42,874 research outputs found
Automated single-slide staining device
A simple apparatus and method is disclosed for making individual single Gram stains on bacteria inoculated slides to assist in classifying bacteria in the laboratory as Gram-positive or Gram-negative. The apparatus involves positioning a single inoculated slide in a stationary position and thereafter automatically and sequentially flooding the slide with increments of a primary stain, a mordant, a decolorizer, a counterstain and a wash solution in a sequential manner without the individual lab technician touching the slide and with minimum danger of contamination thereof from other slides
Validating Sample Average Approximation Solutions with Negatively Dependent Batches
Sample-average approximations (SAA) are a practical means of finding
approximate solutions of stochastic programming problems involving an extremely
large (or infinite) number of scenarios. SAA can also be used to find estimates
of a lower bound on the optimal objective value of the true problem which, when
coupled with an upper bound, provides confidence intervals for the true optimal
objective value and valuable information about the quality of the approximate
solutions. Specifically, the lower bound can be estimated by solving multiple
SAA problems (each obtained using a particular sampling method) and averaging
the obtained objective values. State-of-the-art methods for lower-bound
estimation generate batches of scenarios for the SAA problems independently. In
this paper, we describe sampling methods that produce negatively dependent
batches, thus reducing the variance of the sample-averaged lower bound
estimator and increasing its usefulness in defining a confidence interval for
the optimal objective value. We provide conditions under which the new sampling
methods can reduce the variance of the lower bound estimator, and present
computational results to verify that our scheme can reduce the variance
significantly, by comparison with the traditional Latin hypercube approach
Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping
Recent work on simultaneous trajectory estimation and mapping (STEAM) for
mobile robots has found success by representing the trajectory as a Gaussian
process. Gaussian processes can represent a continuous-time trajectory,
elegantly handle asynchronous and sparse measurements, and allow the robot to
query the trajectory to recover its estimated position at any time of interest.
A major drawback of this approach is that STEAM is formulated as a batch
estimation problem. In this paper we provide the critical extensions necessary
to transform the existing batch algorithm into an extremely efficient
incremental algorithm. In particular, we are able to vastly speed up the
solution time through efficient variable reordering and incremental sparse
updates, which we believe will greatly increase the practicality of Gaussian
process methods for robot mapping and localization. Finally, we demonstrate the
approach and its advantages on both synthetic and real datasets.Comment: 10 pages, 10 figure
Fast Ensemble Smoothing
Smoothing is essential to many oceanographic, meteorological and hydrological
applications. The interval smoothing problem updates all desired states within
a time interval using all available observations. The fixed-lag smoothing
problem updates only a fixed number of states prior to the observation at
current time. The fixed-lag smoothing problem is, in general, thought to be
computationally faster than a fixed-interval smoother, and can be an
appropriate approximation for long interval-smoothing problems. In this paper,
we use an ensemble-based approach to fixed-interval and fixed-lag smoothing,
and synthesize two algorithms. The first algorithm produces a linear time
solution to the interval smoothing problem with a fixed factor, and the second
one produces a fixed-lag solution that is independent of the lag length.
Identical-twin experiments conducted with the Lorenz-95 model show that for lag
lengths approximately equal to the error doubling time, or for long intervals
the proposed methods can provide significant computational savings. These
results suggest that ensemble methods yield both fixed-interval and fixed-lag
smoothing solutions that cost little additional effort over filtering and model
propagation, in the sense that in practical ensemble application the additional
increment is a small fraction of either filtering or model propagation costs.
We also show that fixed-interval smoothing can perform as fast as fixed-lag
smoothing and may be advantageous when memory is not an issue
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