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Real-time 3D path and map estimation using a Multi-Camera system and a FastSLAM algorithm

Sensors and Transducers 2013年第SPEC. ISSUE期24卷 58-66页

作者： Netramai, Chayakorn Roth, Hubert Sachenko, Anatoly The Sirindhorn International Thai-German Graduate School of Engineering King Mongkut's University of Technology North Bangkok 1518 Pracharat 1 Road Bangsue Bangkok 10800 Thailand Institute of Automatic Control Engineering Department of Electrical Engineering and Computer Science University of Siegen Hölderlin str. 3 57076 Siegen Germany Department of Computer Science and Econometrics Silesian University of Technology Roosevelta St. 26-28 Zabrze 41-800 Poland

This work proposed a real-time 3D map building system based on the visual odometry information derived from a Multi-Camera hardware. The accurate odometry information and images derived from the proposed intuitive Multi-Camera hardware, so called Multi-Camera Unit (MCU), are used as an input for the 3D map building process which cooperates the FastSLAM algorithm as a map and path estimator. Experiment results show that the proposed system yield good estimation of 3D path and map in real-time. Using the estimated 3D path and map, a showcase application of 3D photorealistic map building can be implemented with ease where it can be run on top of all process in real-time manner using a standard PC. © 2013 IFSA.

关键词： Vision

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Erratum: 'A Measurement of the Cosmic Microwave Background B-Mode Polarization Power Spectrum at Sub-degree Scales with POLARBEAR' (2014, ApJ, 794, 171)

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The Astrophysical Journal 2017年第1期848卷

作者： The Polarbear Collaboration: P. A. R. Ade Y. Akiba A. E. Anthony K. Arnold M. Atlas D. Barron D. Boettger J. Borrill S. Chapman Y. Chinone M. Dobbs T. Elleflot J. Errard G. Fabbian C. Feng D. Flanigan A. Gilbert W. Grainger N. W. Halverson M. Hasegawa K. Hattori M. Hazumi W. L. Holzapfel Y. Hori J. Howard P. Hyland Y. Inoue G. C. Jaehnig A. H. Jaffe B. Keating Z. Kermish R. Keskitalo T. Kisner M. Le Jeune A. T. Lee E. M. Leitch E. Linder M. Lungu F. Matsuda T. Matsumura X. Meng N. J. Miller H. Morii S. Moyerman M. J. Myers M. Navaroli H. Nishino A. Orlando H. Paar J. Peloton D. Poletti E. Quealy G. Rebeiz C. L. Reichardt P. L. Richards C. Ross I. Schanning D. E. Schenck B. D. Sherwin A. Shimizu C. Shimmin M. Shimon P. Siritanasak G. Smecher H. Spieler N. Stebor B. Steinbach R. Stompor A. Suzuki S. Takakura T. Tomaru B. Wilson A. Yadav O. Zahn School of Physics and Astronomy Cardiff University Cardiff CF10 3XQ UK The Graduate University for Advanced Studies Hayama Miura District Kanagawa 240-0115 Japan Center for Astrophysics and Space Astronomy University of Colorado Boulder CO 80309 USA Department of Astrophysical and Planetary Sciences University of Colorado Boulder CO 80309 USA Department of Physics University of California San Diego CA 92093-0424 USA Computational Cosmology Center Lawrence Berkeley National Laboratory Berkeley CA 94720 USA Space Sciences Laboratory University of California Berkeley CA 94720 USA Department of Physics and Atmospheric Science Dalhousie University Halifax NS B3H 4R2 Canada Department of Physics University of California Berkeley CA 94720 USA High Energy Accelerator Research Organization (KEK) Tsukuba Ibaraki 305-0801 Japan Physics Department McGill University Montreal QC H3A 0G4 Canada AstroParticule et Cosmologie Univ Paris Diderot CNRS/IN2P3 CEA/Irfu Obs de Paris Sorbonne Paris Cité France International School for Advanced Studies (SISSA) Trieste 34014 Italy Department of Physics Columbia University New York NY 10027 USA Rutherford Appleton Laboratory STFC Swindon SN2 1SZ United Kingdom Department of Physics University of Colorado Boulder CO 80309 USA Kavli Institute for the Physics and Mathematics of the Universe (WPI) Todai Institutes for Advanced Study The University of Tokyo Kashiwa Chiba 277-8583 Japan Department of Physics University of Oxford Oxford OX1 2JD UK Physics Department Austin College Sherman TX 75090 USA Department of Physics Imperial College London London SW7 2AZ UK Department of Physics Princeton University Princeton NJ 08544 USA Physics Division Lawrence Berkeley National Laboratory Berkeley CA 94720 USA Department of Astronomy and Astrophysics University of Chicago Chicago IL 60637 USA Kavli Institute for Cosmological Physics University of Chicago Chicago IL 60637 USA Department of Physics and Astronomy

