EXPERIMENTAL VALIDATION OF FASTSLAM ALGORITHM CHARACTERIZED BY A LINEAR FEATURES BASED MAP

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Numeri q-perfetti e q-amicabili di seconda specie e altre generalizzazioni dei numeri perfetti di seconda specie

Nel presente lavoro si affronta, tra le curiosità matematiche, il problema deinumeri perfetti di seconda specie, riprendendo anche un lavoro del 1979 di FrancoEugeni e Bruno Rizzi, utilizzato come preambolo e spunto per le problematichelasciate aperte su tali concetti, e le loro generalizzazioni tra le quali quella deinumeri q-perfetti di 2 a specie. Il presente file si compone infatti di:1. Su alcune generalizzazioni dei numeri perfetti, tratto dal periodico dimatematiche serie V Volume 56 del 1980 riguardanti i numeri 1-perfetti di2 a specie e alcune problematiche dei numeri q-perfetti di 2 a specie. Il testoè corredato di note scritte in questa occasione.2. Un lavoro che appare qui per la prima volta in cui è trattato, per quanto siapossibile, il caso q > 1 per la suddetta generalizzazione dei numeri perfettidi 2 a specie e una diversa generalizzazione dei numeri perfetti di 2 a specieinsieme a risultati sul problema delle coppie di numeri amicabili diseconda specie, per entrambe le generalizzazioni

Probabilistic Self-Localization and Mapping: An Asynchronous Multirate Approach

"© 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works."[EN] In this paper, we present a set of robust and efficient algorithms with O(N) cost for the solution of the Simultaneous Localization And Mapping (SLAM) problem of a mobile robot. First, we introduce a novel object detection method, which is mainly based on multiple line fitting method for landmark detection with regular constrained angles. Second, a line-based pose estimation method is proposed, based on LeastSquares (LS). This method performs the matching of lines, providing the global pose estimation under assumption of known Data-Association. Finally, we extend the FastSLAM (FActored Solution To SLAM) algorithm for mobile robot self-localisation and mapping by considering the asynchronous sampling of sensors and actuators. In this sense, multi-rate asynchronous holds are used to interface signals with different sampling rates. Moreover, an asynchronous fusion method to predict and update mobile robot pose and map is also presented. In addition to this, FastSLAM 1.0 has been also improved by considering the estimated pose with the LS-approach to re-allocate each particle of the posterior distribution of the robot pose. This approach has a lower computational cost than the original Extended Kalman Filtering (EKF) approach in FastSLAM 2.0. All these methods have been combined in order to perform an efficient and robust self-localization and map building process. Additionally, these methods have been validated with experimental real data, in mobile robot moving on an unknown environment for solving the SLAM problem.This work has been supported by the Spanish Government (MCyT) research project BIA2005-09377-C03-02 and by the Italian Government (MIUR) research project PRIN2005097207.Armesto, L.; Ippoliti, G.; Longhi, S.; Tornero Montserrat, J. (2008). Probabilistic Self-Localization and Mapping: An Asynchronous Multirate Approach. IEEE Robotics & Automation Magazine. 15(2):77-88. https://doi.org/10.1109/M-RA.2007.907355S778815

Climate change disclosures: An examination of Canadian oil and gas firms

The purpose of this paper is to examine: (1) to what extent Canadian oil and gas firms haveadhered to the Canadian Institute of Chartered Accountant proposed guidelines respecting climatechange disclosures in their annual reports, and (2) whether the disclosures of these firmscan be influenced by their media visibility, the presence and operating characteristics of an environmentalcommittee within the board of directors, their ownership structure, their auditfirms, their political exposure and media visibility. The results show that the level of disclosureis very low; however, when the board of directors has an environment committee, the level ofdisclosure is higher. This is also the case for firms having significant political exposure andstrong media visibility, and for those with a widely held ownership structure. Whether or notthe audit firm is one of the Big Four, does not make any difference in the level of disclosure. Copyright © www.iiste.or

Predictor Design for Altitude Control of a Seaweed Harvester

In this paper, the predictor design, for altitude control of a seaweed harvester, is investigated. The harvesting system consists of a vessel and a suspended harvester device, the altitude of which is controlled by a winch. The control approach of Gallieri and Ringwood (2010), including a feedforward action, which requires a single step disturbance prediction, is investigated further, focusing on the disturbance prediction, for noisy sensors. The prediction is performed using AR and ARMA models, identified online, by using the Recursive Least Squared with Forgetting Factor (RLSFF) algorithm and the Kalman Filter (KF). The dependance between the error spectrum and the quality of the control is shown, and the prediction performances are evaluated, using an FFT-based criterion, oriented to the feedforward application. The control performances are then evaluated, and the results are compared to Gallieri and Ringwood (2010)

Predictor Design for Altitude Control of a Seaweed Harvester

In this paper, the predictor design, for altitude control of a seaweed harvester, is investigated. The harvesting system consists of a vessel and a suspended harvester device, the altitude of which is controlled by a winch. The control approach of Gallieri and Ringwood (2010), including a feedforward action, which requires a single step disturbance prediction, is investigated further, focusing on the disturbance prediction, for noisy sensors. The prediction is performed using AR and ARMA models, identified online, by using the Recursive Least Squared with Forgetting Factor (RLSFF) algorithm and the Kalman Filter (KF). The dependance between the error spectrum and the quality of the control is shown, and the prediction performances are evaluated, using an FFT-based criterion, oriented to the feedforward application. The control performances are then evaluated, and the results are compared to Gallieri and Ringwood (2010)

Experimental validation of FastSLAM algorithm integrated with a linear features based map

International audienceIn this paper the Simultaneous Localization And Mapping (SLAM) problem in unknown indoor environments is addressed. A probabilistic approach integrating FastSLAM algorithm and a line feature map is developed and validated. Experi- mental validation is performed by a smart wheelchair equipped with proprioceptive and exteroceptive sensors in an office like environment where loop closing is achieved without any dedicated algorithm. Geometric hypothesis of orthogonal line features are considered to enhance the performance of the algorithm in the considered en- vironment. The proposed approach results in a computationally efficient solution to the SLAM problem and the high quality sensor measurements allow to main- tain a good localization of the mobile base and a compact representation of the environment

LGALS3BP antibody-drug-conjugate and its use for the treatment of cancer

The present invention relates to a special type of non-internalizing binding moiety- drug-conjugates that specifically target LGALS3BP. From one aspect, the invention relates to an antibody-drug-conjugate comprising an antibody capable of binding to LGALS3BP, said antibody being conjugated to cytotoxic drugs. The invention also comprises methods of the treatment of LGALS3BP-expressing cancer, including administering to a patient the disclosed drug conjugates and pharmaceutical preparations

Secreted Gal-3BP is a novel promising target for non-internalizing Antibody–Drug Conjugates

Abstract Galectin-3-binding protein (Gal-3BP) has been identified as a cancer and metastasis-associated, secreted protein that is expressed by the large majority of cancers. The present study describes a special type of non-internalizing antibody-drug-conjugates that specifically target Gal-3BP. Here, we show that the humanized 1959 antibody, which specifically recognizes secreted Gal-3BP, selectively localized around tumor but not normal cells. A site specific disulfide linkage with thiol-maytansinoids to unpaired cysteine residues of 1959, resulting in a drug-antibody ratio of 2, yielded an ADC product, which cured A375m melanoma bearing mice. ADC products based on the non-internalizing 1959 antibody may be useful for the treatment of several human malignancies, as the cognate antigen is abundantly expressed and secreted by several cancers, while being present at low levels in most normal adult tissues