On-line 3D active pose-graph SLAM based on key poses using graph topology and sub-maps

© 2019 IEEE. In this paper, we present an on-line active pose-graph simultaneous localization and mapping (SLAM) frame-work for robots in three-dimensional (3D) environments using graph topology and sub-maps. This framework aims to find the best trajectory for loop-closure by re-visiting old poses based on the T-optimality and D-optimality metrics of the Fisher information matrix (FIM) in pose-graph SLAM. In order to reduce computational complexity, graph topologies are introduced, including weighted node degree (T-optimality metric) and weighted tree-connectivity (D-optimality metric), to choose a candidate trajectory and several key poses. With the help of the key poses, a sampling-based path planning method and a continuous-time trajectory optimization method are combined hierarchically and applied in the whole framework. So as to further improve the real-time capability of the method, the sub-map joining method is used in the estimation and planning process for large-scale active SLAM problems. In simulations and experiments, we validate our approach by comparing against existing methods, and we demonstrate the on-line planning part using a quad-rotor unmanned aerial vehicle (UAV)

Visualizing sound emission of elephant vocalizations: evidence for two rumble production types

Recent comparative data reveal that formant frequencies are cues to body size in animals, due to a close relationship between formant frequency spacing, vocal tract length and overall body size. Accordingly, intriguing morphological adaptations to elongate the vocal tract in order to lower formants occur in several species, with the size exaggeration hypothesis being proposed to justify most of these observations. While the elephant trunk is strongly implicated to account for the low formants of elephant rumbles, it is unknown whether elephants emit these vocalizations exclusively through the trunk, or whether the mouth is also involved in rumble production. In this study we used a sound visualization method (an acoustic camera) to record rumbles of five captive African elephants during spatial separation and subsequent bonding situations. Our results showed that the female elephants in our analysis produced two distinct types of rumble vocalizations based on vocal path differences: a nasally- and an orally-emitted rumble. Interestingly, nasal rumbles predominated during contact calling, whereas oral rumbles were mainly produced in bonding situations. In addition, nasal and oral rumbles varied considerably in their acoustic structure. In particular, the values of the first two formants reflected the estimated lengths of the vocal paths, corresponding to a vocal tract length of around 2 meters for nasal, and around 0.7 meters for oral rumbles. These results suggest that African elephants may be switching vocal paths to actively vary vocal tract length (with considerable variation in formants) according to context, and call for further research investigating the function of formant modulation in elephant vocalizations. Furthermore, by confirming the use of the elephant trunk in long distance rumble production, our findings provide an explanation for the extremely low formants in these calls, and may also indicate that formant lowering functions to increase call propagation distances in this species'

RobotAssist - A platform for human robot interaction research

This paper presents RobotAssist, a robotic platform designed for use in human robot interaction research and for entry into Robocup@Home competition. The core autonomy of the system is implemented as a component based software framework that allows for integration of operating system independent components, is designed to be expandable and integrates several layers of reasoning. The approaches taken to develop the core capabilities of the platform are described, namely: path planning in a social context, Simultaneous Localisation and Mapping (SLAM), human cue sensing and perception, manipulatable object detection and manipulation

Cross modal perception of body size in domestic dogs (Canis familiaris)

While the perception of size-related acoustic variation in animal vocalisations is well documented, little attention has been given to how this information might be integrated with corresponding visual information. Using a cross-modal design, we tested the ability of domestic dogs to match growls resynthesised to be typical of either a large or a small dog to size- matched models. Subjects looked at the size-matched model significantly more often and for a significantly longer duration than at the incorrect model, showing that they have the ability to relate information about body size from the acoustic domain to the appropriate visual category. Our study suggests that the perceptual and cognitive mechanisms at the basis of size assessment in mammals have a multisensory nature, and calls for further investigations of the multimodal processing of size information across animal species

