LookUP: Vision-Only Real-Time Precise Underground Localisation for Autonomous Mining Vehicles

A key capability for autonomous underground mining vehicles is real-time accurate localisation. While significant progress has been made, currently deployed systems have several limitations ranging from dependence on costly additional infrastructure to failure of both visual and range sensor-based techniques in highly aliased or visually challenging environments. In our previous work, we presented a lightweight coarse vision-based localisation system that could map and then localise to within a few metres in an underground mining environment. However, this level of precision is insufficient for providing a cheaper, more reliable vision-based automation alternative to current range sensor-based systems. Here we present a new precision localisation system dubbed "LookUP", which learns a neural-network-based pixel sampling strategy for estimating homographies based on ceiling-facing cameras without requiring any manual labelling. This new system runs in real time on limited computation resource and is demonstrated on two different underground mine sites, achieving real time performance at ~5 frames per second and a much improved average localisation error of ~1.2 metre.Comment: 7 pages, 7 figures, accepted for IEEE ICRA 201

Scattering of electromagnetic waves in metamaterial superlattices

The authors study experimentally both transmission and reflection of microwave radiation from metamaterialsuperlattices created by layers of periodically arranged wires and split-ring resonators. The authors measure the dependence of the metamaterial resonance on the spatial period of the superlattice and demonstrate resonance broadening and splitting for the binary metamaterial structures.The authors acknowledge support from the Australian Research Council and thank Ekmel Ozbay for providing additional details of the experimental results published earlier by his group

Influence of Sorghum Wax, Glycerin, and Sorbitol on Physical Properties of Soy Protein Isolate Films

Sorghum wax, sorbitol, glycerin, and soy protein isolate (SPI) composite films were prepared. Effects of sorghum wax, sorbitol, and glycerin concentrations on various films were evaluated using response surface methodology. All independent variables significantly (P \u3c 0.05) affected film water vapor permeability (WVP), tensile strength (TS), elongation at break (E), total color difference, and total soluble matter (TSM). Increasing the sorghum wax concentration decreased WVP and E. As sorbitol content increased in the composite films, WVP and TS increased. Sorbitol had a critical point of 2–5 g/5 g SPI for low values of TSM. The addition of sorbitol contributed more to the properties of the film than did glycerin

Believe me! Why tesla’s recent alleged malfunction further highlights the need for transparent dialogue

On November the 13th, 2022 video footage was released purportedly showing a Tesla Model Y malfunctioning by speeding through the streets of a Chinese city killing two people. Video footage such as this has the potential to undermine trust in AVs. While Tesla has responded by stating they will get to the “truth,” there are questions as to how this truth is to be decided, and perhaps more importantly how the public can trust either Tesla or negative press. We explore the “facts” of the incident and discuss the challenges of building trust in new AVs systems based on transparency. In this article we argue that transparency is more than simply getting to the “truth.” It is fostering a relational dialogue between the facts and stakeholder. Using O’Brien’s window metaphor, this article explores the need for AV manufacturers to consider the content of such incidents, the different perceptions of stakeholders, and the medium through which the content is presented. Apart from the need for independent crash investigators, there is a need for AV manufacturers to go beyond simply’ getting to the truth’ and to engage with the public responsibly

Young Adults Performance of Unipedal Dynamic Balance with Various Footwear Conditions

International Journal of Exercise Science 13(4): 206-215, 2020. Wearing barefoot-style (minimalist) shoes is suggested as a transition between wearing shoes and barefoot running. Some sources equate wearing Vibram FiveFingers™(VFFs), a brand of barefoot shoes, with running/walking barefoot. Static and dynamic balance exercises are recommended. Little information is available on the effects barefoot shoes may have on dynamic balance. This study’s purpose was to examine dynamic balance when participants wore VFFs, athletic shoes, or went barefoot (BF). To test dynamic balance, participants used a modified version of the Star Excursion Balance Test (SEBT), in which the reaching leg followed only three spokes of the test: the anterior, posteromedial and posterolateral. For the timed test, participants touched down as quickly as possible in both directions using all 8 spokes. Thirty participants (ages 24.1+/-3.71 years) without lower extremity injury or experience wearing minimalist shoes were tested using the modified SEBT and a timed test wearing VFFs™, athletic shoes, or BF. Three trials for each footwear were completed for three reaching positions: anterior, posterolateral, posteromedial. The timed test measured (seconds) one counterclockwise and one clockwise direction of the 8-spoke figure. A repeated measures analysis of variance determined if any differences existed between footwear type and studied variables. Anterior reach was significantly greater when wearing shoes than with VFF or BF. Posteromedial reach was greater with shoes than BF. Time trials were not significantly different. Because no difference was found in any measured variables between VFF and BF, the results suggest wearing VFFS™ provided similar dynamic balance as going barefoot

Combination Schemes for Turning Point Predictions

We propose new forecast combination schemes for predicting turning points of business cycles. The combination schemes deal with the forecasting performance of a given set of models and possibly providing better turning point predictions. We consider turning point predictions generated by autoregressive (AR) and Markov-Switching AR models, which are commonly used for business cycle analysis. In order to account for parameter uncertainty we consider a Bayesian approach to both estimation and prediction and compare, in terms of statistical accuracy, the individual models and the combined turning point predictions for the United States and Euro area business cycles

Sexual Dimorphism

doi:10.1146/annurev.an.14.100185.002241Annual Review of Anthropology http://arjournals.annualreviews.org/loi/anthr

Modeling of Bubble Growth Dynamics and Nonisothermal Expansion in Starch-Based Foams During Extrusion

A mathematical model was developed to describe expansion phenomena in starch-based foams during extrusion. The model was divided into three parts to describe the microbubble growth dynamics, to couple bubble growth with extrudate expansion, and to describe the macrotransport phenomena in the extrudate, respectively. The differential equations involved in the model were solved by finite element schemes. For validating the model, the predicted radius, density, and residual moisture of final extrudate were compared with experimental data. Standard deviations between the predicted and experimental radius, density, and residual moisture of final extrudates were 16.7%, 11.2%, and 39.3%, respectively. The model was used to predict the profiles of downstream velocity, expansion ratio, moisture content, and temperature of extrudate during expansion

Human Leukocyte Antigen Typing Using a Knowledge Base Coupled with a High-Throughput Oligonucleotide Probe Array Analysis

Human leukocyte antigens (HLA) are important biomarkers because multiple diseases, drug toxicity, and vaccine responses reveal strong HLA associations. Current clinical HLA typing is an elimination process requiring serial testing. We present an alternative in situ synthesized DNA-based microarray method that contains hundreds of thousands of probes representing a complete overlapping set covering 1,610 clinically relevant HLA class I alleles accompanied by computational tools for assigning HLA type to 4-digit resolution. Our proof-of-concept experiment included 21 blood samples, 18 cell lines, and multiple controls. The method is accurate, robust, and amenable to automation. Typing errors were restricted to homozygous samples or those with very closely related alleles from the same locus, but readily resolved by targeted DNA sequencing validation of flagged samples. High-throughput HLA typing technologies that are effective, yet inexpensive, can be used to analyze the world’s populations, benefiting both global public health and personalized health care