Stability of Graphene Oxide encapsulated Gold Nanorods for optical sensing purposes

This paper presents the synthesis and characterization of a graphene oxide encapsulated gold nanorod (GNR) complex, where its stability was investigated over time by recording the absorption spectra obtained using a UV/Visible spectrometer over the wavelength region of 200 nm to 1000 nm. Poly Ethylene Glycol (PEG) stablized GNRs were found to be more stable in the presence of graphene oxide dispersions compared to Cetyl Timethyl Ammonium Bromide (CTAB) stabilized GNRs. These GNR complexes, prepared with an active graphene oxide coating on the surface, are presented as a well-suited platform for the development of localized plasmon resonance-based fibre optic biosensors due to the surface functional groups of graphene oxide that can form bio-composites with other biological nanomaterials

Novel insights into the impact of graph structure on SLAM

© 2014 IEEE. SLAM can be viewed as an estimation problem over graphs. It is well known that the topology of each dataset affects the quality of the corresponding optimal estimate. In this paper we present a formal analysis of the impact of graph structure on the reliability of the maximum likelihood estimator. In particular, we show that the number of spanning trees in the graph is closely related to the D-optimality criterion in experimental design. We also reveal that in a special class of linear-Gaussian estimation problems over graphs, the algebraic connectivity is related to the E-optimality design criterion. Furthermore, we explain how the average node degree of the graph is related to the ratio between the minimum of negative log-likelihood achievable and its value at the ground truth. These novel insights give us a deeper understanding of the SLAM problem. Finally we discuss two important applications of our analysis in active measurement selection and graph pruning. The results obtained from simulations and experiments on real data confirm our theoretical findings

Tree-connectivity: Evaluating the graphical structure of SLAM

© 2016 IEEE. Simultaneous localization and mapping (SLAM) in robotics, and a number of related problems that arise in sensor networks are instances of estimation problems over weighted graphs. This paper studies the relation between the graphical representation of such problems and estimationtheoretic concepts such as the Cramér-Rao lower bound (CRLB) and D-optimality. We prove that the weighted number of spanning trees, as a graph connectivity metric, is closely related to the determinant of CRLB. This metric can be efficiently computed for large graphs by exploiting the sparse structure of underlying estimation problems. Our analysis is validated using experiments with publicly available pose-graph SLAM datasets

A Study of Dance Usage in Kusa Paba Movie

A dance technique used to supplement the acting can be identified in modern Sinhala films that have taken Indian historical stories as a source. The Sinhala film Kusa Paba, directed by Sunil Ariyaratne, is based on the Kusa Jãtaka in the book Pansiya Panas Jathaka Potha, and it is set in North Indian social culture. The research problem of this study is to investigate how the proposed social culture is revealed through the use of dance in the Kusa Paba film. The central assumption of this study is to identify the use of dance in this film and, secondarily, to recognize the proposed social culture. This study is based primarily on qualitative data and inductive reasoning. The data gathered through the methods of watching the film, library research, and interviews has been presented as a contextual analysis. For those dance scenes, costumes and composition, background decoration, and music styles were well used to represent North Indian culture. The study revealed that South Indian culture is highlighted through the use of dances such as Kudirai Attam, Kathakali and the constant use of basic postures, foot movements and hasta mudras in Bharata Nãtyam. The study concluded that other dance-related features are more indicative of the projected social culture than the dance style and motions employed in the Kusa Paba movie. Accordingly, the research recommends that these negative impacts can be reduced through proper source analysis and through an optimal interrelationship with the film squad to choreograph the cinema dance. DOI: http://doi.org/10.31357/fhss/vjhss.v08i02.0

Grid-based scan-to-map matching for accurate 2D map building

© 2016 Taylor & Francis and The Robotics Society of Japan. This paper presents a grid-based scan-to-map matching technique for accurate 2D map building. At every acquisition of a new scan, the proposed technique matches the new scan to the previous scan similarly to the conventional techniques, but further corrects the error by matching the new scan to the globally defined map. In order to achieve best scan-to-map matching at each acquisition, the map is represented as a grid map with multiple normal distributions (NDs) in each cell, which is one contribution of this paper. Additionally, the new scan is also represented by NDs, developing a novel ND-to-ND matching technique. This ND-to-ND matching technique has significant potential in the enhancement of the global matching as well as the computational efficiency. Experimental results first show that the proposed technique accumulates very small errors after consecutive matchings and identifies that the scans are matched better to the map with the multi-ND representation than one ND representation. The proposed technique is then tested in a number of large indoor environments, including public domain datasets and the applicability to real world problems is demonstrated

Reverse logistics and information management issues in manufacturing and e-business industries

