Covariance Bounds Analysis during Intermittent Measurement for EKF-based SLAM

This paper deals with Extended Kalman Filter(EKF)-based SLAM estimation considering intermittent measurement. The study proposes a method to ensure that a designer is able to secure the state covariance or system uncertainties even though the mobile robot sometimes losses its measurement data during its observations. EKF which is based on Bayesian, is chosen in this work for estimation purposes in determining mobile robot position and the environment conditions. In addition, as most of estimation techniques uses Bayesian method, our propose results is expected to provide a general estimation guidelines especially on the filter statistical behavior. The analysis started from the review of theoretical studies of EKF including the expected condition occurred when mobile robot do not received information from its sensors. Simulation results have consistently supports our theoretical analysis which determines that a designer can determine the state error covariance explicitly whenever measurement data is not available.&nbsp

A Novel Approach To Intelligent Navigation Of A Mobile Robot In A Dynamic And Cluttered Indoor Environment

The need and rationale for improved solutions to indoor robot navigation is increasingly driven by the influx of domestic and industrial mobile robots into the market. This research has developed and implemented a novel navigation technique for a mobile robot operating in a cluttered and dynamic indoor environment. It divides the indoor navigation problem into three distinct but interrelated parts, namely, localization, mapping and path planning. The localization part has been addressed using dead-reckoning (odometry). A least squares numerical approach has been used to calibrate the odometer parameters to minimize the effect of systematic errors on the performance, and an intermittent resetting technique, which employs RFID tags placed at known locations in the indoor environment in conjunction with door-markers, has been developed and implemented to mitigate the errors remaining after the calibration. A mapping technique that employs a laser measurement sensor as the main exteroceptive sensor has been developed and implemented for building a binary occupancy grid map of the environment. A-r-Star pathfinder, a new path planning algorithm that is capable of high performance both in cluttered and sparse environments, has been developed and implemented. Its properties, challenges, and solutions to those challenges have also been highlighted in this research. An incremental version of the A-r-Star has been developed to handle dynamic environments. Simulation experiments highlighting properties and performance of the individual components have been developed and executed using MATLAB. A prototype world has been built using the WebotsTM robotic prototyping and 3-D simulation software. An integrated version of the system comprising the localization, mapping and path planning techniques has been executed in this prototype workspace to produce validation results

Current challenges for preseismic electromagnetic emissions: shedding light from micro-scale plastic flow, granular packings, phase transitions and self-affinity notion of fracture process

Are there credible electromagnetic (EM) EQ precursors? This a question debated in the scientific community and there may be legitimate reasons for the critical views. The negative view concerning the existence of EM precursors is enhanced by features that accompany their observation which are considered as paradox ones, namely, these signals: (i) are not observed at the time of EQs occurrence and during the aftershock period, (ii) are not accompanied by large precursory strain changes, (iii) are not accompanied by simultaneous geodetic or seismological precursors and (v) their traceability is considered problematic. In this work, the detected candidate EM precursors are studied through a shift in thinking towards the basic science findings relative to granular packings, micron-scale plastic flow, interface depinning, fracture size effects, concepts drawn from phase transitions, self-affine notion of fracture and faulting process, universal features of fracture surfaces, recent high quality laboratory studies, theoretical models and numerical simulations. Strict criteria are established for the definition of an emerged EM anomaly as a preseismic one, while, precursory EM features, which have been considered as paradoxes, are explained. A three-stage model for EQ generation by means of preseismic fracture-induced EM emissions is proposed. The claim that the observed EM precursors may permit a real-time and step-by-step monitoring of the EQ generation is tested

Distribution of sialic acids on mucins and gels: a defense mechanism

Moist mucosal epithelial interfaces that are exposed to external environments are dominated by sugar epitopes, some of which (e.g., sialic acids) are involved in host defense. In this study, we determined the abundance and distribution of two sialic acids to assess differences in their availability to an exogenous probe in isolated mucins and mucous gels. We used atomic force microscopy to obtain force maps of human preocular mucous and purified ocular mucins by probing and locating the interactions between tip-tethered lectins Maackia amurensis and Sambucus nigra and their respective receptors, α-2,3 and α-2,6 N-acetylneuraminic (sialic) acids. The rupture force distributions were not affected by neighboring sugar-bearing molecules. Energy contours for both lectin-sugar bonds were fitted to a two-barrier model, suggesting a conformational change before dissociation. In contrast to data from purified mucin molecules, the preocular gels presented numerous large clusters (19,000 ± 4000 nm2) of α-2,6 sialic acids, but very few small clusters (2000 ± 500 nm2) of α-2,3 epitopes. This indicates that mucins, which are rich in α-2,3 sialic acids, are only partially exposed at the surface of the mucous gel. Microorganisms that recognize α-2,3 sialic acids will encounter only isolated ligands, and the adhesion of other microorganisms will be enhanced by large islands of neighboring α-2,6 sialic acids. We have unveiled an additional level of mucosal surface heterogeneity, specifically in the distribution of pro- and antiadhesive sialic acids that protect underlying epithelia from viruses and bacteria

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 338)

This bibliography lists 139 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during June 1990. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance