Experimental analysis of sample-based maps for long-term SLAM

This paper presents a system for long-term SLAM (simultaneous localization and mapping) by mobile service robots and its experimental evaluation in a real dynamic environment. To deal with the stability-plasticity dilemma (the trade-off between adaptation to new patterns and preservation of old patterns), the environment is represented at multiple timescales simultaneously (5 in our experiments). A sample-based representation is proposed, where older memories fade at different rates depending on the timescale, and robust statistics are used to interpret the samples. The dynamics of this representation are analysed in a five week experiment, measuring the relative influence of short- and long-term memories over time, and further demonstrating the robustness of the approach

3D modeling of indoor environments for a robotic security guard

Autonomous mobile robots will play a major role in future security and surveillance tasks for large scale environments such as shopping malls, airports, hospitals and museums. Robotic security guards will autonomously survey such environments, unless a remote human operator takes over control. In this context a 3D model can convey much more useful information than the typical 2D maps used in many robotic applications today, both for visualisation of information and as human machine interface for remote control. This paper addresses the challenge of building such a model of a large environment (50m x 60m) using data from the robot’s own sensors: a 2D laser scanner and a panoramic camera. The data are processed in a pipeline that comprises automatic, semi-automatic and manual stages. The user can interact with the reconstruction process where necessary to ensure robustness and completeness of the model. A hybrid representation, tailored to the application, has been chosen: floors and walls are represented efficiently by textured planes. Non-planar structures like stairs and tables, which are represented by point clouds, can be added if desired. Our methods to extract these structures include: simultaneous localization and mapping in 2D and wall extraction based on laser scanner range data, building textures from multiple omni-directional images using multi-resolution blending, and calculation of 3D geometry by a graph cut stereo technique. Various renderings illustrate the usability of the model for visualising the security guard’s position and environment

3D modeling of indoor environments by a mobile robot with a laser scanner and panoramic camera

We present a method to acquire a realistic, visually convincing 3D model of indoor office environments based on a mobile robot that is equipped with a laser range scanner and a panoramic camera. The data of the 2D laser scans are used to solve the SLAM problem and to extract walls. Textures for walls and floor are built from the images of a calibrated panoramic camera. Multi-resolution blending is used to hide seams in the generated textures

The Voices of History: theorising the interpersonal semantics of historical discourses

‘The individual consumer, the learner of history, is offered an impressive array of discursive products geared to catch his or her attention, to persuade him or her of the truth of whatever message is transmitted’ (Blanco and Rosa 1997: 197. In this article I examine these discursive products from the perspective of ‘voice’. I do this as a way of bringing to conscious attention the strategies that historians use in order to persuade and position the ‘consumer’. ‘Voice’ in recent systemic linguistic theorizing refers to distinctive configurations of APPRAISAL choices. Within the domain of history, research to date has identified three main configurations or voices—‘recorder’, ‘interpreter’, and ‘adjudicator’. Central to the research reported on in this article is Martin’s APPRAISAL framework (Martin 1997, 2000). APPRAISAL 1 systems are the semantic resources used to negotiate emotions, judgments, and valuations. In this article I will examine how choices from these systems vary in ways that are systematic — different history texts speak with different ‘voices’. These voices, I argue, are a key rhetorical strategy in history discourse. Different combinations of APPRAISAL resources are drawn on to negotiate the heteroglossic positions of their audiences. As such they are a key resource for both the professional and apprentice historian in their assessment of interpretations of the past

Analytical model for the sputtering of rough surfaces

The sputtering yields of solids under ion bombardment are highly sensitive to the roughness of their surfaces. Understanding how sputtering is exactly affected by different surface morphologies is relevant especially for plasma-wall interaction in fusion reactors and space weathering of planetary surfaces. We present an analytical model that allows to calculate sputtering yields of random gaussian rough surfaces under arbitrary angles of incidence, taking into account local incidence angles, shadowing and redeposition of sputtered materials. Sputtering yields of a rough surface can then be calculated with the sputtering yield’s dependence on the ion incidence angle for a flat surface and a single statistical parameter, which characterizes the surface roughness. The model supports previous findings that the mean surface inclination angle is a well-suited parameter to describe the sputtering behavior of rough surfaces. Comparisons of the results to previous experiments and numerical simulations for various cases are presented, showing that the model allows to quantitatively reproduce sputtering yields of different samples over a wide range of roughness regimes

Diachronic Variation of Temporal Expressions in Scientific Writing Through the Lens of Relative Entropy

The abundance of temporal information in documents has lead to an increased interest in processing such information in the NLP community by considering temporal expressions. Besides domain-adaptation, acquiring knowledge on variation of temporal expressions according to time is relevant for improvement in automatic processing. So far, frequency-based accounts dominate in the investigation of specific temporal expressions. We present an approach to investigate diachronic changes of temporal expressions based on relative entropy – with the advantage of using conditioned probabilities rather than mere frequency. While we focus on scientific writing, our approach is generalizable to other domains and interesting not only in the field of NLP, but also in humanities.This work is partially funded by Deutsche Forschungsgemeinschaft (DFG) under grant SFB 1102: Information Density and Linguistic Encoding (www.sfb1102.uni-saarland.de)

Detection of Synaptic Proteins in Microglia by Flow Cytometry.