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Learning natural selection from the site frequency spectrum

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17th Annual international Conference on Research in Computational Molecular Biology, RECOMB 2013

作者： Ronen, Roy Udpa, Nitin Halperin, Eran Bafna, Vineet Bioinformatics Graduate Program University of California San Diego CA United States International Computer Science Institute Berkeley CA United States Blavatnik School of Computer Science Tel-Aviv University Tel-Aviv Israel Department of Molecular Microbiology and Biotechnology Tel-Aviv University Tel-Aviv Israel Department of Computer Science and Engineering University of California San Diego CA United States

ISBN: (纸本)9783642371943

Genetic adaptation to external stimuli occurs through the combined action of mutation and selection. A central problem in genetics is to identify loci responsive to specific selective pressures. Over the last two decades, many tests have been proposed to identify genomic signatures of natural selection. However, the power of these tests changes unpredictably from one dataset to another, with no single dominant method. We build upon recent work that connects many of these tests in a common framework, by describing how positive selection strongly impacts the observed site frequency spectrum (SFS). Many of the proposed tests quantify the skew in SFS to predict selection. Here, we show that the skew depends on many parameters, including the selection coefficient, and time since selection. Moreover, for each of the different regimes of positive selection, informative features of the scaled SFS can be learned from simulated data and applied to population-scale variation data. Using support vector machines, we develop a test that is effective over all selection regimes. On simulated datasets, our test outperforms existing ones over the entire parameter space. We apply our test to variation data from Drosophila melanogaster populations adapted to hypoxia, and identify new loci that were missed by previous approaches, but strengthen the role of the Notch pathway in hypoxia tolerance. © 2013 Springer-Verlag.

关键词： Genome

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Deformation of porous, nanostructured silver at room temperature and 150C°

Deformation of porous, nanostructured silver at room tempera...

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2012 MRS Fall Meeting

作者： Noiseau, Guillaume Becker, Michael F. Keto, John W. Kovar, Desiderio Materials Science and Engineering Graduate Program University of Texas at Austin Austin TX 78712-1591 United States Department of Electrical and Computer Engineering University of Texas Austin TX United States Department of Physics University of Texas Austin TX United States Department of Mechanical Engineering University of Texas Austin TX United States

ISBN: (纸本)9781632661067

Porous, nanostructured silver samples were produced using a direct-write method where a nanoparticle aerosol consisting of particles with a mean size of approximately 5 nm were accelerated to speeds of approximately 1000 m/sec and impacted onto a translating substrate [1]. The impacting particles have sufficient energy to stick to the substrate, allowing patterned thick films to be directly written from the aerosol without a mask. Unlike other low temperature processing routes for achieving patterned films, no organics are added that can interfere with post-deposition processing. Typical films are 5-100 μm thick, up to several centimeters long, and have an as-deposited relative densities as high as 70% of bulk Ag. Compression tests were carried out in steps at room temperature and at 150°C under constant displacement rates. Local strain and densification were measured by optical profilometry between each compression step. The results can be used as a starting point to better understand the mechanisms that govern plasticity, creep, and sintering in nanostructured, porous silver at low processing temperatures. © 2013 Materials Research Society.

