A Spectral Learning Approach to Range-Only SLAM

We present a novel spectral learning algorithm for simultaneous localization and mapping (SLAM) from range data with known correspondences. This algorithm is an instance of a general spectral system identification framework, from which it inherits several desirable properties, including statistical consistency and no local optima. Compared with popular batch optimization or multiple-hypothesis tracking (MHT) methods for range-only SLAM, our spectral approach offers guaranteed low computational requirements and good tracking performance. Compared with popular extended Kalman filter (EKF) or extended information filter (EIF) approaches, and many MHT ones, our approach does not need to linearize a transition or measurement model; such linearizations can cause severe errors in EKFs and EIFs, and to a lesser extent MHT, particularly for the highly non-Gaussian posteriors encountered in range-only SLAM. We provide a theoretical analysis of our method, including finite-sample error bounds. Finally, we demonstrate on a real-world robotic SLAM problem that our algorithm is not only theoretically justified, but works well in practice: in a comparison of multiple methods, the lowest errors come from a combination of our algorithm with batch optimization, but our method alone produces nearly as good a result at far lower computational cost

Designing IS service strategy: an information acceleration approach

Information technology-based innovation involves considerable risk that requires insight and foresight. Yet, our understanding of how managers develop the insight to support new breakthrough applications is limited and remains obscured by high levels of technical and market uncertainty. This paper applies a new experimental method based on “discrete choice analysis” and “information acceleration” to directly examine how decisions are made in a way that is behaviourally sound. The method is highly applicable to information systems researchers because it provides relative importance measures on a common scale, greater control over alternate explanations and stronger evidence of causality. The practical implications are that information acceleration reduces the levels of uncertainty and generates a more accurate rationale for IS service strategy decisions

Origin of Spin Ice Behavior in Ising Pyrochlore Magnets with Long Range Dipole Interactions: an Insight from Mean-Field Theory

Recent experiments suggest that the Ising pyrochlore magnets ${\rm Ho_{2}Ti_{2}O_{7}}$ and ${\rm Dy_{2}Ti_{2}O_{7}}$ display qualitative properties of the ferromagnetic nearest neighbor spin ice model proposed by Harris {\it et al.}, Phys. Rev. Lett. {\bf 79}, 2554 (1997). The manifestation of spin ice behavior in these systems {\it despite} the energetic constraints introduced by the strength and the long range nature of dipole-dipole interactions, remains difficult to understand. We report here results from a mean field analysis that shed some light on the origin of spin ice behavior in (111) Ising pyrochlores. Specifically, we find that there exist a large frustrating effect of the dipolar interactions beyond the nearest neighbor, and that the degeneracy established by effective ferromagnetic nearest neighbor interactions is only very weakly lifted by the long range interactions. Such behavior only appears beyond a cut-off distance corresponding to $O(10^2)$ nearest neighbor. Our mean field analysis shows that truncation of dipolar interactions leads to spurious ordering phenomena that change with the truncation cut-off distance.Comment: 7 Color POSTSCRIPT figures included. To appear in Canadian Journal of Physics for the Proceedings of the {\it Highly Frustrated Magnetism 2000 Conference}, Waterloo, Ontario, Canada, June 11-15, 2000 Contact: [email protected]

Crosslinking and gelation between linear polymers: DNA-antibody complexes in systemic lupus erythematosus

In the autoimmune disease systemic lupus erythematosus the DNA molecules of an individual are attacked by its own antibodies. As these antibodies are bivalent they can crosslink different DNA molecules which can lead to the formation of DNA-antibody complexes and gels. Statistical properties of these complexes are derived and evaluated analytically in the limit of very long DNA molecules, as well as the concentrations at which a gel is being formed. The authors also present various numerical results for DNA molecules of intermediate lengths. This work can also be considered as a theory of the crosslinking and gelation of linear polymer

Latitudinal distribution and mitochondrial DNA (COI) variability of Stereotydeus spp. (Acari: Prostigmata) in Victoria Land and the central Transantarctic Mountains

We examined mitochondrial DNA (COI) variability and distribution of Stereotydeus spp. in Victoria Land and the Transantarctic Mountains, and constructed Neighbour Joining (NJ) and Maximum Likelihood (ML) phylogenetic trees using all publicly available COI sequences for the three Stereotydeus species present (S. belli, S. mollis and S. shoupi). We also included new COI sequences from Miers, Marshall and Garwood valleys in southern Victoria Land (78°S), as well as from the Darwin (79°S) and Beardmore Glacier (83°S) regions. Both NJ and ML methods produced trees which were similar in topology differing only in the placement of the single available S. belli sequence from Cape Hallett (72°S) and a S. mollis haplotype from Miers Valley. Pairwise sequence divergences among species ranged from 9.5–18.1%. NJ and ML grouped S. shoupi from the Beardmore Glacier region as sister to those from the Darwin with pairwise divergences of 8%. These individuals formed a monophyletic clade with high bootstrap support basal to S. mollis and S. belli. Based on these new data, we suggest that the distributional range of S. shoupi extends northward to Darwin Glacier and that a barrier to dispersal for Stereotydeus, and possibly other arthropods, exists immediately to the north of this area