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

Cu NQR and NMR Studies of Optimally Doped Ca2-xNaxCuO2Cl2

We report on Cu nuclear quadrupole resonance (NQR) and NMR studies of an optimally hole-doped superconductor Ca2-xNaxCuO2Cl2 (Tc ~ 28 K for x ~ 0.2). In spite of robust oxygen composition, we observed a multiple broad NQR frequency spectrum and nonexponential Cu nuclear spin-lattice relaxation, being similar to those of La2-xSrxCuO4-d.Comment: 2 pages, 3 figures; to appear in J. Phys. Soc. Jpn (short note

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

NMR characterization of spin-1/2 alternating antiferromagnetic chains in the high-pressure phase of (VO)2P2O7

Local-susceptibility measurements via the NMR shifts of $^{31}$P and $^{51}$V nuclei in the high-pressure phase of (VO)$_{2}$P$_{2}$O$_{7}$ confirmed the existence of a unique alternating antiferromagnetic chain with a zero-field spin gap of 34 K. The $^{31}$P nuclear spin-lattice relaxation rate scales with the uniform spin susceptibility below about 15 K which shows that the temperature dependence of both the static and dynamical spin susceptibilities becomes identical at temperatures not far below the spin-gap energy.Comment: 6 pages, 5 figures; To be published in J. Phys. Condens. Matte

Exact fuzzy sphere thermodynamics in matrix quantum mechanics

We study thermodynamical properties of a fuzzy sphere in matrix quantum mechanics of the BFSS type including the Chern-Simons term. Various quantities are calculated to all orders in perturbation theory exploiting the one-loop saturation of the effective action in the large-N limit. The fuzzy sphere becomes unstable at sufficiently strong coupling, and the critical point is obtained explicitly as a function of the temperature. The whole phase diagram is investigated by Monte Carlo simulation. Above the critical point, we obtain perfect agreement with the all order results. In the region below the critical point, which is not accessible by perturbation theory, we observe the Hagedorn transition. In the high temperature limit our model is equivalent to a totally reduced model, and the relationship to previously known results is clarified.Comment: 22 pages, 14 figures, (v2) some typos correcte

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