关键词： Room temperature

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Recent Advances in Detection of Ochratoxin-A

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Open Journal of Applied Biosensor 2013年第1期2卷 1-11页

作者： Ajeet Kaushik Sunil K. Arya Abhay Vasudev Shekhar Bhansali Bioelectronics Program Institute of Microelectronics A*STAR (Agency for Science Technology and Research) 11 Science Park Road Singapore Science Park II Singapore 117685 Singapore Bio-MEMS and Microsystems Lab Department of Electrical and Computer Engineering Florida International University Miami USA Bio-MEMS and Microsystems Lab Department of Electrical and Computer EngineeringFlorida International University Miami USA Department of Biomedical Engineering Florida International University Miami USA

Ochratoxin-A[7-(L-β-phenylalanylcarbonyl)-carboxyl-5-chloro-8-hydroxy-3,4-dihydro-3R-methyl-isocumarin, OTA] is a common food contaminant mycotoxin that enters the human body through the consumption of improperly stored food products. Upon ingestion, it leads to immuno-suppression and immuno-toxicity. OTA has been known to produce nephrotoxic, teratogenic, and carcinogenic activity (via oxidative DNA damage) in several species. This review introduces potentials of electrochemical biosensor to provide breakthroughs in OTA detection through improved selectivity and sensitivity and also the current approaches for detecting OTA in food products.

关键词： Biopolymer Mycotoxins Ochratoxin-A Chitosan Organic-Inorganic Hybrid Nanocomposite Biosensors

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Highlights from the 11th ISCB Student Council Symposium 2015. Dublin, Ireland. 10 July 2015

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BMC bioinformatics 2016年第3期17 Suppl 3卷 95页

作者： Katie Wilkins Mehedi Hassan Margherita Francescatto Jakob Jespersen R. Gonzalo Parra Bart Cuypers Dan DeBlasio Alexander Junge Anupama Jigisha Farzana Rahman Griet Laenen Sander Willems Lieven Thorrez Yves Moreau Nagarajan Raju Sonia Pankaj Chothani C. Ramakrishnan Masakazu Sekijima M. Michael Gromiha Paddy J Slator Nigel J Burroughs Przemysław Szałaj Zhonghui Tang Paul Michalski Oskar Luo Xingwang Li Yijun Ruan Dariusz Plewczynski Giulia Fiscon Emanuel Weitschek Massimo Ciccozzi Paola Bertolazzi Giovanni Felici Pieter Meysman Manu Vanaerschot Maya Berg Hideo Imamura Jean-Claude Dujardin Kris Laukens Westa Domanova James R. Krycer Rima Chaudhuri Pengyi Yang Fatemeh Vafaee Daniel J. Fazakerley Sean J. Humphrey David E. James Zdenka Kuncic Plant Pathology and Plant-Microbe Biology Section School of Integrative Plant Science Cornell University Ithaca USA Graduate Field of Computational Biology Cornell University Ithaca USA School of Computing & Mathematics University of South Wales Cardiff UK Department of Genome Biology for Neurodegenerative Diseases German Center for Neurodegenerative Diseases (DZNE) within the Helmholtz Association ᅟ Germany Department of Surgery Massachusetts General Hospital The Broad Institute of MIT and Harvard Boston USA Department of Systems Biology Technical University of Denmark Kemitorvet Denmark Protein Physiology Lab Facultad de Ciencias Exactas y Naturales Universidad de Buenos Aires Buenos Aires Argentina Molecular Parasitology Unit (MPU) Institute of Tropical Medicine Antwerp Belgium Advanced Database Research and Modeling (ADReM) research group University of Antwerp Antwerpen Belgium Department of Computer Science University of Arizona Tucson USA Department of Veterinary Clinical and Animal Sciences Center for non-coding RNA in Technology and Health University of Copenhagen Copenhagen Denmark University College Dublin Dublin Ireland Department of Electrical Engineering (ESAT) STADIUS Center for Dynamical Systems Signal Processing and Data Analytics KU Leuven Leuven Belgium Minds Medical IT Department Leuven Belgium Scientific Institute of Public Health (WIV-ISP) Platform of Biotechnology and Molecular Biology (PBB) Brussels Belgium Department of Development and Regeneration @ Kulak KU Leuven Kortrijk Belgium Department of Biotechnology Bhupat and Jyoti Metha School of Biosciences Indian Institute of Technology Madras Chennai India Philips Research North America Briarcliff Manor USA Global Scientific Information and Computing Center (GSIC) Tokyo Institute of Technology Tokyo Japan Systems Biology Centre University of Warwick Senate House Coventry UK Systems Biology Doctoral Training Centre University of Warwick Senate House Coventry UK Center for B

