Appearance-based indoor localization: a comparison of patch descriptor performance

Vision is one of the most important of the senses, and humans use it extensively during navigation. We evaluated different types of image and video frame descriptors that could be used to determine distinctive visual landmarks for localizing a person based on what is seen by a camera that they carry. To do this, we created a database containing over 3 km of video-sequences with ground-truth in the form of distance travelled along different corridors. Using this database, the accuracy of localization - both in terms of knowing which route a user is on - and in terms of position along a certain route, can be evaluated. For each type of descriptor, we also tested different techniques to encode visual structure and to search between journeys to estimate a user's position. The techniques include single-frame descriptors, those using sequences of frames, and both colour and achromatic descriptors. We found that single-frame indexing worked better within this particular dataset. This might be because the motion of the person holding the camera makes the video too dependent on individual steps and motions of one particular journey. Our results suggest that appearance-based information could be an additional source of navigational data indoors, augmenting that provided by, say, radio signal strength indicators (RSSIs). Such visual information could be collected by crowdsourcing low-resolution video feeds, allowing journeys made by different users to be associated with each other, and location to be inferred without requiring explicit mapping. This offers a complementary approach to methods based on simultaneous localization and mapping (SLAM) algorithms.Comment: Accepted for publication on Pattern Recognition Letter

Quantum-mechanical calculation of Stark widths of Ne VII n=3, Δn=0\Delta n=0 transitions

The Stark widths of the Ne VII 2s3s-2s3p singlet and triplet lines are calculated in the impact approximation using quantum-mechanical Convergent Close-Coupling and Coulomb-Born-Exchange approximations. It is shown that the contribution from inelastic collisions to the line widths exceeds the elastic width contribution by about an order of magnitude. Comparison with the line widths measured in a hot dense plasma of a gas-liner pinch indicates a significant difference which may be naturally explained by non-thermal Doppler effects from persistent implosion velocities or turbulence developed during the pinch implosion. Contributions to the line width from different partial waves and types of interactions are discussed as well.Comment: 8 pages, 3 figures; accepted by Phys. Rev.

Electron-impact broadening of the 3s-3p lines in low-Z Li-like ions

The collisional electron-impact line widths of the 3s-3p transitions in Li-like ions from B III to Ne VIII are calculated with the convergent close-coupling (CCC) method from the atomic collision theory. The elastic and inelastic contributions to the line broadening and their Z-scaling are discussed in detail, and comparisons with recent experimental and theoretical results are also presented. It is found that similar to our previous study of line broadening in Be-like ions, the difference between experimental and CCC results monotonically increases with the spectroscopic charge of an ion.Comment: 23 pages, 8 figures, 1 table. To be published in JQSR

The Effect of Fused 12-Membered Nickel Metallacrowns on DNA and their Antibacterial Activity

The synthesis, characterization and the biological study of a series of Ni(ll)2(carboxylato)2 [12- MCNi(II)N(shi)2(pko)2-4][12-MCNi(ii)N(sh03(pko)-4] (CH3OH)3(H3O) fused 12-membered metallacrowns with 10 metal ions and commercial available herbicides or anti-inflammatory drugs as carboxylato ligands are reported. All the compounds have a mixed ligand composition with salicylhydroxamic acid and di-2-pyridylketonoxime as chelate agents. The compounds construct metallacrown cores {[12-MCNi(n)N(sj02(pko)2-4][12-MCNi(ll)N(shO3(pko)-4]}2+ following the pattern [-Ni-O-N-]4. The neutral decanuclear [Ni(II)(A)]2[12-MCNi(II)N(shi)2(pko)2-4][12-MCNi(II)N(pko)3(pko)-4] fused metallacrown, consists of two [12-MCM(ox)N(ligand)-4] units the {Ni(ll)(A)[12-MCNi(II)N(shi)2(pko)2-4]} and {Ni(II)(A)[12-MCNi(II)N(shi)3(pko)-4]} with 1+ and 1- charge, respectively. Each metallacrown unit has four ring Ni(II) ions and one additional encapsulated Ni(II) ion in planar arrangement. The anionic unit is bonded with cationic one creating binuclear moieties. The herbicide or antiiflammatory carboxylato ligands are bridging the central octahedral nickel atom with a ring metal ion in a bindetate fashion. The effect on DNA and their antibacterial activity was examined. The changes in the mobility can be attributed to the altered structures of the pDNA treated with Ni(II) complexes. Evaluating the data of the antibacterial activity of the compounds tested, we can conclude that nickel complexes present strong antibacterial activity

