to health care professionals in order to impose proper control measures in a very small period of time.

Study on monostable and bistable reaction-diffusion equations by iteration of travelling wave maps

NASA Astrophysics Data System (ADS)

Yi, Taishan; Chen, Yuming

2017-12-01

In this paper, based on the iterative properties of travelling wave maps, we develop a new method to obtain spreading speeds and asymptotic propagation for monostable and bistable reaction-diffusion equations. Precisely, for Dirichlet problems of monostable reaction-diffusion equations on the half line, by making links between travelling wave maps and integral operators associated with the Dirichlet diffusion kernel (the latter is NOT invariant under translation), we obtain some iteration properties of the Dirichlet diffusion and some a priori estimates on nontrivial solutions of Dirichlet problems under travelling wave transformation. We then provide the asymptotic behavior of nontrivial solutions in the space-time region for Dirichlet problems. These enable us to develop a unified method to obtain results on heterogeneous steady states, travelling waves, spreading speeds, and asymptotic spreading behavior for Dirichlet problem of monostable reaction-diffusion equations on R+ as well as of monostable/bistable reaction-diffusion equations on R.

Use of Representation Mapping to Capture Abstraction in Problem Solving in Different Courses in Chemistry

ERIC Educational Resources Information Center

Sevian, H.; Bernholt, S.; Szteinberg, G. A.; Auguste, S.; Pérez, L. C.

2015-01-01

A perspective is presented on how the representation mapping framework by Hahn and Chater (1998) may be used to characterize reasoning during problem solving in chemistry. To provide examples for testing the framework, an exploratory study was conducted with students and professors from three different courses in the middle of the undergraduate…

New Model of Mapping Difficulties in Solving Analogical Problems among Adolescents and Adults with Intellectual Disability

ERIC Educational Resources Information Center

Lifshitz, Hefziba; Weiss, Itzhak; Tzuriel, David; Tzemach, Moran

2011-01-01

The main goal of the study was to map the difficulties and cognitive processes among adolescents (aged 13-21, N = 30) and adults (aged 25-66, N = 30) with mild and moderate intellectual disability (ID) when solving analogical problems. The participants were administered the "Conceptual and Perceptual Analogical Modifiability" test. A…

A Test of the Circumvention-of-Limits Hypothesis in Scientific Problem Solving: The Case of Geological Bedrock Mapping

ERIC Educational Resources Information Center

Hambrick, David Z.; Libarkin, Julie C.; Petcovic, Heather L.; Baker, Kathleen M.; Elkins, Joe; Callahan, Caitlin N.; Turner, Sheldon P.; Rench, Tara A.; LaDue, Nicole D.

2012-01-01

Sources of individual differences in scientific problem solving were investigated. Participants representing a wide range of experience in geology completed tests of visuospatial ability and geological knowledge, and performed a geological bedrock mapping task, in which they attempted to infer the geological structure of an area in the Tobacco…

Viewing or Visualising Which Concept Map Strategy Works Best on Problem-Solving Performance?

ERIC Educational Resources Information Center

Lee, Youngmin; Nelson, David W.

2005-01-01

The purpose of this study was to investigate the effects of two types of maps (generative vs. completed) and the amount of prior knowledge (high vs. low) on well-structured and ill-structured problem-solving performance. Forty-four undergraduates who were registered in an introductory instructional technology course participated in the study.…

Efficiency and security problems of anonymous key agreement protocol based on chaotic maps

NASA Astrophysics Data System (ADS)

Yoon, Eun-Jun

2012-07-01

In 2011, Niu-Wang proposed an anonymous key agreement protocol based on chaotic maps in [Niu Y, Wang X. An anonymous key agreement protocol based on chaotic maps. Commun Nonlinear Sci Simulat 2011;16(4):1986-92]. Niu-Wang's protocol not only achieves session key agreement between a server and a user, but also allows the user to anonymously interact with the server. Nevertheless, this paper points out that Niu-Wang's protocol has the following efficiency and security problems: (1) The protocol has computational efficiency problem when a trusted third party decrypts the user sending message. (2) The protocol is vulnerable to Denial of Service (DoS) attack based on illegal message modification by an attacker.

Using concept mapping to evaluate knowledge structure in problem-based learning.

