Visualization of Simultaneous Localization and Mapping using SVG

Robotic system often use simultaneous localization and mapping method in their operations. Most of the calculation stored as a nested array with multiple level and dimension. SLAM data contains robot movement, object detection and relation between them. This system visualize SLAM data into a map containing robot historical position,object position and relation between object and robot that show detections line from each robot position. The visualized so human eye can understand it. This paper describes the process of movement and detection data composition and conversion to prepare the information required to build a map. The map composed by plotting every movements and detections into polar coordinate area. The map stored into a database for flexible future usage. Commonly used web based interface chosen to display the map via web browser. The map generated by server side scripts that transform polar data into full map

The symphonies of Antonio Brioschi : aspects of sonata form

The article investigates tonal, thematic, and textural aspects of sonata form in the movement structures of twenty-six symphonies from the 1730s and early-1740s by the Italian composer Antonio Brioschi (active ca. 1725–ca. 1750). It discusses expository events as well as aspects of development and recapitulation of the musical material. In addition, the article provides an account of the major eighteenth-century manuscript source of the works—a French collection known as Fonds Blancheton—and considers some general stylistic characteristics of the music

Pengaruh Kompetensi Kepemimpinan Kepala Dinas Terhadap Kepuasan Pegawai Di Dinas Pariwisata, Pemuda Dan Olahraga Kabupaten Tasikmalaya

The purpose of this research is to know, analyze and describe the satisfaction of employees about the behavior of leadership competencies from the top leaders of the organization (Head of Office) in the Tourism, Youth and Sports Agency of Tasikmalaya District. The research method used is a survey research method. The purpose of this survey is to get a picture representing that area correctly. The results of the research and analysis of statistics are obtained as follows: Recapitulation of the overall poll score about the head of Office competence in the Environment Tourism Office of Youth and Sports District Tasikmalaya is already good, a high category with a percentage of 73.19%. Recapitulation of the overall score of the employees ' work satisfaction in the Tourism Office of Youth and Sports District Tasikmalaya is already a good, high category with a percentage of 73.0%. The leadership Competence (X) has a significant effect on work satisfaction (Y) in the environment of the Youth and Sports tourism Office of Tasikmalaya Regency with a magnitude of correlation (R) of 0.873 where this figure indicates that the leadership Competence (X) has a strong relationship to work satisfaction (Y). Data analysis results, simultaneously there is a significant influence between leadership competency (X) To work satisfaction (Y) in the environment of the Youth Tourism and Sports Agency of The Tasikmalaya District

Wellington : a novel method for the accurate identification of digital genomic footprints from DNase-seq data

The expression of eukaryotic genes is regulated by cis-regulatory elements such as promoters and enhancers, which bind sequence-specific DNA-binding proteins. One of the great challenges in the gene regulation field is to characterise these elements. This involves the identification of transcription factor (TF) binding sites within regulatory elements that are occupied in a defined regulatory context. Digestion with DNase and the subsequent analysis of regions protected from cleavage (DNase footprinting) has for many years been used to identify specific binding sites occupied by TFs at individual cis-elements with high resolution. This methodology has recently been adapted for high-throughput sequencing (DNase-seq). In this study, we describe an imbalance in the DNA strand-specific alignment information of DNase-seq data surrounding protein–DNA interactions that allows accurate prediction of occupied TF binding sites. Our study introduces a novel algorithm, Wellington, which considers the imbalance in this strand-specific information to efficiently identify DNA footprints. This algorithm significantly enhances specificity by reducing the proportion of false positives and requires significantly fewer predictions than previously reported methods to recapitulate an equal amount of ChIP-seq data. We also provide an open-source software package, pyDNase, which implements the Wellington algorithm to interface with DNase-seq data and expedite analyses

A common trajectory recapitulated by urban economies

Is there a general economic pathway recapitulated by individual cities over and over? Identifying such evolution structure, if any, would inform models for the assessment, maintenance, and forecasting of urban sustainability and economic success as a quantitative baseline. This premise seems to contradict the existing body of empirical evidences for path-dependent growth shaping the unique history of individual cities. And yet, recent empirical evidences and theoretical models have amounted to the universal patterns, mostly size-dependent, thereby expressing many of urban quantities as a set of simple scaling laws. Here, we provide a mathematical framework to integrate repeated cross-sectional data, each of which freezes in time dimension, into a frame of reference for longitudinal evolution of individual cities in time. Using data of over 100 millions employment in thousand business categories between 1998 and 2013, we decompose each city's evolution into a pre-factor and relative changes to eliminate national and global effects. In this way, we show the longitudinal dynamics of individual cities recapitulate the observed cross-sectional regularity. Larger cities are not only scaled-up versions of their smaller peers but also of their past. In addition, our model shows that both specialization and diversification are attributed to the distribution of industry's scaling exponents, resulting a critical population of 1.2 million at which a city makes an industrial transition into innovative economies

Developing Teaching Materials Two-Dimensional Figure-Based on Palembang Local Cultural Context

Developing teaching materials is important to help students in learning mathematics especially for two-dimensional figure by using Palembang local cultural context. The purpose of the research was to develop whether the teaching materials two-dimensional figure-based on Palembang local cultural context are valid, practical, and have potential effect. The research method used research and development (R&D). The research consists of two stages, namely the preliminary stage and the formative evaluation stage. In one-to-one evaluation involved three students. Then, small group evaluation involved 9 (nine) students in the research. Meanwhile, in field test stage involved 29 students. Data collection techniques employed interviews, tests and documentation. The research was conducted in seventh graders at one of junior high school in Indonesia. The results of this study were the developed teaching materials were categorized as valid, practical and have potential effect. The average score of validity content, construct and product design were 3.65 which was very highly valid level. The practicality of one-to-one was 3.47 and small group evaluation was 3.61 which was at very highly practical level. The teaching materials were categorized as effective. It showed that there were 24 students (82.75%) out of 29 students (17.24%)

Inconsistencies in tape read and tape write programs on the I-100 image analysis system

The author has identified the following significant results. The tape read and write programs currently available on the 1-100 perform their intended functions of reading and writing tapes, but are difficult to use because they contain a number of inconsistencies. These inconsistencies can often be overcome by the use of work-around procedures and by trial and error, which is an inefficient use of expensive computer systems that should not be necessary

Program notes of graduate recital

Master's Project (M.Mu.) University of Alaska Fairbanks, 2017This paper discusses the four pieces of the graduate recital of student Evanthia Maniatopoulou; Johann Sebastian Bach's Prelude and Fugue in F minor, Well-Tempered Clavier Book II, BWV 881; Ludwig van Beethoven's Piano Sonata No. 30, Op. 109; Frederic Chopin's Scherzo No. 3, Op. 39; and Sergei Prokofiev's Piano Sonata No. 7, Op. 83. It is divided into four chapters, with one chapter dedicated to each piece. In each chapter there is a discussion about the composer's background, then some comments about his compositional style in general, then some information about the genre in which every piece falls into, and finally a brief analysis and discussion about the specific piece that was in the graduate recital.Chapter 1. Johann Sebastian Bach (1685-1750) -- Chapter 2. Ludwig van Beethoven (1770-1827) -- Chapter 3. Frederic Chopin (1810-1849) -- Chapter 4. Sergei Prokofiev (1891-1953) -- Bibliography