WTA/TLA: A UAV-captured dataset for semantic segmentation of energy infrastructure

Automated inspection of energy infrastructure with Unmanned Aerial Vehicles (UAVs) is becoming increasingly important, exhibiting significant advantages over manual inspection, including improved scalability, cost/time effectiveness, and risks reduction. Although recent technological advancements enabled the collection of an abundance of vision data from UAVs’ sensors, significant efforts are still required from experts to interpret manually the collected data and assess the condition of energy infrastructure. Thus, semantic understanding of vision data collected from UAVs during inspection is a critical prerequisite for performing autonomous robotic tasks. However, the lack of labeled data introduces challenges and limitations in evaluating the performance of semantic prediction algorithms. To this end, we release two novel semantic datasets (WTA and TLA) of aerial images captured from power transmission networks and wind turbine farms, collected during real inspection scenarios with UAVs. We also propose modifications to existing state-of-the-art semantic segmentation CNNs to achieve improved trade-off between accuracy and computational complexity. Qualitative and quantitative experiments demonstrate both the challenging properties of the provided dataset and the effectiveness of the proposed networks in this domain.The dataset is available at: https://github.com/gzamps/wta_tla_dataset

Stark Broadening of the B III 2s-2p Lines

We present a quantum-mechanical calculation of Stark line widths from electron-ion collisions for the $2s_{1/2}-2p_{1/2,3/2}$, lambda = 2066 and 2067 A, resonance transitions in B III. The results confirm the previous quantum-mechanical R-matrix calculations but contradict recent measurements and semi-classical and some semi-empirical calculations. The differences between the calculations can be attributed to the dominance of small L partial waves in the electron-atom scattering, while the large Stark widths inferred from the measurements would be substantially reduced if allowance is made for hydrodynamic turbulence from high Reynolds number flows and the associated Doppler broadening.Comment: 21 pages, 4 figures; to be published in Phys. Rev.

Magnetization of polydisperse colloidal ferrofluids: Effect of magnetostriction

We exploit magnetostriction in polydisperse ferrofluids in order to generate nonlinear responses, and apply a thermodynamical method to derive the desired nonlinear magnetic susceptibility. For an ideal gas, this method has been demonstrated to be in excellent agreement with a statistical method. In the presence of a sinusoidal ac magnetic field, the magnetization of the polydisperse ferrofluid contains higher-order harmonics, which can be extracted analytically by using a perturbation approach. We find that the harmonics are sensitive to the particle distribution and the degree of field-induced anisotropy of the system. In addition, we find that the magnetization is higher in the polydisperse system than in the monodisperse one, as also found by a recent Monte Carlo simulation. Thus, it seems possible to detect the size distribution in a polydisperse ferrofluid by measuring the harmonics of the magnetization under the influence of magnetostriction.Comment: 23 pages, 4 figures. To be accepted for publication in Phys. Rev.

Anti-C1q Autoantibodies Are Frequently Detected in Patients With Systemic Sclerosis Associated With Pulmonary Fibrosis

BACKGROUND: Anti-C1q autoantibodies (autoAbs) are associated with systemic lupus erythematosus (SLE) but their presence in other rheumatic diseases has not been adequately investigated. OBJECTIVE: We aim to assessanti-C1q autoAbs and circulating immune complexes (CICs) in systemic sclerosis (SSc). METHODS: One hundred twenty four patients with SSc (106 females; median age 59.4 years, range 25-81.4; 75(60.5%) with limited cutaneous SSc[lcSSc], and 49(39.5%) with diffuse cutaneous SSc[dcSSc]), were studied. Twenty-five patients with Sjögren\u27s syndrome (SjS), 29 with rheumatoid arthritis (RA), and 38 patients with systemic lupus erythematosus (SLE) and 53 healthy controls (NC) were also included. ELISAs with high and low salt buffers the former allowing IgGFc binding to C1q, the latter not allowing IgGFc binding and anti-C1q Ab binding to C1q were used to measure anti-C1q Abs and CICs. RESULTS: Anti-C1q Abs were present in20/124 (16.1%) SSc patients [5 had high levels (\u3e80 RU/mL) and 10 patients (50%) had moderate levels (40-80 RU/mL)] compared to 1/25 (4%) SjS, 1/29 (3.4%) RA patients (p CONCLUSIONS: Anti-C1q autoAbs were frequently detected in patients with SSc and their high levels predict the co-occurrence of pulmonary fibrosis or pulmonary arterial hypertension