First results in terrain mapping for a roving planetary explorer

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain

Local Algorithms for Block Models with Side Information

There has been a recent interest in understanding the power of local algorithms for optimization and inference problems on sparse graphs. Gamarnik and Sudan (2014) showed that local algorithms are weaker than global algorithms for finding large independent sets in sparse random regular graphs. Montanari (2015) showed that local algorithms are suboptimal for finding a community with high connectivity in the sparse Erd\H{o}s-R\'enyi random graphs. For the symmetric planted partition problem (also named community detection for the block models) on sparse graphs, a simple observation is that local algorithms cannot have non-trivial performance. In this work we consider the effect of side information on local algorithms for community detection under the binary symmetric stochastic block model. In the block model with side information each of the $n$ vertices is labeled $+$ or $-$ independently and uniformly at random; each pair of vertices is connected independently with probability $a/n$ if both of them have the same label or $b/n$ otherwise. The goal is to estimate the underlying vertex labeling given 1) the graph structure and 2) side information in the form of a vertex labeling positively correlated with the true one. Assuming that the ratio between in and out degree $a/b$ is $\Theta(1)$ and the average degree $(a+b) / 2 = n^{o(1)}$, we characterize three different regimes under which a local algorithm, namely, belief propagation run on the local neighborhoods, maximizes the expected fraction of vertices labeled correctly. Thus, in contrast to the case of symmetric block models without side information, we show that local algorithms can achieve optimal performance for the block model with side information.Comment: Due to the limitation "The abstract field cannot be longer than 1,920 characters", the abstract here is shorter than that in the PDF fil

Comparison of leaf volatile aroma constituents and phenolic acid profiles of the seedling originated polyembryonic mango (Mangifera indica L.) genotypes

In mango, leaf and fruit volatile aroma profiles are variety specific which can be used as fingerprint of a variety. Such biochemical markers can also discriminate the nucellar and zygotic seedlings in polyembryonic mango varieties. In order to validate the applicability of volatile as well as phenolic acid profiles as biomarkers, the open pollinated seedlings of three polyembryonic varieties of mango were compared with their mother trees. Leaf volatile and phenol acid profiling were done using Gas Chromatography/Mass Spectrometry (GCMS) and Liquid Chromatography/Mass Spectrometry (LCMS) methods respectively. The sesquiterpene hydrocarbons were the most abundant in all the genotypes studied. Monoterpenoids were the major compounds in cultivars Vellaikolumban and Olour, while the sesquiterpenoids were the major compounds in cv. Turpentine. While terpinolene was the major monoterpenoid compound in Vellaikolumban and limonene in cv. Olour, the sesquiterpene á-gurjunene was the major compound in cv. Turpentine. Volatile profiling showed clear differences between the varieties but was similar within a variety. Among the 15 phenolic acids quantified in the leaves, P-coumaric acid, gallic acid, and ferulic acids were predominant whereas, vanillic acid, syringic acid, gentisic acid, benzoic acid, and sinapic acids were low in quantity. Phenolic acid profile did not show significant diversity among the varieties and therefore cannot be used for identification of varieties. The volatile profiling can be used for the identification and differentiation of polyembryonic mango genotypes

Diversity of Arbuscular mycorrhizal (AM) fungi in some common plants of marathwada region

Four angiospermic plants belonging to two different families were studied for their AM association. All test plants were growing and distributed in Osmanabad district of Marathwada region in Maharashtra state. The result showed that all the four plants viz. Annona squamosa, Annona reticulata, Tinospora cordifolia and Cocculus hirsutus had AM fungal association in the roots and spore population in the rhizosphere soil. However, maximum percent root colonization of AM fungi was observed in Tinospora cordifolia (92 %) followed by others, while minimum in Annona reticulata (57.33 %). Tinospora cordifolia (320) showed more spore density whereas less in Annona squamosa (59). Total five genera of AMF was identified up to species level in which Acaulospora spp were found dominate followed by Glomus spp, Sclerocystis spp, Entrophosphora spp and Gigaspora spp were found poorely distributed