PubMed

Hung, Chia-Hui; Lin, Chen-Yung

2015-11-27

Many educational programs incorporate problem-based learning (PBL) to promote students' learning; however, the knowledge structure developed in PBL remains unclear. The aim of this study was to use concept mapping to generate an understanding of the use of PBL in the development of knowledge structures. Using a quasi-experimental study design, we employed concept mapping to illustrate the effects of PBL by examining the patterns of concepts and differences in the knowledge structures of students taught with and without a PBL approach. Fifty-two occupational therapy undergraduates were involved in the study and were randomly divided into PBL and control groups. The PBL group was given two case scenarios for small group discussion, while the control group continued with ordinary teaching and learning. Students were asked to make concept maps after being taught about knowledge structure. A descriptive analysis of the morphology of concept maps was conducted in order to compare the integration of the students' knowledge structures, and statistical analyses were done to understand the differences between groups. Three categories of concept maps were identified as follows: isolated, departmental, and integrated. The students in the control group constructed more isolated maps, while the students in the PBL group tended toward integrated mapping. Concept Relationships, Hierarchy Levels, and Cross Linkages in the concept maps were significantly greater in the PBL group; however, examples of concept maps did not differ significantly between the two groups. The data indicated that PBL had a strong effect on the acquisition and integration of knowledge. The important properties of PBL, including situational learning, problem spaces, and small group interactions, can help students to acquire more concepts, achieve an integrated knowledge structure, and enhance clinical reasoning.

Distributed multimodal data fusion for large scale wireless sensor networks

NASA Astrophysics Data System (ADS)

Ertin, Emre

2006-05-01

Sensor network technology has enabled new surveillance systems where sensor nodes equipped with processing and communication capabilities can collaboratively detect, classify and track targets of interest over a large surveillance area. In this paper we study distributed fusion of multimodal sensor data for extracting target information from a large scale sensor network. Optimal tracking, classification, and reporting of threat events require joint consideration of multiple sensor modalities. Multiple sensor modalities improve tracking by reducing the uncertainty in the track estimates as well as resolving track-sensor data association problems. Our approach to solving the fusion problem with large number of multimodal sensors is construction of likelihood maps. The likelihood maps provide a summary data for the solution of the detection, tracking and classification problem. The likelihood map presents the sensory information in an easy format for the decision makers to interpret and is suitable with fusion of spatial prior information such as maps, imaging data from stand-off imaging sensors. We follow a statistical approach to combine sensor data at different levels of uncertainty and resolution. The likelihood map transforms each sensor data stream to a spatio-temporal likelihood map ideally suitable for fusion with imaging sensor outputs and prior geographic information about the scene. We also discuss distributed computation of the likelihood map using a gossip based algorithm and present simulation results.

An efficient approach to the travelling salesman problem using self-organizing maps.

PubMed

Vieira, Frederico Carvalho; Dória Neto, Adrião Duarte; Costa, José Alfredo Ferreira

2003-04-01

This paper presents an approach to the well-known Travelling Salesman Problem (TSP) using Self-Organizing Maps (SOM). The SOM algorithm has interesting topological information about its neurons configuration on cartesian space, which can be used to solve optimization problems. Aspects of initialization, parameters adaptation, and complexity analysis of the proposed SOM based algorithm are discussed. The results show an average deviation of 3.7% from the optimal tour length for a set of 12 TSP instances.

Concept Maps and Language: A Turkish Experience

ERIC Educational Resources Information Center

Kilic, Gulsen Bagci

2003-01-01

Concept maps are being used by an increasing number of educators in Europe and the US. This paper has four goals. First, it discusses problems in developing Novak's style concept maps in Turkish caused by linguistic differences between Turkish and English. Second, it reports the findings of a research study conducted to adapt concept maps to…

exocartographer: Constraining surface maps orbital parameters of exoplanets

NASA Astrophysics Data System (ADS)

Farr, Ben; Farr, Will M.; Cowan, Nicolas B.; Haggard, Hal M.; Robinson, Tyler

2018-05-01

exocartographer solves the exo-cartography inverse problem. This flexible forward-modeling framework, written in Python, retrieves the albedo map and spin geometry of a planet based on time-resolved photometry; it uses a Markov chain Monte Carlo method to extract albedo maps and planet spin and their uncertainties. Gaussian Processes use the data to fit for the characteristic length scale of the map and enforce smooth maps.

