Conceptual spatial representations for indoor mobile robots

We present an approach for creating conceptual representations of human-made indoor environments using mobile robots. The concepts refer to spatial and functional properties of typical indoor environments. Following findings in cognitive psychology, our model is composed of layers representing maps at different levels of abstraction. The complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition. The system also incorporates a linguistic framework that actively supports the map acquisition process, and which is used for situated dialogue. Finally, we discuss the capabilities of the integrated system

Measurement of B→ρℓνB\to \rho\ell\nu Decay and ∣Vub∣|V_{ub}|

Using a sample of 3.3 million Upsilon(4S) -> BBbar events collected with the CLEO II detector at the Cornell Electron Storage Ring (CESR), we measure the branching fraction for B -> rho l nu, |V_ub|, and the partial rate (Delta Gamma) in three bins of q^2 = (p_B-p_rho)^2. We find B(B^0 -> rho^- l^+ nu)=(2.69 +- 0.41^+0.35_-0.40 +- 0.50) 10^-4, |V_ub|=(3.23 +- 0.24^+0.23_-0.26 +- 0.58) 10^-3, Delta Gamma (0 < q^2 < 7 GeV^2/c^4) =(7.6 +- 3.0 ^+0.9_-1.2 +- 3.0) 10^-2 ns^-1, Delta Gamma (7 < q^2 < 14 GeV^2/c^4) =(4.8 +- 2.9 ^+0.7_-0.8 +- 0.7) 10^-2 ns^-1, and Delta Gamma (14 < q^2 < 21 GeV^2/c^4) = (7.1 +- 2.1^+0.9_-1.1 +- 0.6)10^-2 ns^-1. The quoted errors are statistical, systematic, and theoretical. The method is sensitive primarily to B -> rho l nu decays with leptons in the energy range above 2.3 GeV. Averaging with the previously published CLEO results, we obtain B(B^0 -> rho^- l^+ nu) = (2.57 +- 0.29^+0.33_-0.46 +- 0.41) 10^-4 and |V_{ub}| = (3.25 +- 0.14 ^+0.21_-0.29 +- 0.55) 10^-3.Comment: 35 pages postscript, also available through http://w4.lns.cornell.edu/public/CLN

Heterodyne receiver for Origins

Instrumentatio

Evaluation of juvenile rainbow trout survival and growth in half-sib families from diploid and tetraploid sires

International audienc

Transmission hereditaire du nombre de points rouges de la robe chez la truite commune

International audienc

Alkaline mineral water lowers bone resorption even in calcium sufficiency: alkaline mineral water and bone metabolism.

BACKGROUND: Dietary acid charge enhances bone loss. Bicarbonate or alkali diet decreases bone resorption in humans. We compared the effect of an alkaline mineral water, rich in bicarbonate, with that of an acid one, rich in calcium only, on bone markers, in young women with a normal calcium intake. METHODS: This study compared water A (per litre: 520 mg Ca, 291 mg HCO(3)(-), 1160 mg SO(4)(-), Potential Renal Acid load (PRAL) +9.2 mEq) with water B (per litre: 547 mg Ca, 2172 mg HCO(3)(-), 9 mg SO(4)(-), PRAL -11.2 mEq). 30 female dieticians aged 26.3 yrs (SD 7.3) were randomized into two groups, followed an identical weighed, balanced diet (965 mg Ca) and drank 1.5 l/d of the assigned water. Changes in blood and urine electrolytes, C-telopeptides (CTX), urinary pH and bicarbonate, and serum PTH were measured after 2 and 4 weeks. RESULTS: The two groups were not different at baseline, and showed a similar increase in urinary calcium excretion. Urinary pH and bicarbonate excretion increased with water B, but not with water A. PTH (p=0.022) and S-CTX (p=0.023) decreased with water B but not with water A. CONCLUSION: In calcium sufficiency, the acid calcium-rich water had no effect on bone resorption, while the alkaline water rich in bicarbonate led to a significant decrease of PTH and of S-CTX

Performances of auto and allotriploids in salmonids. I. Survival and growth in fresh water farming

International audienc