This paper presents an interactive approach to the construction of a grid-semantic map for the navigation of service robots in an indoor environment. It is based on the Robot Operating System(ROS) framework and contai...
详细信息
This paper presents an interactive approach to the construction of a grid-semantic map for the navigation of service robots in an indoor environment. It is based on the Robot Operating System(ROS) framework and contains four modules, namely Interactive Module, Control Module, Navigation Module and Mapping Module. Three challenging issues have been focused during its development:(i) how human voice and robot visual information could be effectively deployed in the mapping and navigation process;(ii) how semantic names could combine with coordinate data in an online Grid-Semantic map; and(iii) how a localization–evaluate–relocalization method could be used in global localization based on modified maximum particle weight of the particle swarm. A number of experiments are carried out in both simulated and real environments such as corridors and offices to verify its feasibility and performance.
Using the full four-year SPTpol 500 deg2 dataset in both the 95 and 150 GHz frequency bands, we present measurements of the temperature and E-mode polarization of the cosmic microwave background (CMB), as well as the...
Using the full four-year SPTpol 500 deg2 dataset in both the 95 and 150 GHz frequency bands, we present measurements of the temperature and E-mode polarization of the cosmic microwave background (CMB), as well as the E-mode polarization autopower spectrum (EE) and temperature-E-mode cross-power spectrum (TE) in the angular multipole range 50<ℓ<8000. We find the SPTpol dataset to be self-consistent, passing several internal consistency tests based on maps, frequency bands, bandpowers, and cosmological parameters. The full SPTpol dataset is well-fit by the ΛCDM model, for which we find H0=70.48±2.16 km s−1 Mpc−1 and Ωm=0.271±0.026, when using only the SPTpol data and a Planck-based prior on the optical depth to reionization. The ΛCDM parameter constraints are consistent across the 95 GHz-only, 150 GHz-only, TE-only, and EE-only data splits. Between the ℓ<1000 and ℓ>1000 data splits, the ΛCDM parameter constraints are borderline consistent at the ∼2σ level. This consistency improves when including a parameter AL, the degree of lensing of the CMB inferred from the smearing of acoustic peaks. When marginalized over AL, the ΛCDM parameter constraints from SPTpol are consistent with those from Planck. The power spectra presented here are the most sensitive measurements of the lensed CMB damping tail to date for roughly ℓ>1700 in TE and ℓ>2000 in EE.
Focusing on the quality of education, skills, and employability of our graduates in computing-related fields, this work proposes a cost-effective approach to achieve these goals. The Evaluation and Proficiency Infrast...
Heterointerfaces of SrTiO3 with other transition metal oxides make up an intriguing family of systems with a bounty of coexisting and competing physical orders. Some examples, such as LaAlO3/SrTiO3, support a high car...
详细信息
In recent years, expression education that improves imagination and communication skills has been of increasing interest. Suitable support and evaluation for each student in expression education is necessary because s...
详细信息
In recent years, expression education that improves imagination and communication skills has been of increasing interest. Suitable support and evaluation for each student in expression education is necessary because students have different skill levels. However, many existing educational institutions educate learners in a one-to-many environment. This makes it difficult for teachers to support and evaluate all learners adequately. In this study, we use a robot as an alternative to a teacher in a one-to-one environment. Suzuki et al. proposed a robot for supporting expression education that gives hints to arouse imagination. They suggested that the robot has a positive effect on learning support but cautioned that it is necessary for learners to have an interest in the robot and to pay attention to it in order for the effect to be felt. In this paper, we focus on the nod in non-verbal communication and propose a robot for supporting expression education that nods and gives hints. To determine the effectiveness of the proposed robot, we performed experiments in which we compare its performance with that of a robot that nods but does not give hints, a robot that gives hints but does not nod, and a robot that neither nods nor gives hints.
High quality Au/hBN/Au tunnel devices are fabricated using transferred atomically thin hexagonal boron nitride as the tunneling barrier. All tunnel junctions show tunneling resistance on the order of several kΩ/µ...
详细信息
MOOCs are increasingly being used to impart education at different levels. However, skill based courses are still in their early age. This paper presents a study done on a 3D animation MOOC. Learner data of performanc...