A growing body of evidence indicates that microglia actively remove synapses in vivo, thereby playing a key role in synaptic refinement and modulation of brain connectivity. This phenomenon was mainly investigated in immunofluorescence staining and confocal microscopy. However, a quantification of synaptic material in microglia using these techniques is extremely time-consuming and labor-intensive. To address this issue, we aimed to quantify synaptic proteins in microglia using flow cytometry. With this approach, we first showed that microglia from the healthy adult mouse brain contain a detectable level of VGLUT1 protein. Next, we found more than two-fold increased VGLUT1 immunoreactivity in microglia from the developing brain (P15) as compared to adult microglia. These data indicate that microglia-mediated synaptic pruning mostly occurs during the brain developmental period. We then quantified the VGLUT1 staining in microglia in two transgenic models characterized by pathological microglia-mediated synaptic pruning. In the 5xFAD mouse model of Alzheimer's disease (AD) microglia exhibited a significant increase in VGLUT1 immunoreactivity before the onset of amyloid pathology. Moreover, conditional deletion of TDP-43 in microglia, which causes a hyper-phagocytic phenotype associated with synaptic loss, also resulted in increased VGLUT1 immunoreactivity within microglia. This work provides a quantitative assessment of synaptic proteins in microglia, under homeostasis, and in mouse models of disease

Relating imperatives to action

The aim of this chapter is to provide an analysis of the use of logically complex imperatives, in particular, imperatives of the form Do A1 or A2 and Do A, if B. We argue for an analysis of imperatives in terms of classical logic which takes into account the influence of background information on imperatives. We show that by doing so one can avoid some counter-intuitive results which have been associated with analyses of imperatives in terms of classical logic. In particular, I address Hamblin's observations concerning rule-like imperatives and Ross' Paradox. The analysis is carried out within an agent-based logical framework. This analysis explicates what it means for an agent to have a successful policy for action with respect to satisfying his or her commitments, where some of these commitments have been introduced as a result of imperative language use

Developing effective practice learning for tomorrow's social workers

This paper considers some of the changes in social work education in the UK, particularly focusing on practice learning in England. The changes and developments are briefly identified and examined in the context of what we know about practice learning. The paper presents some findings from a small scale qualitative study of key stakeholders involved in practice learning and education in social work and their perceptions of these anticipated changes, which are revisited at implementation. The implications for practice learning are discussed

The Effect of Alternative Forest Management Models on the Forest Harvest and Emissions as Compared to the Forest Reference Level

Background and Objectives: Under the Paris Agreement, the European Union (EU) sets rules for accounting the greenhouse gas emissions and removals from forest land (FL). According to these rules, the average FL emissions of each member state in 2021–2025 (compliance period 1, CP1) and in 2026–2030 (compliance period 2, CP2) will be compared to a projected forest reference level (FRL). The FRL is estimated by modelling forest development under fixed forest management practices, based on those observed in 2000–2009. In this context, the objective of this study was to estimate the effects of large-scale uptake of alternative forest management models (aFMMs), developed in the ALTERFOR project (Alternative models and robust decision-making for future forest management), on forest harvest and forest carbon sink, considering that the proposed aFMMs are expanded to most of the suitable areas in EU27+UK and Turkey. Methods: We applied the Global Forest Model (G4M) for projecting the harvest and sink with the aFMMs and compared our results to previous FRL projections. The simulations were performed under the condition that the countries should match the harvest levels estimated for their FRLs as closely as possible. A representation of such aFMMs as clearcut, selective logging, shelterwood logging and tree species change was included in G4M. The aFMMs were modeled under four scenarios of spatial allocation and two scenarios of uptake rate. Finally, we compared our results to the business as usual. Results: The introduction of the aFMMs enhanced the forest sink in CP1 and CP2 in all studied regions when compared to the business as usual. Conclusions: Our results suggest that if a balanced mixture of aFMMs is chosen, a similar level of wood harvest can be maintained as in the FRL projection, while at the same time enhancing the forest sink. In particular, a mixture of multifunctional aFMMs, like selective logging and shelterwood, could enhance the carbon sink by up to 21% over the ALTERFOR region while limiting harvest leakages