A Robotic CAD System using a Bayesian Framework

We present in this paper a Bayesian CAD system for robotic applications. We address the problem of the propagation of geometric uncertainties and how esian CAD system for robotic applications. We address the problem of the propagation of geometric uncertainties and how to take this propagation into account when solving inverse problems. We describe the methodology we use to represent and handle uncertainties using probability distributions on the system's parameters and sensor measurements. It may be seen as a generalization of constraint-based approaches where we express a constraint as a probability distribution instead of a simple equality or inequality. Appropriate numerical algorithms used to apply this methodology are also described. Using an example, we show how to apply our approach by providing simulation results using our CAD system

The Design and Implementation of a Bayesian CAD Modeler for Robotic Applications

We present a Bayesian CAD modeler for robotic applications. We address the problem of taking into account the propagation of geometric uncertainties when solving inverse geometric problems. The proposed method may be seen as a generalization of constraint-based approaches in which we explicitly model geometric uncertainties. Using our methodology, a geometric constraint is expressed as a probability distribution on the system parameters and the sensor measurements, instead of a simple equality or inequality. To solve geometric problems in this framework, we propose an original resolution method able to adapt to problem complexity. Using two examples, we show how to apply our approach by providing simulation results using our modeler

The Ariadne's Clew Algorithm

We present a new approach to path planning, called the ``Ariadne's clew algorithm''. It is designed to find paths in high-dimensional continuous spaces and applies to robots with many degrees of freedom in static, as well as dynamic environments --- ones where obstacles may move. The Ariadne's clew algorithm comprises two sub-algorithms, called SEARCH and EXPLORE, applied in an interleaved manner. EXPLORE builds a representation of the accessible space while SEARCH looks for the target. Both are posed as optimization problems. We describe a real implementation of the algorithm to plan paths for a six degrees of freedom arm in a dynamic environment where another six degrees of freedom arm is used as a moving obstacle. Experimental results show that a path is found in about one second without any pre-processing

Cognition and Causation as Universal Phenomenom

A comment on the universality of all things

Motion

This article is about orientation in the conceptual construction and exploration of the world. Orientations that fail to include a satisfactory definition of self as a vital component in ideas of explanation, compulsively leaning towards excessive analytical description(partism)) and resulting in increased numbers of empirically found exceptions to theoretical ideas, also fail to include adequate notions of motion and change. In the science of cognition a three part picture usually results, rather than a two component one in which the extraneous component functions as a compensation from the initial vagueness in ideas. Though this can seem to be a reasonable approach, to proceed from vagueness, to conjecture, empirical test/comparison, a false order in all components of a final theory will continuously result, and ultimately, in one to one correspondence, equate with a separate topic and not with the original. A compulsive and strict adherence to common sense, though not seeming to supply adequate explanation and strained for lingual description/expression, is the only possible route to adequate explanation. In cognition, the perennial stumbling is always at the division between the ethereal and the tangible. It is such an inhibitory obstacle, that in the construction of ideas, language falters to result in the continual construction of new words to “describe” rather than to connect. Though I believe “describe” is also the real ultimate goal, a real connection is never established

Symmetry and The Creative Cognition

An unconquered conceptual divide related to cognitive perception exists between the physical and biological sciences. The life processes of self assembly and replication are unaccounted for in quantum theory or in the ordinary laws of physics. Lying at the very base element of this confusion is a theoretical wall outlined by statistical generalization on one border, and exact historical evolution on the other. Can inert, randomly oriented, statistically described agents (atoms/molecules), direct the reproduction of like things. If the answer to this proposition is negative, then are space and matter not as assumed (i.e. – as uniformly interpretable statistical entities), but things with a life like evolving history from a unique beginning. For example: if life processes are conceptually tree like, can (must) the processes from which they are created be defined this way also? If one reflects on this question he can liken it to a similar question: can a tree exist with one branch only (i.e. can a tree exist as a simple line verses a line with an origin and history) a conflict emerges that reveals a subtler conflict in the pursuit of an objective interpretation. A simple line always is less complex than the other and does not exist in the life processes or even in the ordinary life of an individual: it's history, in terms of life time, is infinitely\ud smaller the closer it resembles a simple undefined line. In defining matter statistically, we are objectively claiming that it has no time dependant history, and yet is the objective source of evolution, which by definition has a subjective history. We are left with the alternative to find a new order for the definition of physical processes. In this paper, I wish to show that with very little rearrangement of current notions, a model of space can be created that details the replication, from an origin, and propagation in a tree like manner with a declining potential, of both the evolutionary processes of living things, and space, and matter

Candida albicans in Urinary Tract or in Seminal Sac

A case of urinary tract infection due to Candida albicans and responding to fluconazole is presente

National Trends on Agricultural Crops Production: Cluster Analysis

Staring from descriptive data on crop production and cultivated area at national level during on fifteen years, the aim of this study is to reveal the trends on crops cultivation. The cluster analysis reveals linkages between crops classes as well as between different crops, which can be partly assigned to crops rotation. Time series analysis reveals dramatically reducing of production of some crops, such as flax, hemp, and sugar beet, and increasing of production, such at sunflower, and increasing of productivity, such at potatoes and field vegetables

Preventing post-disaster PTSD: Watch for autonomic signs

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A participatory approach to variety trials for organic systems

A participatory research methodology was used to compare the performance of UK wheat varieties under organic conditions. Plots of three breadmaking winter wheat varieties (Hereward, Solstice and Xi19) and a mixture (1:1:1) of the varieties were grown at 19 UK farms in two seasons (2003/04 and 2004/05). Meas-urements were taken of growth habit, yield and grain quality. Grain yields in both seasons showed significant site by variety interactions, although the variation among sites was greater than among varieties in both instances. Wheat grown at Western sites was significantly shorter and higher-yielding than that grown at Eastern sites in 2003/04 but significantly taller in 2004/05. As with grain yield, greater variation among site than variety was found in the Hagberg Falling Number and protein concentra-tion results in both seasons. The results from the two years of trials illustrate the variability of organic systems and the difficulty in selecting a single variety suitable for organic farms