A Computationally Efficient EK-PMBM Filter for Bistatic mmWave Radio SLAM

Millimeter wave (mmWave) signals are useful for simultaneous localization and mapping (SLAM), due to their inherent geometric connection to the propagation environment and the propagation channel. To solve the SLAM problem, existing approaches rely on sigma-point or particle-based approximations, leading to high computational complexity, precluding real-time execution. We propose a novel low-complexity SLAM filter, based on the Poisson multi-Bernoulli mixture (PMBM) filter. It utilizes the extended Kalman (EK) first-order Taylor series based Gaussian approximation of the filtering distribution, and applies the track-oriented marginal multi-Bernoulli/Poisson (TOMB/P) algorithm to approximate the resulting PMBM as a Poisson multi-Bernoulli (PMB). The filter can account for different landmark types in radio SLAM and multiple data association hypotheses. Hence, it has an adjustable complexity/performance trade-off. Simulation results show that the developed SLAM filter can greatly reduce the computational cost, while it keeps the good performance of mapping and user state estimation

Evidence of Strong Stabilizing Effects on the Evolution of Boreoeutherian (Mammalia) Dental Proportions

The dentition is an extremely important organ in mammals with variation in timing and sequence of eruption, crown morphology, and tooth size enabling a range of behavioral, dietary, and functional adaptations across the class. Within this suite of variable mammalian dental phenotypes, relative sizes of teeth reflect variation in the underlying genetic and developmental mechanisms. Two ratios of postcanine tooth lengths capture the relative size of premolars to molars (premolar–molar module, PMM), and among the three molars (molar module component, MMC), and are known to be heritable, independent of body size, and to vary significantly across primates. Here, we explore how these dental traits vary across mammals more broadly, focusing on terrestrial taxa in the clade of Boreoeutheria (Euarchontoglires and Laurasiatheria). We measured the postcanine teeth of N = 1,523 boreoeutherian mammals spanning six orders, 14 families, 36 genera, and 49 species to test hypotheses about associations between dental proportions and phylogenetic relatedness, diet, and life history in mammals. Boreoeutherian postcanine dental proportions sampled in this study carry conserved phylogenetic signal and are not associated with variation in diet. The incorporation of paleontological data provides further evidence that dental proportions may be slower to change than is dietary specialization. These results have implications for our understanding of dental variation and dietary adaptation in mammal

Adiabatic shear band formation in explosively driven AerMet-100 alloy cylinders

Two differently heat-treated AerMet-100 alloy cylinders were explosively driven to fragmentation. Soft-captured fragments were studied to characterize the deformation and damage induced by high explosive loading. The characterization of the fragments reveals that the dominant failure mechanism appears to be dynamic fracture along adiabatic shear bands. These shear bands differ in size and morphology depending on the heat-treated conditions. Nanoindentation measurements of the adiabatic shear bands in either material condition indicate higher hardness in the bands compared to the matrix regions of the fragments

First mirror test in JET for ITER : Complete overview after three ILW campaigns

The First Mirror Test for ITER has been carried out in JET with mirrors exposed during: (i) the third ILW campaign (ILW-3, 2015-2016, 23.33 h plasma) and (ii) all three campaigns, i.e. ILW-1 to ILW-3: 2011-2016, 63,52 h in total. All mirrors from main chamber wall show no significant changes of the total reflectivity from the initial value and the diffuse reflectivity does not exceed 3% in the spectral range above 500 nm. The modified layer on surface has very small amount of impurities such as D, Be, C, N, O and Ni. All mirrors from the divertor (inner, outer, base under the bulk W tile) lost reflectivity by 20-80% due to the beryllium-rich deposition also containing D, C, N, O, Ni and W. In the inner divertor N reaches 5 x 10(17) cm(-2), W is up to 4.3 x 10(17) cm(-2), while the content of Ni is the greatest in the outer divertor: 3.8 x 10(17) cm(-2). Oxygen-18 used as the tracer in experiments at the end of ILW-3 has been detected at the level of 1.1 x 10(16) cm(-2). The thickness of deposited layer is in the range of 90 nm to 900 nm. The layer growth rate in the base (2.7 pm s(-1)) and inner divertor is proportional to the exposure time when a single campaign and all three are compared. In a few cases, on mirrors located at the cassette mouth, flaking of deposits and erosion occurred.Peer reviewe

Equity in healthcare: status, barriers, and challenges

Global health provides a challenge for primary care and general practice which will become increasingly important in the future as the prevalence of multimorbidity increases. There is increasing likelihood of survival from acute illnesses and increase an in the elderly population. This literature review focuses on the health inequities, the role of family medicine and the factors that are essential in overcoming these inequalities. Health disparities refer to gaps in the quality of health and delivery of health care across racial, ethnic, gender and socioeconomic groups. The health disparities vary among different countries and the factors that lead to these disparities differ across the world. Family medicine plays a crucial role in bridging this gap and is an essential backbone of the society in developing nations as well as the wealthier nations in providing equity in health care to all people. There are many factors leading to inequity in health care. Family medicine should be recognized as a specialty across the world, as family medicine with its person centered care can bring about a global change in health care. This issue has to be taken up more seriously by the institutions like the WHO, UN and also individual governments along with the political parties to create uniformity in health care. In the current setting of the global economic and financial crisis, a truly global solution is needed. The WHO has come up with various strategies to solve the issue of financial crises and ensuring equity in health globally. This will ensure equal health care to all people especially the underprivileged in developing countries who do not have access to better healthcare due to lack of resources. This factor is a major contributor to the premature death of individuals at all stages of life from new born to the elderly and includes infant mortality and mortality due to chronic diseases. This is important in creating uniformity in health care across the world but has to be considered at a global level to have an impact