OSGAR: a scene graph with uncertain transformations

An important problem for augmented reality is registration error. No system can be perfectly tracked, calibrated or modeled. As a result, the overlaid graphics are not aligned perfectly with objects in the physical world. This can be distracting, annoying or confusing. In this paper, we propose a method for mitigating the effects of registration errors that enables application developers to build dynamically adaptive AR displays. Our solution is implemented in a programming toolkit called OSGAR. Built upon OpenSceneGraph (OSG), OSGAR statistically characterizes registration errors, monitors those errors and, when a set of criteria are met, dynamically adapts the display to mitigate the effects of the errors. Because the architecture is based on a scene graph, it provides a simple, familiar and intuitive environment for application developers. We describe the components of OSGAR, discuss how several proposed methods for error registration can be implemented, and illustrate its use through a set of examples

Development and Use of a Tool for Automated Alignments of Genes in the Rice BAC\u27s GenBank Card Against Other Species

In many cases, the analysis of the genetic bases of any trait requires molecular markers and if possible co-dominant PCR-based ones. In perennial fodder species, the number of publicly available markers (microsatellites and Sequence Tagged Site (STS)) is limited. Our goal is to use sequences from model grass species, i.e. rice, wheat, maize, barley, in L. perenne in order to develop STS markers in interesting regions such as under a QTL (Quantitative Trait Loci) or around a candidate gene,. As the genome sequence of rice is now available, the objective was to use the sequences of genes included in the BAC’s GenBank card from rice. As there are almost no available sequences in L. perenne, we are designing consensus primers from an alignment of at least two different species. The problem is that for all the genes included in a BAC, just a few have their sequences known in at least two species. It is very laborious to check “by hand” if each gene has an homologous sequence known in another species

Estimation of the Coefficient of Double-Reduction in Autotetraploid Lucerne

Polyploidy plays an important role in the evolution of species and many cultivated species, particularly in angiosperms, are polyploids (Bever and Felber, 1992; Gallais, 2003). Autopolyploid species that show a tetrasomic inheritance have complex genetics. However, some theoretical models were built for: (1) genetic mapping (Hackett et al., 1998), (2) quantitative genetics (Gallais, 2003) and (3) population genetics (Ronfort et al., 1998). But in practice, most data analyses ignore one essential feature of tetrasomic inheritance that is double-reduction. Indeed, in an autotetraploid species, homologous chromosomes can form tetravalents at meiosis. In this case, a double-reduction is observed if crossing-over occurs between a locus and its centromere, and if the sister chromatids migrate to the same pole at anaphase I. The gametes may, thus, carry a pair of sister alleles. Double-reduction frequency is represented by the index of separation (α) (Demarly, 1963; Mather, 1935; Mather, 1936). The parameter α is considered as a product of four probabilities: α = q e a s (Gallais, 2003) in which “ q ” is the probability of multivalent formation, “ e ” the probability of first equational division, related to the frequency of crossing-over, “ a ” is the probability of non-disjunction at first anaphase and “s” is the probability of having two sister chromatids in the same gamete. If separation during anaphase II is random, s = ½. Consequently, α will be low for a gene located in the vicinity of the centromere and will increase with distance between the gene and the centromere. It was demonstrated that double-reduction events alter the rate of progression towards equilibrium under inbreeding or under random mating, modify the recombination rate between loci and also alter the rate of decay of linkage disequilibrium under random mating (Bever and Felber, 1992). Current theoretical models allow drawing genetic maps taking into account double-reduction (Luo et al., 2004). Thus, it is possible to estimate α for codominant loci in tetraploid species. To date, we have few estimates of the double-reduction frequency. Haynes and Douches (1993) on potato and Julier et al. (2003) on lucerne found that double-reduction occurs sporadically. In both studies, the low number of progenies hampered a precise estimation of α. The aim of our study was to estimate the frequency of double-reduction in a mapping population of lucerne that includes a large number of individuals

Dry Matter Accumulation and Partitioning between Vegetative and Reproductive Organs in Alfalfa (\u3ci\u3eMedicago sativa\u3c/i\u3e L.)

This work investigated the partitioning of dry matter between vegetative and reproductive plant organs in alfalfa during the reproductive period under field conditions. Two French varieties (Europe and Magali) were studied. Both varieties showed similar growth pattern of the different plant organs in 1998 and 1999. The mean dry matter of vegetative organs (shoots and leaves) over the two years was higher in Europe (567g/m2) than Magali (470g/m2). No vegetative growth was observed during the reproductive period. The root organs (measured to a depth of 0.20 m) and the reproductive organs showed an increase in dry matter accumulation during the first 300 °Cd and 600 °Cd, respectively. It indicated that dry matter was preferentially partitioned to the reproductive organs during the first 600 °Cd. The root organs seem to be a competing sink during the early seed growth (200 °Cd to 300 °Cd). The dry matter partitioning was not affected by the year. Thus, when dry matter accumulation ceased only 30% in Europe and 27% in Magali of the aboveground dry weight was in the reproductive organs. The mean inflorescence weight reached its maximum after 450 °Cd from inflorescence flowering

