Consistent map building in petrochemical complexes for firefighter robots using SLAM based on GPS and LIDAR

The objective of this study was to achieve simultaneous localization and mapping (SLAM) of firefighter robots for petrochemical complexes. Consistency of the SLAM map is important because human operators compare the map with aerial images and identify target positions on the map. The global positioning system (GPS) enables increased consistency. Therefore, this paper describes two Rao-Blackwellized particle filters (RBPFs) based on GPS and light detection and ranging (LIDAR) as SLAM solutions. Fast-SLAM 1.0 and Fast-SLAM 2.0 were used in grid maps for RBPFs in this study. We herein propose the use of Fast-SLAM to combine GPS and LIDAR. The difference between the original Fast-SLAM and the proposed method is the use of the log-likelihood function of GPS; the proposed combination method is implemented using a probabilistic mathematics formulation. The proposed methods were evaluated using sensor data measured in a real petrochemical complex in Japan ranging in size from 550–380 m. RTK-GPS data was used for the GPS measurement and had an availability of 56%. Our results showed that Fast-SLAM 2.0 based on GPS and LIDAR in a dense grid map produced the best results. There was significant improvement in alignment to aerial data, and the mean square root error was 0.65 m. To evaluate the mapping consistency, accurate 3D point cloud data measured by Faro Focus 3D (± 3 mm) was used as the ground truth. Building sizes were compared; the minimum mean errors were 0.17 and 0.08 m for the oil refinery and management building area and the area of a sparse building layout with large oil tanks, respectively. Consequently, a consistent map, which was also consistent with an aerial map (from Google Maps), was built by Fast-SLAM 1.0 and 2.0 based on GPS and LIDAR. Our method reproduced map consistency results for ten runs with a variance of ± 0.3 m. Our method reproduced map consistency results with a global accuracy of 0.52 m in a low RTK-Fix-GPS environment, which was a factory with a building layout similar to petrochemical complexes with 20.9% of RTK-Fix-GPS data availability

Consistent map building in petrochemical complexes for frefghter robots using SLAM based on GPS and LIDAR

The objective of this study was to achieve simultaneous localization and mapping (SLAM) of frefghter robots for petrochemical complexes. Consistency of the SLAM map is important because human operators compare the map with aerial images and identify target positions on the map. The global positioning system (GPS) enables increased consistency. Therefore, this paper describes two Rao-Blackwellized particle flters (RBPFs) based on GPS and light detection and ranging (LIDAR) as SLAM solutions. Fast-SLAM 1.0 and Fast-SLAM 2.0 were used in grid maps for RBPFs in this study. We herein propose the use of Fast-SLAM to combine GPS and LIDAR. The diference between the original FastSLAM and the proposed method is the use of the log-likelihood function of GPS; the proposed combination method is implemented using a probabilistic mathematics formulation. The proposed methods were evaluated using sensor data measured in a real petrochemical complex in Japan ranging in size from 550–380 m. RTK-GPS data was used for the GPS measurement and had an availability of 56%. Our results showed that Fast-SLAM 2.0 based on GPS and LIDAR in a dense grid map produced the best results. There was signifcant improvement in alignment to aerial data, and the mean square root error was 0.65 m. To evaluate the mapping consistency, accurate 3D point cloud data measured by Faro Focus 3D (± 3 mm) was used as the ground truth. Building sizes were compared; the minimum mean errors were 0.17 and 0.08 m for the oil refnery and management building area and the area of a sparse building layout with large oil tanks, respectively. Consequently, a consistent map, which was also consistent with an aerial map (from Google Maps), was built by Fast-SLAM 1.0 and 2.0 based on GPS and LIDAR. Our method reproduced map consistency results for ten runs with a variance of ± 0.3 m. Our method reproduced map consistency results with a global accuracy of 0.52 m in a low RTK-Fix-GPS environment, which was a factory with a building layout similar to petrochemical complexes with 20.9% of RTK-Fix-GPS data availability

Phosphorylation of the RSRSP stretch is critical for splicing regulation by RNA-Binding Motif Protein 20 (RBM20) through nuclear localization

RBM20 is a major regulator of heart-specific alternative pre-mRNA splicing of TTN encoding a giant sarcomeric protein titin. Mutation in RBM20 is linked to autosomal-dominant familial dilated cardiomyopathy (DCM), yet most of the RBM20 missense mutations in familial and sporadic cases were mapped to an RSRSP stretch in an arginine/serine-rich region of which function remains unknown. In the present study, we identified an R634W missense mutation within the stretch and a G1031X nonsense mutation in cohorts of DCM patients. We demonstrate that the two serine residues in the RSRSP stretch are constitutively phosphorylated and mutations in the stretch disturb nuclear localization of RBM20. Rbm20 S637A knock-in mouse mimicking an S635A mutation reported in a familial case showed a remarkable effect on titin isoform expression like in a patient carrying the mutation. These results revealed the function of the RSRSP stretch as a critical part of a nuclear localization signal and offer the Rbm20 S637A mouse as a good model for in vivo study

Evaluation of PRNP Expression Based on Genotypes and Alleles of Two Indel Loci in the Medulla Oblongata of Japanese Black and Japanese Brown Cattle