A1 Highlights from the eleventh ISCB Student Council Symposium 2015 Katie Wilkins, Mehedi Hassan, Margherita Francescatto, Jakob Jespersen, R. Gonzalo Parra, Bart Cuypers, Dan DeBlasio, Alexander Junge, Anupama Jigisha, Farzana Rahman O1 Prioritizing a drug’s targets using both gene expression and structural similarity Griet Laenen, Sander Willems, Lieven Thorrez, Yves Moreau O2 Organism specific protein-RNA recognition: A computational analysis of protein-RNA complex structures from different organisms Nagarajan Raju, Sonia Pankaj Chothani, C. Ramakrishnan, Masakazu Sekijima; M. Michael Gromiha O3 Detection of Heterogeneity in Single Particle Tracking Trajectories Paddy J Slator, Nigel J Burroughs O4 3D-NOME: 3D NucleOme Multiscale Engine for data-driven modeling of three-dimensional genome architecture Przemysław Szałaj, Zhonghui Tang, Paul Michalski, Oskar Luo, Xingwang Li, Yijun Ruan, Dariusz Plewczynski O5 A novel feature selection method to extract multiple adjacent solutions for viral genomic sequences classification Giulia Fiscon, Emanuel Weitschek, Massimo Ciccozzi, Paola Bertolazzi, Giovanni Felici O6 A Systems Biology Compendium for Leishmania donovani Bart Cuypers, Pieter Meysman, Manu Vanaerschot, Maya Berg, Hideo Imamura, Jean-Claude Dujardin, Kris Laukens O7 Unravelling signal coordination from large scale phosphorylation kinetic data Westa Domanova, James R. Krycer, Rima Chaudhuri, Pengyi Yang, Fatemeh Vafaee, Daniel J. Fazakerley, Sean J. Humphrey, David E. James, Zdenka Kuncic

关键词： Visceral Leishmaniasis Feature Selection Method Frequent Itemset Mining Leishmania Donovani Student Council

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Twin-T Oscillator Containing Polymer Coated Parallel Plate Capacitor for Sea Water Salinity Sensing

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Open Journal of Applied Biosensor 2013年第2期2卷 57-64页

作者： Shreyas Bhatt Abdur Rub Abdur Rahman Sunil K. Arya Shekhar Bhansali Bioelectronics Program Institute of Microelectronics A*Star Singapore Science Park II Singapore City Singapore BioMEMS and Microsystems Lab Department of Electrical Engineering University of South Florida Tampa USA Department of Electrical and Computer Engineering Florida International University Miami FL USA

This paper presents the development of a Twin-T oscillator comprising polymer coated parallel plates as a sensor for ocean water salinity *** sensor employs a parallel plate capacitor design, with sea water serving as the medium between plates. Novalac resin and a proprietary commercial polymer (AccufloTW) were investigated as corrosion protective coatings for the copper electrodes of the capacitor. Electrochemical Impedance Spectroscopy (EIS) was employed to evaluate corrosion inhibition of polymer coatingin sea water. A detection circuit was designed and simulated using P-spice and then implemented in Printed Circuit Board (PCB). EIS results indicate that Accuflo exhibits better corrosion inhibition in ocean water than Novolac. Further, the use of Twin-T oscillator based detection circuit resulted in enhanced sensitivity and better detection limit. Experiments performed using ocean water samples resulted in oscillator frequency shift of 410 Hertz/power supply unit (Hz/PSU). Oscillator frequency drift was reduced using frequency-to-voltage converters and sensitivity of 10 mV/PSU was achieved.

