Learned navigation in unknown terrains: A retraction method

The problem of learned navigation of a circular robot R, of radius delta (is greater than or equal to 0), through a terrain whose model is not a-priori known is considered. Two-dimensional finite-sized terrains populated by an unknown (but, finite) number of simple polygonal obstacles are also considered. The number and locations of the vertices of each obstacle are unknown to R. R is equipped with a sensor system that detects all vertices and edges that are visible from its present location. In this context two problems are covered. In the visit problem, the robot is required to visit a sequence of destination points, and in the terrain model acquisition problem, the robot is required to acquire the complete model of the terrain. An algorithmic framework is presented for solving these two problems using a retraction of the freespace onto the Voronoi diagram of the terrain. Algorithms are then presented to solve the visit problem and the terrain model acquisition problem

Facile Synthesis of N α -Protected Amino/Peptide Hydroxamic Acids Mediated by Comu

One-pot preparation of N α -protected amino/peptide hydroxamic acids from corresponding carboxylic acids is described using uronium-type coupling reagent COMU. The present protocol is simple and mild conditions are used. Thus the resulting hydroxamic acids are obtained in good yields without racemization

Fault Diagnosis of Hybrid Computing Systems Using Chaotic-Map Method

Computing systems are becoming increasingly complex with nodes consisting of a combination of multi-core central processing units (CPUs), many integrated core (MIC) and graphics processing unit (GPU) accelerators. These computing units and their interconnections are subject to different classes of hardware and software faults, which should be detected to support mitigation measures. We present the chaotic-map method that uses the exponential divergence and wide Fourier properties of the trajectories, combined with memory allocations and assignments to diagnose component-level faults in these hybrid computing systems. We propose lightweight codes that utilize highly parallel chaotic-map computations tailored to isolate faults in arithmetic units, memory elements and interconnects. The diagnosis module on a node utilizes pthreads to place chaotic-map threads on CPU and MIC cores, and CUDA C and OpenCL kernels on GPU blocks. We present experimental diagnosis results on five multi-core CPUs; one MIC; and, seven GPUs with typical diagnosis run-times under a minute

Facile Synthesis of N (alpha) -Protected Amino/Peptide Hydroxamic Acids Mediated by COMU

One-pot preparation of N (alpha) -protected amino/peptide hydroxamic acids from corresponding carboxylic acids is described using uronium-type coupling reagent COMU. The present protocol is simple and mild conditions are used. Thus the resulting hydroxamic acids are obtained in good yields without racemization

Simplified procedures for the generation of POPSI entries using computer

In this paper, we are presenting two programs for generating POPSI entries, in which the first program is general in its application, in the sense that the input codes decide the formation of entries especially the context terms and the second, which does not take any extra codes at the input and formulates the entries accord- ing to a single rule

CHEMICAL SPECIATION OF Pb(II), Cd(II), Hg(II), Co(II), Ni(II), Cu(II) AND Zn(II) BINARY COMPLEXES OF L-METHIONINE IN 1,2-PROPANEDIOL–WATER MIXTURES

Chemical speciation of Pb(II), Cd(II), Hg(II), Co(II), Ni(II), Cu(II) and Zn(II) complexes of L-methionine in 0.0-60 % v/v 1,2-propanediol-water mixtures maintaining an ionic strength of 0.16 M at 303 K has been studied pH metrically. The active forms of ligand are LH2+, LH and L-. The predominant species detected are ML, MLH, ML2, ML2H, ML2H2 and MLOH. Models containing different numbers of species were refined by using the computer program MINIQUAD 75. The best-fit chemical models were arrived at based on statistical parameters. The trend in variation of complex stability constants with change in the dielectric constant of the medium is explained on the basis of electrostatic and non-electrostatic forces. KEY WORDS: Complex equilibria, Chemical speciation, L-Methionine, 1,2-Propanediol, Metals Bull. Chem. Soc. Ethiop. 2007, 21(3), 363-372

Quality Assessment of Ambulatory Electrocardiogram Signals by Noise Detection using Optimal Binary Classification

In order to improve the diagnostic capability in Ambulatory Electrocardiogram signal and to reduce the noise signal impacts, there is a need for more robust models in place. In terms of improvising to the existing solutions, this article explores a novel binary classifier that learns from the features optimized by fusion of diversity assessment measures, which performs Quality Assessment of Ambulatory Electrocardiogram Signals (QAAES) by Noise Detection. The performance of the proposed model QAAES has been scaled by comparing it with contemporary models. Concerning performance analysis, the 10-fold cross-validation has been carried on a benchmark dataset. The results obtained from experiments carried on proposed and other contemporary models for cross-validation metrics have been compared to signify the sensitivity, specificity, and noise detection accuracy

An Algorithmic Framework for Robot Navigation in Unknown Terrains.

The problem of navigating a robot body through a terrain whose model is a priori known is well-solved problem in many cases. Comparatively, a lesser number of research results have been reported about the navigation problem in unknown terrains i.e., the terrains whose model are not a priori known. The focus of our work is to obtain an algorithmic framework that yields algorithms to solve certain navigational problems in unknown terrains. We consider a finite-sized two-dimensional terrain populated by a finite set of obstacles $O$ = \{O\sb1,O\sb2,\...,O\sb{n}\} where O\sb{i} is a simple polygon with a finite number of vertices. Consider a circular body R, of diameter $\delta\geq$ O, capable of translational and rotational motions. R houses a computational device with storage capability. Additionally, R is equipped with a sensor system capable of detecting all visible vertices and edges. We consider two generic problems of navigation in unknown terrains: the Visit Problem, VP, and the Terrain model acquisition Problem, TP. In the visit problem, R is required to visit a sequence of destination points d\sb1,d\sb2,\...,d\sb{M} in the specified order. In the terrain model acquisition problem, R is required to acquire the model of the terrain so that it can navigate to any destination without using sensors and by using only the path planning algorithms of known terrains. We present a unified algorithmic framework that yields correct algorithms to solve both VP and TP. In this framework, R \u27simulates\u27 a graph exploration algorithm on an incrementally-constructible graph structure, called the navigation course, that satisfies the properties of finiteness, connectivity, terrain-visibility and local-constructibility. Additionally, we incorporate the incidental learning feature in our solution to VP so as to enhance the performance. We consider solutions to VP and TP using navigation courses based two geometric structures, namely the visibility graph and the Voronoi diagram. In all the cases, we analyze the performance of the algorithms for VP and TP in terms of the number of scan operations, the distance traversed and the computational complexity

Crafts and gear used for marine fishing along the Andhra Pradesh coast

Until the middle of nineteen sixties fishing for marine finfishes and shellfishes along the Andhra Pradesh coast used to be carried out employing indigenous non-mechanised crafts. Subsequently trawlers and later mechanised vessels operating gillnets came into use which resulted in the increased fish production. Use of outboard engine on indigenous crafts for reaching fishing grounds is a recent feature of near the coast fishing. The different kinds of non-mechanised and mechanised crafts and gear employed in the region are dealt with in this article