QTLs for Morphogenetic Traits in Medicago Truncatula

Plant morphogenesis that includes growth, development and flowering date, drives a large number of agronomical important traits in both grain and forage crops. Quantitative trait locus (QTL) mapping is a way to locate zones of the genome that are involved in the variations observed in a segregating population. Co-location of QTLs and candidate genes is an indication of the involvement of the genes in the variation. The objective of this study was to analyse segregation of aerial morphogenetic traits in a mapping population of recombinant inbred lines of the model legume species M. truncatula , to locate QTLs and candidate genes

Genetic Diversity Among Alfalfa Cultivars Using SSR Markers

Alfalfa (Medicago sativa) is an autotetraploid, allogamous and heterozygous species. Cultivated varieties are synthetic cultivars, usually obtained through 3 or 4 generations of panmictic reproduction of a set of various numbers of parents. The parents can be clones, half-sib or full-sib families. The breeders apply selection pressure for some agronomic traits, to induce changes in the genetic background. The objective of this study was to investigate the differentiation level among seven cultivars originating from one breeding program, and between these cultivars and the breeding pool, with eight SSR markers

Computationally efficient solutions for tracking people with a mobile robot: an experimental evaluation of Bayesian filters

Modern service robots will soon become an essential part of modern society. As they have to move and act in human environments, it is essential for them to be provided with a fast and reliable tracking system that localizes people in the neighbourhood. It is therefore important to select the most appropriate filter to estimate the position of these persons. This paper presents three efficient implementations of multisensor-human tracking based on different Bayesian estimators: Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Sampling Importance Resampling (SIR) particle filter. The system implemented on a mobile robot is explained, introducing the methods used to detect and estimate the position of multiple people. Then, the solutions based on the three filters are discussed in detail. Several real experiments are conducted to evaluate their performance, which is compared in terms of accuracy, robustness and execution time of the estimation. The results show that a solution based on the UKF can perform as good as particle filters and can be often a better choice when computational efficiency is a key issue

The modern pollen-vegetation relationship of a tropical forest-savannah mosaic landscape, Ghana, West Africa

Transitions between forest and savannah vegetation types in fossil pollen records are often poorly understood due to over-production by taxa such as Poaceae and a lack of modern pollen-vegetation studies. Here, modern pollen assemblages from within a forest-savannah transition in West Africa are presented and compared, their characteristic taxa discussed, and implications for the fossil record considered. Fifteen artificial pollen traps were deployed for 1 year, to collect pollen rain from three vegetation plots within the forest-savannah transition in Ghana. High percentages of Poaceae and Melastomataceae/Combretaceae were recorded in all three plots. Erythrophleum suaveolens characterised the forest plot, Manilkara obovata the transition plot and Terminalia the savannah plot. The results indicate that Poaceae pollen influx rates provide the best representation of the forest-savannah gradient, and that a Poaceae abundance of >40% should be considered as indicative of savannah-type vegetation in the fossil record

A bank of unscented Kalman filters for multimodal human perception with mobile service robots

A new generation of mobile service robots could be ready soon to operate in human environments if they can robustly estimate position and identity of surrounding people. Researchers in this field face a number of challenging problems, among which sensor uncertainties and real-time constraints. In this paper, we propose a novel and efficient solution for simultaneous tracking and recognition of people within the observation range of a mobile robot. Multisensor techniques for legs and face detection are fused in a robust probabilistic framework to height, clothes and face recognition algorithms. The system is based on an efficient bank of Unscented Kalman Filters that keeps a multi-hypothesis estimate of the person being tracked, including the case where the latter is unknown to the robot. Several experiments with real mobile robots are presented to validate the proposed approach. They show that our solutions can improve the robot's perception and recognition of humans, providing a useful contribution for the future application of service robotics

Crossing disciplines to address urban sustainability

This paper presents findings from the evaluation of Bridging the Gaps: Sustainable Urban Spaces (BTG), a novel interdisciplinary sustainability research funding program at University College London (UCL), funded by the United Kingdom Engineering and Physical Sciences Research Council (EPSRC). All of the EPSRC's Bridging the Gaps programs aim to initiate and support interdisciplinary collaboration within a university. The program at UCL was designed to create research partnerships that focus on problems in the area of sustainable urban spaces, an area that features complex problems that often overlap different academic disciplines. The program initially focused on building relationships within the three UCL faculties: The Bartlett Faculty of the Built Environment, The Faculty of Engineering Sciences, and The Faculty of Mathematical and Physical Sciences, but subsequently brought in participants from other faculties. Bridging the Gaps has brought together researchers working on different elements of a problem, allowing each of them to contribute approaches from their own discipline. This paper presents feedback from participants in the program. Respondents discuss their experience in cross disciplinary working and its importance for their work. We address the question of whether the benefits are outweighed by the complexities of crossing disciplines, and we investigate the role that programs like BTG can play in making the process easier. We also discuss the challenge of creating the conditions for interdisciplinary work and ways in which we can use our experience to minimize the barriers of crossing disciplines in the future