Emergence of hyperons in failed supernovae: trigger of the black hole formation

We investigate the emergence of strange baryons in the dynamical collapse of a non-rotating massive star to a black hole by the neutrino-radiation hydrodynamical simulations in general relativity. By following the dynamical formation and collapse of nascent proto-neutron star from the gravitational collapse of a 40Msun star adopting a new hyperonic EOS table, we show that the hyperons do not appear at the core bounce but populate quickly at ~0.5-0.7 s after the bounce to trigger the re-collapse to a black hole. They start to show up off center owing to high temperatures and later prevail at center when the central density becomes high enough. The neutrino emission from the accreting proto-neutron star with the hyperonic EOS stops much earlier than the corresponding case with a nucleonic EOS while the average energies and luminosities are quite similar between them. These features of neutrino signal are a potential probe of the emergence of new degrees of freedom inside the black hole forming collapse.Comment: 11 pages, 3 figures, accepted for publication in ApJ

Uneconomical Diagnosis of Cladograms: Comments on Wheeler and Nixon's Method for Sankoff Optimization

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/74972/1/j.1096-0031.1997.tb00249.x.pd

Local lattice distortions vs. structural phase transition in NdFeAsO1-xFx

The lattice properties at low temperatures of two samples of NdFeAsO1-xFx (x=0.05 and 0.25) have been examined in order to investigate possible structural phase transition that may occur in the optimally doped superconducting sample with respect to the non-superconducting low-F concentration compound. In order to detect small modifications in the ion displacements with temperature micro-Raman and high resolution synchrotron powder diffraction measurements were carried out. No increase of the width of the (220) or (322) tetragonal diffraction peaks and microstrains could be found in the superconducting sample from synchrotron XRD measurements. On the other hand, the atomic displacement parameters deviate from the expected behavior, in agreement with modifications in the phonon width, as obtained by Raman scattering. These deviations occur around 150 K for both F dopings, with distinct differences among the two compounds, i.e., they decrease at low doping and increase for the superconducting sample. The data do not support a hidden phase transition to an orthorhombic phase in the superconducting compound, but point to an isostructural lattice deformation. Based on the absence of magnetic effects in this temperature range for the superconducting sample, we attribute the observed lattice anomalies to the formation of local lattice distortions that, being screened by the carriers, can only acquire long-range coherence by means of a structural phase transition at low doping levels

High-energy-resolution molecular beams for cold collision studies

Stark deceleration allows for precise control over the velocity of a pulsed molecular beam and, by the nature of its limited phase-space acceptance, reduces the energy width of the decelerated packet. We describe an alternate method of operating a Stark decelerator that further reduces the energy spread over the standard method of operation. In this alternate mode of operation, we aggressively decelerate the molecular packet using a high phase angle. This technique brings the molecular packet to the desired velocity before it reaches the end of the decelerator; the remaining stages are then used to longitudinally and transversely guide the packet to the detection/interaction region. The result of the initial aggressive slowing is a reduction in the phase-space acceptance of the decelerator and thus a narrowing of the velocity spread of the molecular packet. In addition to the narrower energy spread, this method also results in a velocity spread that is nearly independent of the final velocity. Using the alternate deceleration technique, the energy resolution of molecular collision measurements can be improved considerably.Comment: 12 pages, 9 figure

Pressure-Tuneable Visible-Range Band Gap in the Ionic Spinel Tin Nitride

The application of pressure allows systematic tuning of the charge density of a material cleanly, that is, without changes to the chemical composition via dopants, and exploratory high-pressure experiments can inform the design of bulk syntheses of materials that benefit from their properties under compression. The electronic and structural response of semiconducting tin nitride Sn3N4 under compression is now reported. A continuous opening of the optical band gap was observed from 1.3 eV to 3.0 eV over a range of 100 GPa, a 540 nm blue-shift spanning the entire visible spectrum. The pressure-mediated band gap opening is general to this material across numerous high-density polymorphs, implicating the predominant ionic bonding in the material as the cause. The rate of decompression to ambient conditions permits access to recoverable metastable states with varying band gaps energies, opening the possibility of pressure-tuneable electronic properties for future applications