Influence of winding parameters on yarn content and package geometry of wound packages

492-496This study is aimed at evaluating the step-precision assembly winding in terms of its potential to accommodate maximum yarn content on a given size of tube. The influence of various parameters related to step-precision winding on yarn content and package geometry of a close step-precision wound package has been studied. The outcome of this study is presumed to be very useful to manufacturers of winding as well as buyers of assembly winding systems. Step-precision winding parameters, like coil angle at start, angle up to which it is allowed to change and the number of diamonds along the circumference (Y value), influence yarn content on package; lower values of start angle and Y but higher value of change angle give increased yarn content. At the same time, it is also observed that the package with lower start angle and higher change angle give greater projection of package side flanks

Designing a Cartridge Winder with Electronic Control

ABSTRACT There are number of winding machines in the market based on either the Random, Precision, or Step Precision winding system. Filtration application requires a uniform lay of yarn or its performance may be affected, hence, for the aforesaid purpose, the precision system would be more apt. Recent trends show an increased use of electronics in all applications, textiles being no exception. The aim of the present work was to develop a filter cartridge winder (laboratory model) based on the precision winding system, controlled electronically. The novelty of this machine lies in the fact that it makes use of a chain to reciprocate the guide mounted on it, unlike the majority of commercial filter winders, which make use of scroll cams to traverse the yarn. Filter winders are specialized winders that produce cartridges in standard sizes of 10", 20", 30" and up to 70". Thus a cartridge winder is quite different from the usual winding machines not only in terms of its traverse length and feed material but also because of the core tube which has to be perforated just as one required for a dyeing process

Influence of winding parameters on yarn content and package geometry of wound packages

This study is aimed at evaluating the step-precision assemblywinding in terms of its potential to accommodate maximum yarncontent on a given size of tube. The influence of various parametersrelated to step-precision winding on yarn content and packagegeometry of a close step-precision wound package has been studied.The outcome of this study is presumed to be very useful tomanufacturers of winding as well as buyers of assembly windingsystems. Step-precision winding parameters, like coil angle at start,angle up to which it is allowed to change and the number ofdiamonds along the circumference (Y value), influence yarn contenton package; lower values of start angle and Y but higher value ofchange angle give increased yarn content. At the same time, it isalso observed that the package with lower start angle and higherchange angle give greater projection of package side flanks

Prevalence of pulmonary tuberculosis in patients with diabetes mellitus and lower respiratory tract infection

Background: Pulmonary Tuberculosis (PTB) still remains a global public health problem. Diabetes Mellitus (DM), is a metabolic disorder characterized by hyperglycaemia. Diabetes along with poor glycaemic control leads to an immune compromised state. As prevalence of both TB and DM is increasing in India, this association of PTB and DM may prove a threat to TB control program. Aims and objectives of the study was to detect prevalence of pulmonary tuberculosis in patients with DM and Lower Respiratory Tract Infection (LRTI).Methods: Sputum specimen from consecutive 250 known diabetic adult patients with type 2 diabetes and clinical evidence of LRTI were processed for microscopy, solid culture and Xpert MTB/RIF assay. Clinical findings, duration of DM, regularity of treatment and recent fasting blood glucose level were noted.Results: TB was detected in 31(12.8%) patients. Microscopy, culture and Xpert assay were positive in 14(5.6%), 29(11.6%) and 24(9.5%) cases respectively. Culture detected seven cases more than Xpert assay. Two additional cases were detected by Xpert assay than culture. Rifampicin resistance was detected in seven (29.17%) cases by Xpert assay. TB detection rate was higher in patients with more than two weeks of cough (14.38%), history of tuberculosis (15.9%), hyperglycemia (13.9%) and significantly higher in those with irregular anti-diabetic treatment (35.7%).Conclusions: Irregular anti-diabetic treatment, hyperglycaemia and history of tuberculosis were strongly associated with pulmonary TB. Xpert assay should be used as the initial diagnostic test for detection of tuberculosis as well as rifampicin resistance in diabetic patients by TB control programme