Reverse logistics is different from forward logistics in objectives, operations, pricing, quality, quantity, packaging, product and information flow. Further, management of the returned products and their information is a major challenge since it is difficult to predict the time, place of origin, quantity and quality of the goods that will be returned. To establish the importance of reverse logistics as a business process and to understand related issues for information management, this research was undertaken with data from the Australian Manufacturing and E-Business organisations. This research examined six dimensions of reverse logistics. These were: (1) Factors that compel Manufacturing and E-Business organisations to manage reverse logistics; (2) Operations in product return process; (3) Methods of capturing value from returned goods; (4) Barriers to reverse logistics management; (5) Information management issues in reverse logistics; and (6) Product return trends in the E-Business industry. This research was exploratory in nature and was accomplished via a quantitative research method. It adopted a positivist epistemology and followed a deductive approach to capture reverse logistics knowledge. Research data from Manufacturing and E-Business industries was elicited with postal questionnaire surveys using structured questions. Since the data collected from the two main surveys was mainly nominal and ordinal, it was quantitatively analysed using non-parametric tests, Fisher's exact test and one sample Wilcoxon test. It also employed frequency distributions, binomial test and one sample t-test. An additional statistical test was carried out on each set of data to triangulate the finding. The tests were undertaken in Minitab spreadsheet computer packages. This research highlights the fact that reverse logistics management is an important business process in the Australian Manufacturing and E-Business industries. It is a strategic advantage, as well as an important customer service. Although substantial monetary value can be recovered from returned goods, at present two industries investigated have not tapped into this potential. Findings of this research also indicate that a lack of efficient information management is a problem in reverse logistics. Information management in the two industries is based on land-line telephone, fax and computers. This research identified that from E-Business sales error in ordering, customer change of mind on receipt of good and inefficient forward logistics operations (picking, packing and delivery) are important reasons for returns. It also established that e-businesses resell the returned goods and recapture value. The value recovery process in this industry is different from the manufacturing industries where the prevalent value recovery processes are repair, resale and recycle. Further research issues emanating from this project include evaluation methods for recapturing value from returned goods, effective information management strategies for return management and the impact of a law for returning certain types of used goods. This research is an initial effort undertaken to establish returns management in the Australian industries. It establishes that reverse logistics should be recognised as a business process in these industries

Photo-labile BODIPY protecting groups for glycan synthesis

Protective groups that can be selectively removed under mild conditions are an essential aspect of carbohydrate chemistry. Groups that can be selectively removed by visible light are particularly attractive because carbohydrates are transparent to visible light. Here, different BODIPY protecting groups were explored for their utility during glycan synthesis. A BODIPY group bearing a boron difluoride unit is stable during glycosylations but can be cleaved with green light as illustrated by the assembly of a trisaccharide

Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach

In this paper, we aim to design sparse D-optimal (determinantoptimal) pose-graph SLAM problems through the synthesis of sparse graphs with the maximum weighted number of spanning trees. Characterizing graphs with the maximum number of spanning trees is an open problem in general. To tackle this problem, several new theoretical results are established in this paper, including the monotone log-submodularity of the weighted number of spanning trees. By exploiting these structures, we design a complementary pair of near-optimal efficient approximation algorithms with provable guarantees. Our theoretical results are validated using random graphs and a publicly available pose-graph SLAM dataset.Comment: WAFR 201

Simulation of Bedrock Motion to Obtain PGA Values

This study is focused on producing the Peak Ground Acceleration (PGA) values for important cities in Sri Lanka, which would provide the base to develop the national annex to the Euro Code, the current guideline in designing structures. In order to find out the magnitude and the epicenter distance of a 475-year return period earthquake, an earthquake catalog was developed. To simulate the bedrock motion FLAC Software, which uses the Finite Difference approach, was used. Five 2-D FLAC models representing five cross sections of Sri Lanka were developed. Due to the lack of local data records, a dataset of seven earthquakes with the magnitude of a 475- year return period was selected from the Pacific Earthquake Engineering Research Center (PEER) database. The model was then analyzed—one cross section for each of the seven earthquakes. The resultant acceleration time histories were converted into a response spectrum, and the average spectrum for each city was obtained

RISAS: A novel rotation, illumination, scale invariant appearance and shape feature

© 2017 IEEE. This paper presents a novel appearance and shape feature, RISAS, which is robust to viewpoint, illumination, scale and rotation variations. RISAS consists of a keypoint detector and a feature descriptor both of which utilise texture and geometric information present in the appearance and shape channels. A novel response function based on the surface normals is used in combination with the Harris corner detector for selecting keypoints in the scene. A strategy that uses the depth information for scale estimation and background elimination is proposed to select the neighbourhood around the keypoints in order to build precise invariant descriptors. Proposed descriptor relies on the ordering of both grayscale intensity and shape information in the neighbourhood. Comprehensive experiments which confirm the effectiveness of the proposed RGB-D feature when compared with CSHOT [1] and LOIND[2] are presented. Furthermore, we highlight the utility of incorporating texture and shape information in the design of both the detector and the descriptor by demonstrating the enhanced performance of CSHOT and LOIND when combined with RISAS detector