BACKGROUND: Prion protein (PrP) level plays the central role in bovine spongiform encephalopathy (BSE) susceptibility. Increasing the level of PrP decreases incubation period for this disease. Therefore, studying the expression of the cellular PrP or at least the messenger RNA might be used in selection for preventing the propagation of BSE and other prion diseases. Two insertion/deletion (indel) variations have been tentatively associated with susceptibility/resistance of cattle to classical BSE. METHODOLOGY/PRINCIPAL FINDINGS: We studied the expression of each genotype at the two indel sites in Japanese Black (JB) and Japanese Brown (JBr) cattle breeds by a standard curve method of real-time PCR. Five diplotypes subdivided into two categories were selected from each breed. The two cattle breeds were considered differently. Expression of PRNP was significantly (p<0.0001) greater in the homozygous deletion genotype at the 23-bp locus in JB breed. Compared to the homozygous genotypes, the expression of PRNP was significantly greater in the heterozygous genotype at the 12-bp locus in JB (p<0.0001) and in JBr (p = 0.0394) breeds. In addition, there was a statistical significance in the PRNP levels between the insertion and the deletion alleles of the 23-bp locus in JB (p = 0.0003) as well as in JBr (p = 0.0032). There was no significance in relation to sex, age, geographical location or due to their interactions (p>0.05). CONCLUSION: Our results suggest that the del/del genotype or at least its del allele may modulate the expression of PRNP at the 23-bp locus in the medulla oblongata of these cattle breeds

Separation and Recycling for Rare Earth Elements by Homogeneous Liquid-Liquid Extraction (HoLLE) Using a pH-Responsive Fluorine-Based Surfactant

A selective separation and recycling system for metal ions was developed by homogeneous liquid-liquid extraction (HoLLE) using a fluorosurfactant. Sixty-two different elemental ions (e.g., Ag, Al, As, Au, B, Ba, Be, Bi, Ca, Cd, Ce, Co, Cr, Cu, Dy, Er, Eu, Fe, Ga, Gd, Ge, Hf, Hg, Ho, In, Ir, La, Lu, Mg, Mn, Mo, Nb, Nd, Ni, Os, P, Pb, Pd, Pr, Pt, Re, Rh, Ru, Sb, Sc, Se, Si, Sm, Sn, Sr, Ta, Tb, Te, Ti, Tl, Tm, V, W, Y, Yb, Zn, and Zr) were examined. By changing pH from a neutral or alkaline solution (pH ≥ 6.5) to that of an acidic solution (pH &lt; 4.0), gallium, zirconium, palladium, silver, platinum, and rare earth elements were extracted at &gt;90% efficiency into a sedimented Zonyl FSA® (CF3(CF2)n(CH2)2S(CH2)2COOH, n = 6–8) liquid phase. Moreover, all rare earth elements were obtained with superior extraction and stripping percentages. In the recycling of rare earth elements, the sedimented phase was maintained using a filter along with a mixed solution of THF and 1 M sodium hydroxide aqueous solution. The Zonyl FSA® was filtrated and the rare earth elements were recovered on the filter as a hydroxide. Furthermore, the filtrated Zonyl FSA was reusable by conditioning the subject pH

Earable &Omega; (OMEGA): A Novel Clenching Interface Using Ear Canal Sensing for Human Metacarpophalangeal Joint Control by Functional Electrical Stimulation

(1) Background: A mouth-free interface is required for functional electrical stimulation (FES) in people with spinal cord injuries. We developed a novel system for clenching the human metacarpophalangeal (MP) joint using an earphone-type ear canal movement sensor. Experiments to control joint angle and joint stiffness were performed using the developed system. (2) Methods: The proposed FES used an equilibrium point control signal and stiffness control signal: electrical agonist&ndash;antagonist ratio and electrical agonist&ndash;antagonist sum. An angle sensor was used to acquire the joint angle, and system identification was utilized to measure joint stiffness using the external force of a robot arm. Each experiment included six and five subjects, respectively. (3) Results: While the joint angle could be controlled well by clenching with some hysteresis and delay in three subjects, it could not be controlled relatively well after hyperextension in the other subjects, which revealed a calibration problem and a change in the characteristics of the human MP joint caused by hyperextension. The joint stiffness increased with the clenching amplitude in five subjects. In addition, the results indicated that viscosity can be controlled. (4) Conclusions: The developed system can control joint angle and stiffness. In future research, we will develop a method to show that this system can control the equilibrium point and stiffness simultaneously

Electrocardiogram Measurement and Emotion Estimation of Working Dogs

Physiological measurements of dogs' emotional states during human-animal interactions are essential for understanding the underlying biological relationship. Heart rate measured by electrocardiogram (ECG) can be used for the physiological measurement of emotional state. Soft disposable electrodes, which can be purchased commercially and reduce the risk of an injury on hitting objects, are used to measure the heart rate during working dogs' exercise. However, the heart rate measurements using soft disposable electrodes in M-X lead layout are unstable due to the detachment of electrodes during intensive movement. In addition, the collection of accurately labeled ECG data, which reflects the emotion of the working dog during exercise, is a key issue to conduct reliable estimation and visualization of the working dog's emotional states. In this paper, we propose an innerwear that fixes soft disposable electrodes in M-X lead layout on a dog's body for measuring the heart rates of exercising dogs, even during intense movement. We experimentally tested the proposed method using seven dogs. Our proposed system reduced the time required to attach soft disposable electrodes by more than two-thirds and enabled the measurement of >97% of the heartbeats in exercising dogs. We also proposed a method for collecting ECG data with reliable positive/negative emotional labels of search and rescue (SAR) dogs. A combination of the collected data with the emotion estimation algorithm proposed in previous studies estimated SAR dogs' positive/negative emotions at 97.9% accuracy. The transition of the two SAR dogs' emotions during drills was visualized using the collected data