关键词： Impedance Spectroscopy Salinity Sensing Capacitive Sensors Polymer Coating Twin-T Oscillator

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Deformation of Porous, Nanostructured Silver at Room Temperature and 150 °C

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MRS Online Proceedings Library 2013年第1期1513卷 1-6页

作者： Noiseau, Guillaume Becker, Michael F. Keto, John W. Kovar, Desiderio Materials Science and Engineering Graduate Program The University of Texas at Austin Austin USA Department of Electrical and Computer Engineering The University of Texas Austin USA Department of Physics The University of Texas Austin USA Department of Mechanical Engineering The University of Texas Austin USA

Porous, nanostructured silver samples were produced using a direct-write method where a nanoparticle aerosol consisting of particles with a mean size of approximately 5 nm were accelerated to speeds of approximately 1000 m/sec and impacted onto a translating substrate [1]. The impacting particles have sufficient energy to stick to the substrate, allowing patterned thick films to be directly written from the aerosol without a mask. Unlike other low temperature processing routes for achieving patterned films, no organics are added that can interfere with postdeposition processing. Typical films are 5- 100 μm thick, up to several centimeters long, and have an as-deposited relative densities as high as 70% of bulk Ag. Compression tests were carried out in steps at room temperature and at 150°C under constant displacement rates. Local strain and densification were measured by optical profilometry between each compression step. The results can be used as a starting point to better understand the mechanisms that govern plasticity, creep, and sintering in nanostructured, porous silver at low processing temperatures.

关键词： Ag densification nanoscale

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Multi-hole defect photonic crystals with enhanced surface area for biosensing applications

Multi-hole defect photonic crystals with enhanced surface ar...

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Laser science, LS 2013

作者： Hu, S. Kang, C. Zhao, Y. Mares, J.W. Vlasov, Y.A. Assefa, S. Weiss, S.M. Department of Physics and Astronomy Vanderbilt University Nashville TN 37235 United States Interdisciplinary Graduate Program in Materials Science Vanderbilt University Nashville TN 37235 United States Department of Electrical Engineering and Computer Science Vanderbilt University Nashville TN 37235 United States IBM T.J. Watson Research Center Yorktown Heights NY 10536 United States

Multi-hole defect (MHD) photonic crystal cavities functionalized with in situ synthesized DNA bioreceptors are demonstrated for biosensing applications. By significantly increasing light interaction with target biomol... 详细信息

ISBN: (纸本)9781557529879

关键词： Photonic crystals

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Group Method of Data Handling for Modeling Magnetorheological Dampers

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Intelligent Control and Automation 2013年第1期4卷 70-79页

作者： Khaled Assaleh Tamer Shanableh Yasmin Abu Kheil Department of Computer Science and Engineering American University of Sharjah Sharjah United Arab Emirates Department of Electrical Engineering American University of Sharjah Sharjah United Arab Emirates Mechatronics Graduate Program American University of Sharjah Sharjah United Arab Emirates

This paper proposes the use of Group Method of Data Handling (GMDH) technique for modeling Magneto-Rheological (MR) dampers in the context of system identification. GMDH is a multilayer network of quadratic neurons that offers an effective solution to modeling non-linear systems. As such, we propose the use of GMDH to approximate the forward and inverse dynamic behaviors of MR dampers. We also introduce two enhanced GMDH-based solutions. Firstly, a two-tier architecture is proposed whereby an enhanced GMD model is generated by the aid of a feedback scheme. Secondly, stepwise regression is used as a feature selection method prior to GMDH modeling. The proposed enhancements to GMDH are found to offer improved prediction results in terms of reducing the root-mean-squared error by around 40%.

关键词： System Identification Magneto-Rheological Dampers Group Method of Data Handling Polynomial Classifier

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