Robust visual odometry using uncertainty models

In dense, urban environments, GPS by itself cannot be relied on to provide accurate positioning information. Signal reception issues (e.g. occlusion, multi-path effects) often prevent the GPS receiver from getting a positional lock, causing holes in the absolute positioning data. In order to keep assisting the driver, other sensors are required to track the vehicle motion during these periods of GPS disturbance. In this paper, we propose a novel method to use a single on-board consumer-grade camera to estimate the relative vehicle motion. The method is based on the tracking of ground plane features, taking into account the uncertainty on their backprojection as well as the uncertainty on the vehicle motion. A Hough-like parameter space vote is employed to extract motion parameters from the uncertainty models. The method is easy to calibrate and designed to be robust to outliers and bad feature quality. Preliminary testing shows good accuracy and reliability, with a positional estimate within 2 metres for a 400 metre elapsed distance. The effects of inaccurate calibration are examined using artificial datasets, suggesting a self-calibrating system may be possible in future work

Black hole thermodynamics from simulations of lattice Yang-Mills theory

We report on lattice simulations of 16 supercharge SU(N) Yang-Mills quantum mechanics in the 't Hooft limit. Maldacena duality conjectures that in this limit the theory is dual to IIA string theory, and in particular that the behavior of the thermal theory at low temperature is equivalent to that of certain black holes in IIA supergravity. Our simulations probe the low temperature regime for N <= 5 and the intermediate and high temperature regimes for N <= 12. We observe 't Hooft scaling and at low temperatures our results are consistent with the dual black hole prediction. The intermediate temperature range is dual to the Horowitz-Polchinski correspondence region, and our results are consistent with smooth behavior there. We include the Pfaffian phase arising from the fermions in our calculations where appropriate.Comment: 4 pages, 4 figure

Perturbative dynamics of fuzzy spheres at large N

We clarify some peculiar aspects of the perturbative expansion around a classical fuzzy-sphere solution in matrix models with a cubic term. While the effective action in the large-N limit is saturated at the one-loop level, we find that the ``one-loop dominance'' does not hold for generic observables due to one-particle reducible diagrams. However, we may exploit the one-loop dominance for the effective action and obtain various observables to all orders from one-loop calculation by simply shifting the center of expansion to the ``quantum solution'', which extremizes the effective action. We confirm the validity of this method by comparison with the direct two-loop calculation and with Monte Carlo results in the 3d Yang-Mills-Chern-Simons matrix model. From the all order result we find that the perturbative expansion has a finite radius of convergence.Comment: 21 pages, 9 figures, (v2) all order analyses added, (v3) some typos correcte

Mycophenolate mofetil inhibits lymphocyte binding and the upregulation of adhesion molecules in acute rejection of rat kidney allografts.

Mycophenolate mofetil (MMF) interacts with purine metabolism and possibly with the expression of adhesion molecules. In the present study, we analysed the expression of these molecules in transplanted kidney allografts treated with RS LBNF1 kidneys were orthotopically transplanted into Lewis rats and either treated with RS (20 mg/kg/day) or vehicle. Rats were harvested 3, 5 and 7 days following transplantation. For binding studies, fresh-frozen sections of transplanted kidneys were incubated with lymph node lymphocytes (LNL) derived from transplanted rats. Additionally, immunohistology was performed with various monoclonal antibodies. In general, MMF resulted in better preservation of graft structure by 7 days. Cellular infiltration and tubular atrophy were less pronounced. At day 3, macrophages were diminished in MMF-treated animals to a high extent, while the number of T cells was almost identical to that of controls. In addition, the number of cells positive for MHC class II and LFA-1 was reduced in the MMF-treated animals. These findings correlated with the binding results. Three days following engraftment, LNL bound to MMF-treated kidneys to a lesser extent compared to controls. In conclusion, MMF resulted in a markedly reduced leucocytic infiltrate, presumably based on a reduced expression of lymphocytic adhesion molecules and an interaction with macrophages

Swift Highly Charged Ion Channelling

We review recent experimental and theoretical progress made in the scope of swift highly charged ion channelling in crystals. The usefulness of such studies is their ability to yield impact parameter information on charge transfer processes, and also on some time related problems. We discuss the cooling and heating phenomena at MeV/u energies, results obtained with decelerated H-like ion beams at GSI and with ions having an excess of electrons at GANIL, the superdensity effect along atomic strings and Resonant Coherent Excitation.Comment: to be published in Journal of Physics

Spin wave dispersion softening in the ferromagnetic Kondo lattice model for manganites

Spin dynamics is calculated in the ferromagnetic (FM) state of the generalized Kondo lattice model taking into account strong on-site correlations between e_g electrons and antiferromagnetic (AFM) exchange among t_{2g} spins. Our study suggests that competing FM double-exchange and AFM super-exchange interaction lead to a rather nontrivial spin-wave spectrum. While spin excitations have a conventional Dq^2 spectrum in the long-wavelength limit, there is a strong deviation from the spin-wave spectrum of the isotropic Heisenberg model close to the zone boundary. The relevance of our results to the experimental data are discussed.Comment: 6 RevTex pages, 3 embedded PostScript figure

Hedgehog black holes and the Polyakov loop at strong coupling

In N=4 super-Yang-Mills theory at large N, large \lambda, and finite temperature, the value of the Wilson-Maldacena loop wrapping the Euclidean time circle (the Polyakov-Maldacena loop, or PML) is computed by the area of a certain minimal surface in the dual supergravity background. This prescription can be used to calculate the free energy as a function of the PML (averaged over the spatial coordinates), by introducing into the bulk action a Lagrange multiplier term that fixes the (average) area of the appropriate minimal surface. This term, which can also be viewed as a chemical potential for the PML, contributes to the bulk stress tensor like a string stretching from the horizon to the boundary (smeared over the angular directions). We find the corresponding "hedgehog" black hole solutions numerically, within an SO(6)-preserving ansatz, and derive part of the free energy diagram for the PML. As a warm-up problem, we also find exact solutions for hedgehog black holes in pure gravity, and derive the free energy and phase diagrams for that system.Comment: 25 pages, 11 figures; v2: minor clarifications, published versio