Application of Contraction Mappings to the Control of Nonlinear Systems. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Killingsworth, W. R., Jr.

1972-01-01

The theoretical and applied aspects of successive approximation techniques are considered for the determination of controls for nonlinear dynamical systems. Particular emphasis is placed upon the methods of contraction mappings and modified contraction mappings. It is shown that application of the Pontryagin principle to the optimal nonlinear regulator problem results in necessary conditions for optimality in the form of a two point boundary value problem (TPBVP). The TPBVP is represented by an operator equation and functional analytic results on the iterative solution of operator equations are applied. The general convergence theorems are translated and applied to those operators arising from the optimal regulation of nonlinear systems. It is shown that simply structured matrices and similarity transformations may be used to facilitate the calculation of the matrix Green functions and the evaluation of the convergence criteria. A controllability theory based on the integral representation of TPBVP's, the implicit function theorem, and contraction mappings is developed for nonlinear dynamical systems. Contraction mappings are theoretically and practically applied to a nonlinear control problem with bounded input control and the Lipschitz norm is used to prove convergence for the nondifferentiable operator. A dynamic model representing community drug usage is developed and the contraction mappings method is used to study the optimal regulation of the nonlinear system.

Software Models Impact Stresses

NASA Technical Reports Server (NTRS)

Hanshaw, Timothy C.; Roy, Dipankar; Toyooka, Mark

1991-01-01

Generalized Impact Stress Software designed to assist engineers in predicting stresses caused by variety of impacts. Program straightforward, simple to implement on personal computers, "user friendly", and handles variety of boundary conditions applied to struck body being analyzed. Applications include mathematical modeling of motions and transient stresses of spacecraft, analysis of slamming of piston, of fast valve shutoffs, and play of rotating bearing assembly. Provides fast and inexpensive analytical tool for analysis of stresses and reduces dependency on expensive impact tests. Written in FORTRAN 77. Requires use of commercial software package PLOT88.

Examination of silicon solar cells by means of the Scanning Laser Acoustic Microscope (SLAM)

NASA Technical Reports Server (NTRS)

Vorres, C.; Yuhas, D. E.

1981-01-01

The Scanning Laser Acoustic Microscope produces images of internal structure in materials. The acoustic microscope is an imaging system based upon acoustic rather than electromagnetic waves. Variations in the elastic propertis are primarily responsible for structure visualized in acoustic micrographs. The instrument used in these investigations is the SONOMICROSCOPE 100 which can be operated at ultrasonic frequencies of from 30 MHz to 500 MHz. The examination of the silicon solar cells was made at 100 MHz. Data are presented in the form of photomicrographs.

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

NASA Astrophysics Data System (ADS)

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.

Application of scanning acoustic microscopy to advanced structural ceramics

NASA Technical Reports Server (NTRS)

Vary, Alex; Klima, Stanley J.

1987-01-01

A review is presentod of research investigations of several acoustic microscopy techniques for application to structural ceramics for advanced heat engines. Results obtained with scanning acoustic microscopy (SAM), scanning laser acoustic microscopy (SLAM), scanning electron acoustic microscopy (SEAM), and photoacoustic microscopy (PAM) are compared. The techniques were evaluated on research samples of green and sintered monolithic silicon nitrides and silicon carbides in the form of modulus-of-rupture bars containing deliberately introduced flaws. Strengths and limitations of the techniques are described with emphasis on statistics of detectability of flaws that constitute potential fracture origins.

The Receptor-Binding Site of the Measles Virus Hemagglutinin Protein Itself Constitutes a Conserved Neutralizing Epitope

PubMed Central

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

2013-01-01

Here, we provide direct evidence that the receptor-binding site of measles virus (MV) hemagglutinin protein itself forms an effective conserved neutralizing epitope (CNE). Several receptor-interacting residues constitute the CNE. Thus, viral escape from neutralization has to be associated with loss of receptor-binding activity. Since interactions with both the signaling lymphocyte activation molecule (SLAM) and nectin4 are critical for MV pathogenesis, its escape, which results from loss of receptor-binding activity, should not occur in nature. PMID:23283964