Positional estimation techniques for an autonomous mobile robot

Techniques for positional estimation of a mobile robot navigation in an indoor environment are described. A comprehensive review of the various positional estimation techniques studied in the literature is first presented. The techniques are divided into four different types and each of them is discussed briefly. Two different kinds of environments are considered for positional estimation; mountainous natural terrain and an urban, man-made environment with polyhedral buildings. In both cases, the robot is assumed to be equipped with single visual camera that can be panned and tilted and also a 3-D description (world model) of the environment is given. Such a description could be obtained from a stereo pair of aerial images or from the architectural plans of the buildings. Techniques for positional estimation using the camera input and the world model are presented

On fixed linear systems with a generalized performance criteria

Fixed linear systems with generalized performance criteri

Synthesis and Characterization of some First Row Transition Metal Picrates

Transition metal picrates of the empirical compositions Ti(Picrate) CI/Sub3, Ti (Picrate)/Sub2CI/Sub2, Cr (OH) (H/Sub2O)/Sub6 (Pierate)/Sub2 and M(H/Sub2O)x (Picrate)/Sub2 (where M=Mn (II), Fe (II), Co(II), Ni(II), Cu(II) and Zn(II) and x=4for Cu(II), 8 for Fe(II) & 6 for others) have been prepared and characterized by elemental analysis, molar conductance, magnetic susceptibility measurements, infrared and electronic spectral studies. Molar conductances and molecular weights of the soluble metal picrates show that TiCI/Sub2 (Picrate)/Sub2 is non electrolyte whereas others are 1:2 electrolytes. Magnetic susceptibility and electronic spectral I studies indicate that(II) picrate is square planar, whereas those of Cr(III) Mn(II0, Fe(II),Co(II) and NI(II) are spin free octahedral. The infrared spectral studies of the hydrated and anhydrous metal picrates show: (i) that phenolic group of the picric acid is involved in bounding with the metals;(ii) the water molecules in the hydrated metal picrates coordinated and (iii) the-NO/Sub2 groups do not participate in bonding with the metals

Acyl Hydrazine Complexes of Some First Row Transition Metal II Picrates

Abstract not available

The biology of Sesamia inferens (Walker) (Lepidoptera: Noctuidae) on maize in the north western plains of India

The biology of Sesamia inferens (Walker) was studied at 25±1 °C and 70±5 per cent relative humidity on PMH 1 maize hybrid. The incubation period was 6.82±0.05 days. There were six larval instars and the larval development was completed in 29.95±0.16 days. The duration of instars I-VI was 4.17±0.09, 3.60±0.08, 4.47±0.02, 4.40±0.03, 6.18±0.06 and 7.13±0.05 days, respectively. The pre-pupal period was 2.83±0.02 days. The male and female pupa had duration of 8.05±0.12 days and 10.33±0.16 days, respectively. The adult emergence was 93.02±0.01 per cent, with a sex ratio of 1:1.05. The males had shorter longevity of 3.92±0.23 days, while females had 5.05±0.28 days. The pre-oviposition, oviposition and post-oviposition period was 1.11±0.10, 2.96±0.19 and 0.79±0.10 days, respectively. The fecundity was 211.92 ±11.92 eggs with 53.69±10.78 eggs per cluster. The egg hatchability was 92.19±0.01 per cent. The total life cycle was completed in 47.65±0.24 days (Male) and 49.93±0.21 days (female). The observations on the biology will help in developing efficient strategies to manage S. inferens on maize in the north western plains of India

Electron Impact Excitation Cross Sections for Hydrogen-Like Ions

We present cross sections for electron-impact-induced transitions n --> n' in hydrogen-like ions C 5+, Ne 9+, Al 12+, and Ar 17+. The cross sections are computed by Coulomb-Born with exchange and normalization (CBE) method for all transitions with n < n' < 7 and by convergent close-coupling (CCC) method for transitions with n 2s and 1s --> 2p are presented as well. The CCC and CBE cross sections agree to better than 10% with each other and with earlier close-coupling results (available for transition 1 --> 2 only). Analytical expression for n --> n' cross sections and semiempirical formulae are discussed.Comment: RevTeX, 5 pages, 13 PostScript figures, submitted to Phys. Rev.

Comparative Outcomes of Resident vs Attending Performed Surgery: A Systematic Review and Meta-Analysis

OBJECTIVE: To determine whether outcomes are different when surgery is performed by resident or attending surgeons, and which variables may affect outcomes. DESIGN: MEDLINE, EMBASE, and the Cochrane Library were searched from inception to May 2014 alongside the bibliographies of all included or relevant studies. Any study comparing outcomes from surgery performed by resident vs attending surgeons was eligible for inclusion. The main outcome measures were surgical complications (classified by Clavien-Dindo grade), death, operative time, and length of stay. Data were extracted independently by 2 authors and analyzed using the random-effects model. RESULTS: The final analysis included 182 eligible studies that enrolled 141 555 patients. Resident performed surgery took longer by 10.2 minutes (95% confidence interval (CI): 8.38-11.95), and had more Clavien-Dindo grade 1 (rate ratio = 1.14, 95% CI: 1.02-1.29) and grade 3a complications (rate ratio = 1.22, 95% CI: 1.04-1.44). Resident performed surgery resulted in fewer deaths (risk ratio = 0.83, 95% CI: 0.70-0.999) with a shorter length of stay of -0.49 days (95% CI: -0.77 to -0.21). Significant heterogeneity was present in 7 of 10 outcomes, which persisted during multiple subgroup analyses. CONCLUSIONS: Resident performed surgery appears to be safe in carefully selected patients. The significant amount of heterogeneity present in the study outcomes prevents generalizability of these results to specific clinical contexts