详细信息
ISBN:
(纸本)9781467390422
MOOCs are increasingly being used to impart education at different levels. However, skill based courses are still in their early age. This paper presents a study done on a 3D animation MOOC. Learner data of performance in quizzes, perception of learning, and interest was gathered. Participants were grouped, accordingly to their prior exposure to online courses, as first time learners experienced learners. The effectiveness (9.1% completion rate) of the MOOC, was analyzed by comparing the perceptions of these two groups. First time learners perceived the contribution of the video towards their learning gain, more than the experienced learners. No difference in the perceived degree of contribution of specific aspects of the course like quizzes, assignments, and discussion forums was found.
Static diagrams are the most prevalent artifact used in visualizing component-and-connector architectures and supporting software architecture learning. The use of such artifacts exhibits a fundamental disconnect from...
详细信息
Static diagrams are the most prevalent artifact used in visualizing component-and-connector architectures and supporting software architecture learning. The use of such artifacts exhibits a fundamental disconnect from the dynamic nature of software systems, deemphasizes the importance of architectural interactions with a focus on static structure, and does not support a high degree of learner engagement. This paper presents our work in addressing these challenges by developing runtime visualization techniques that better support learning through the use of visual vocabularies that leverage insights from computer graphics and human perception. We also present evaluative data drawn from user studies and associated insights, which provide positive indicators that our work is effective in supporting our target learning outcomes.
作者：
Danaei, G.Farzadfar, F.Kelishadi, R.[a]Department of Global Health and Population and Department of Epidemiology
Harvard T H Chan School of Public Health Boston MA USA Department of Global Health and Population and Department of Epidemiology Harvard T H Chan School of Public Health Boston MA USA [b]Scientific Association for Public Health in Iran
Boston MA USA Scientific Association for Public Health in Iran Boston MA USA [c]Non-Communicable Diseases Research Center
Endocrinology and Metabolism Population Sciences Institute Tehran University of Medical Sciences Tehran Iran Non-Communicable Diseases Research Center Endocrinology and Metabolism Population Sciences Institute Tehran University of Medical Sciences Tehran Iran [d]Endocrinology and Metabolism Research Center
Tehran University of Medical Sciences Tehran Iran Endocrinology and Metabolism Research Center Tehran University of Medical Sciences Tehran Iran [e]Diabetes Research Center
Tehran University of Medical Sciences Tehran Iran Diabetes Research Center Tehran University of Medical Sciences Tehran Iran [f]Endocrinology and Metabolism Clinical Sciences Institute
Department of Health Management and Economics Tehran University of Medical Sciences Tehran Iran Endocrinology and Metabolism Clinical Sciences Institute Department of Health Management and Economics Tehran University of Medical Sciences Tehran Iran [g]Department of Global Health and Public Policy
Tehran University of Medical Sciences Tehran Iran Department of Global Health and Public Policy Tehran University of Medical Sciences Tehran Iran [h]Department of Epidemiology and Biostatistics
Tehran University of Medical Sciences Tehran Iran Department of Epidemiology and Biostatistics Tehran University of Medical Sciences Tehran Iran [i]School of Public Health
Tehran University of Medical Sciences Tehran Iran School of Public Health Tehran University of Medical Sciences Tehran Iran [j]Faculty of Medicine
Tehran University of Medical Sciences Tehran Iran Faculty of Medicine Te
Summary Being the second-largest country in the Middle East, Iran has a long history of civilisation during which several dynasties have been overthrown and established and health-related structures have been reorgani...
Summary Being the second-largest country in the Middle East, Iran has a long history of civilisation during which several dynasties have been overthrown and established and health-related structures have been reorganised. Iran has had the replacement of traditional practices with modern medical treatments, emergence of multiple pioneer scientists and physicians with great contributions to the advancement of science, environmental and ecological changes in addition to large-scale natural disasters, epidemics of multiple communicable diseases, and the shift towards non-communicable diseases in recent decades. Given the lessons learnt from political instabilities in the past centuries and the approaches undertaken to overcome health challenges at the time, Iran has emerged as it is today. Iran is now a country with a population exceeding 80 million, mainly inhabiting urban regions, and has an increasing burden of non-communicable diseases, including cardiovascular diseases, hypertension, diabetes, malignancies, mental disorders, substance abuse, and road injuries.
暂无评论