FootSLAM meets adaptive thresholding

The is the author accepted manuscript. The final version is available from IEEE via the DOI in this recordCalibration of the zero-velocity detection threshold is an essential prerequisite for zero-velocity-aided inertial navigation. However, the literature is lacking a self-contained calibration method, suitable for large-scale use in unprepared environments without map information or pre-deployed infrastructure. In this paper, the calibration of the zero-velocity detection threshold is formulated as a maximum likelihood problem. The likelihood function is approximated using estimation quantities readily available from the FootSLAM algorithm. Thus, we obtain a method for adaptive thresholding that does not require map information, measurements from supplementary sensors, or user input. Experimental evaluations are conducted using data with different gait speeds, sensor placements, and walking trajectories. The proposed calibration method is shown to outperform fixed-threshold zero-velocity detectors and a benchmark using a speed-based threshold classifier.National Institute of Standards and Technology (NIST

The self-assembly of DNA Holliday junctions studied with a minimal model

In this paper, we explore the feasibility of using coarse-grained models to simulate the self-assembly of DNA nanostructures. We introduce a simple model of DNA where each nucleotide is represented by two interaction sites corresponding to the phosphate-sugar backbone and the base. Using this model, we are able to simulate the self-assembly of both DNA duplexes and Holliday junctions from single-stranded DNA. We find that assembly is most successful in the temperature window below the melting temperatures of the target structure and above the melting temperature of misbonded aggregates. Furthermore, in the case of the Holliday junction, we show how a hierarchical assembly mechanism reduces the possibility of becoming trapped in misbonded configurations. The model is also able to reproduce the relative melting temperatures of different structures accurately, and allows strand displacement to occur.Comment: 13 pages, 14 figure

Map-aided navigation for emergency searches

This is the author accepted manuscript. The final version is available from the publisher via the DOI in this recordReal-time positioning of emergency personnel has been an active research topic for many years. However, studies on how to improve navigation accuracy by using prior information on the idiosyncratic motion characteristics of firefighters are scarce. This paper presents an algorithm for generating pseudo observations of position and orientation based on standard search patterns used by firefighters. The iterative closest point algorithm is used to compare walking trajectories estimated from inertial odometry with search patterns generated from digital maps. The resulting fitting errors are then used to integrate the pseudo observations into a map-aided navigation filter. Specifically, we present a sequential Monte Carlo solution where the pattern comparison is used to both update particle weights and create new particle samples. Experimental results involving professional firefighters demonstrate that the proposed pseudo observations can achieve a stable localization error of about one meter, and offer increased robustness in the presence of map errors

Perspectives on Adoption from Christian Adoptive Parents: A Qualitative Study

Although adoption has long been studied, the rising current evangelical trend of adopting has brought about a new series of questions, mostly pertaining to, “What is it like to be a Christian adoptive parent?” The research goals were to understand how faith motivates one’s decision to adopt and the assimilation of the adopted child into the family, to examine the parallels between theological adoption and human experience adoption, and to see if parents have a qualitatively different kind of bonding or affection for their biological and adoptive children. This qualitative research study was conducted through semi-structured interviews with practicing Christians who have both biological and adopted children. Several major themes emerged from these qualitative interviews, some of which pertain to: the theological or spiritual reasons for adoption, a more concrete understand of theological constructs, the importance of names, and “adoption legacy.

3D Object reconstruction from a single depth view with adversarial learning

In this paper, we propose a novel 3D-RecGAN approach, which reconstructs the complete 3D structure of a given object from a single arbitrary depth view using generative adversarial networks. Unlike the existing work which typically requires multiple views of the same object or class labels to recover the full 3D geometry, the proposed 3D-RecGAN only takes the voxel grid representation of a depth view of the object as input, and is able to generate the complete 3D occupancy grid by filling in the occluded/missing regions. The key idea is to combine the generative capabilities of autoencoders and the conditional Generative Adversarial Networks (GAN) framework, to infer accurate and fine-grained 3D structures of objects in high-dimensional voxel space. Extensive experiments on large synthetic datasets show that the proposed 3D-RecGAN significantly outperforms the state of the art in single view 3D object reconstruction, and is able to reconstruct unseen types of objects. Our code and data are available at: https://github.com/Yang7879/3D-RecGAN

The maximally entangled symmetric state in terms of the geometric measure

The geometric measure of entanglement is investigated for permutation symmetric pure states of multipartite qubit systems, in particular the question of maximum entanglement. This is done with the help of the Majorana representation, which maps an n qubit symmetric state to n points on the unit sphere. It is shown how symmetries of the point distribution can be exploited to simplify the calculation of entanglement and also help find the maximally entangled symmetric state. Using a combination of analytical and numerical results, the most entangled symmetric states for up to 12 qubits are explored and discussed. The optimization problem on the sphere presented here is then compared with two classical optimization problems on the S^2 sphere, namely Toth's problem and Thomson's problem, and it is observed that, in general, they are different problems.Comment: 18 pages, 15 figures, small corrections and additions to contents and reference

Discovery of a novel biomarker in the urine in women with endometriosis

Objective: To investigate whether proteins secreted in urine differ between women with and without endometriosis. Design: Laboratory study using human urine. Setting: University-based laboratory. Patient(s): Women with and without endometriosis undergoing laparoscopy, hysteroscopy and curettage. Intervention(s): Urine collection from women with and without endometriosis. Main Outcome Measure(s): Proteomic techniques and mass spectrometry to identify proteins secreted in the urine of women with and without endometriosis. Result(s): On average, 133 proteins were significantly different between women with and without endometriosis. Cytokeratin-19 was highly up-regulated in the urine of women with endometriosis. Conclusion(s): Cytokeratin-19 may be a valuable urinary biomarker for endometriosis. © 2011 American Society for Reproductive Medicine, Published by Elsevier Inc

Efficient solution-processed dendrimer OLEDs

Light-emitting dendrimers are a new distinct class of material for OLEDs. Dendrimers consist of a light-emitting core, dendrons and surface groups. Dendrimers are designed for solution coating and have a number of advantages over conjugated polymers. We report our recent results for solution processed green dendrimer OLEDs. The OLEDs were fabricated by spin-coating a blend of first generation dendrimer/host material followed by the evaporation of a hole blocking layer and a LiF/Al cathode. Power efficiencies of 50 lm/W at practical brightness levels were achieved for these structures

Student- and school-level belonging and commitment and student smoking, drinking and misbehaviour

Objectives: It has been suggested that students are healthier in schools where more students are committed to school. Previous research has examined this only using a proxy measure of value-added education (a measure of whether school-level attendance and attainment are higher than predicted by students’ social profile), finding associations with smoking tobacco, use of alcohol and illicit drugs, and violence. These findings do not provide direct insights into the associations between school-level aggregate student commitment and health behaviours, and may simply reflect the proxy measure being residually confounded by unmeasured student characteristics. We examined the previously used proxy measure of value-added education, as well as direct measures at the level of the school and the student of lack of student commitment to school to see whether these were associated with students’ self-reported smoking tobacco, alcohol use and school misbehaviour. Design: Cross-sectional survey. Setting: A total of 40 schools in south-east England. Methods: Multi-level analyses. Results: There were associations between school- and student-level measures of lack of commitment to school and tobacco smoking, alcohol use and school misbehaviour outcomes, but the proxy measure of school-level commitment, value-added education, was not associated with these outcomes. A sensitivity analysis focused only on violent aspects of school misbehaviour found a pattern of associations identical to that found for the measure of misbehaviour. Conclusion: Our study provides the first direct evidence in support of the Theory of Human Functioning and School Organisation