Visual 3-D SLAM from UAVs

The aim of the paper is to present, test and discuss the implementation of Visual SLAM techniques to images taken from Unmanned Aerial Vehicles (UAVs) outdoors, in partially structured environments. Every issue of the whole process is discussed in order to obtain more accurate localization and mapping from UAVs flights. Firstly, the issues related to the visual features of objects in the scene, their distance to the UAV, and the related image acquisition system and their calibration are evaluated for improving the whole process. Other important, considered issues are related to the image processing techniques, such as interest point detection, the matching procedure and the scaling factor. The whole system has been tested using the COLIBRI mini UAV in partially structured environments. The results that have been obtained for localization, tested against the GPS information of the flights, show that Visual SLAM delivers reliable localization and mapping that makes it suitable for some outdoors applications when flying UAVs

Asynchronous Decentralized Task Allocation for Dynamic Environments

This work builds on a decentralized task allocation algorithm for networked agents communicating through an asynchronous channel, by extending the Asynchronous Consensus-Based Bundle Algorithm (ACBBA) to account for more real time implementation issues resulting from a decentralized planner. This paper specfically talks to the comparisons between global and local convergence in asynchronous consensus algorithms. Also a feature called asynchronous replan is introduced to ACBBA's functionality that enables e ffcient updates to large changes in local situational awareness. A real-time software implementation using multiple agents communicating through the user datagram protocol (UDP) validates the proposed algorithm.United States. Air Force (grant FA9550-08-1-0086)United States. Air Force Office of Scientific Research (grant FA9550-08-1-0086)Aurora Flight Sciences Corp. (SBIR - FA8750-10-C-0107

African tropical rainforest net carbon dioxide fluxes in the twentieth century

The African humid tropical biome constitutes the second largest rainforest region, significantly impacts global carbon cycling and climate, and has undergone major changes in functioning owing to climate and land-use change over the past century. We assess changes and trends in CO2 fluxes from 1901 to 2010 using nine land surface models forced with common driving data, and depict the inter-model variability as the uncertainty in fluxes. The biome is estimated to be a natural (no disturbance) net carbon sink (−0.02 kg C m−2 yr−1 or −0.04 Pg C yr−1, p < 0.05) with increasing strength fourfold in the second half of the century. The models were in close agreement on net CO2 flux at the beginning of the century (σ1901 = 0.02 kg C m−2 yr−1), but diverged exponentially throughout the century (σ2010 = 0.03 kg C m−2 yr−1). The increasing uncertainty is due to differences in sensitivity to increasing atmospheric CO2, but not increasing water stress, despite a decrease in precipitation and increase in air temperature. However, the largest uncertainties were associated with the most extreme drought events of the century. These results highlight the need to constrain modelled CO2 fluxes with increasing atmospheric CO2 concentrations and extreme climatic events, as the uncertainties will only amplify in the next century

High Energy Gamma Rays from p+X, X=Cu, Ag, Au at 34 MeV

In this paper we present results from the measurement of the gamma ray yield in the reaction of 34-MeV protons on Cu, Ag and Au. The protons were produced by the University of Washington superconducting linac. The gamma rays were measured using a large NaI and two large BaF{sub 2} detectors. Angular distributions were obtained for each of the three targets. Data for the Cu and Ag target were taken at six lab angles between 35 and 135 degrees, while data were taken at eight lab angles between 35 and 135 degrees for the Au target. The data were compared to several models. These included Hauser-Feshbach and direct-semidirect (DSD) calculations. We also compared the measurements to proton-nucleus bremsstrahlung calculations. The bremsstrahlung calculations greatly underpredicted the cross section and produced an angular distribution which was too flat. The Hauser-Feshbach calculations reproduced the yield of the softer portion of the spectrum reasonably well for all three targets. The DSD calculations reproduced the yield and angular distributions quite well for energies above about 20 MeV. However, the yields were underpredicted in the 15-18 MeV region, which suggests that multistep mechanisms may be needed for this target

Finding a Disappearing Nontimber Forest Resource: Using Grounded Visualization to Explore Urbanization Impacts on Sweetgrass Basketmaking in Greater Mt. Pleasant, South Carolina

Despite growing interest in urbanization and its social and ecological impacts on formerly rural areas, empirical research remains limited. Extant studies largely focus either on issues of social exclusion and enclosure or ecological change. This article uses the case of sweetgrass basketmaking in Mt. Pleasant, South Carolina, to explore the implications of urbanization, including gentrification, for the distribution and accessibility of sweetgrass, an economically important nontimber forest product (NTFP) for historically African American communities, in this rapidly growing area. We explore the usefulness of grounded visualization for research efforts that are examining the existence of fringe ecologies associated with NTFP. Our findings highlight the importance of integrated qualitative and quantitative analyses for revealing the complex social and ecological changes that accompany both urbanization and rural gentrification

A retrospective observational research study to describe the real-world use of bosutinib in patients with chronic myeloid leukemia in the United Kingdom and the Netherlands

ObjectivesTo describe the real-world effectiveness and safety of bosutinib in patients with chronic myeloid leukemia (CML).MethodsThis was a multi-center, retrospective, non-interventional chart review study conducted in 10 hospitals in the United Kingdom and the Netherlands.ResultsEighty-seven patients were included. Bosutinib was the third-line tyrosine kinase inhibitor (TKI) in 33 (38%) and fourth-line in 44 (51%) patients. Median treatment duration was 15.6 months. Among 84 patients in chronic phase (CP) at baseline, 26 (31%) switched to bosutinib due to resistance and 57 (68%) due to intolerance to prior TKIs. Cumulative complete cytogenetic and major molecular response rates in CP patients were 67% and 55%, respectively. After a median follow-up of 21.5 months, nine (11%) patients in CP died; estimated overall survival rates at 1 and 2 years postbosutinib initiation were 95% and 91%, respectively. Overall, 33/87 (38%) patients discontinued bosutinib due to either lack of efficacy/disease progression (17%), adverse events (14%), death (2%), or other reasons (5%). Eighty-two (94%) patients experienced ≥1 adverse event possibly related to bosutinib, most commonly diarrhea (52%).ConclusionsBosutinib used in routine clinical practice in heavily pretreated patients with CML is an effective treatment for patients in CP and is generally tolerable