An Integrated GNSS/LiDAR-SLAM Pose Estimation Framework for Large-Scale Map Building in Partially GNSS-Denied Environments

This article presents an integrated global navigation satellite system/light detection and ranging (GNSS/LiDAR)-based simultaneous localization and mapping (SLAM) pose estimation framework to perform large-scale 3-D map building in partially GNSS-denied outdoor environments. The framework takes the advantage of the complementarity between GNSS positioning and LiDAR-SLAM to decompose the map building task according to the GNSS real-time kinematic (RTK) status. When mapping in GNSS-denied scenes, a 3-D LiDAR-SLAM algorithm is adopted to estimate poses and a correction algorithm is presented to correct drift errors. On the other hand, when mapping in open scenes, a GNSS-initialized LiDAR mapping algorithm (GL-mapping) is proposed to loosely couple GNSS positioning and LiDAR data registration. It can perform the orientation estimation without the use of either the high-cost inertial sensing device or the GNSS dual-antenna. Experiments are conducted in large-scale outdoor environments to demonstrate that the proposed framework can accomplish simultaneous pose estimation and map building with high precision in both open scenes and GNSS-denied scenes

Extremely discrepant mutation spectrum of SLC26A4 between Chinese patients with isolated Mondini deformity and enlarged vestibular aqueduct

<p>Abstract</p> <p>Background</p> <p>Mutations in <it>SLC26A4 </it>cause Pendred syndrome (hearing loss with goiter) or DFNB4 (non-syndromic hearing loss with inner ear malformation, such as enlarged vestibular aqueduct or Mondini deformity). The relationship between mutations in <it>SLC26A4 </it>and Mondini deformity without enlarged vestibular aqueduct has not been studied in any Chinese deaf population. The purpose of this study was to assess whether mutations in the <it>SLC26A4 </it>gene cause Mondini deformity without an enlarged vestibular aqueduct (isolated Mondini deformity) in a Chinese population.</p> <p>Methods</p> <p>In total, 144 patients with sensorineural hearing loss were included and subjected to high-resolution temporal bone CT. Among them, 28 patients with isolated Mondini dysplasia (MD group), 50 patients with enlarged vestibular aqueduct with Mondini dysplasia (EVA with MD group), 50 patients with enlarged vestibular aqueduct without Mondini dysplasia (EVA group), and 16 patients with other types of inner ear malformations (IEM group) were identified. The coding exons of <it>SLC26A4 </it>were analyzed in all subjects.</p> <p>Results</p> <p>DNA sequence analysis of <it>SLC26A4 </it>was performed in all 144 patients. In the different groups, the detection rate of the <it>SLC26A4 </it>mutation differed. In the isolated MD group, only one single allelic mutation in <it>SLC26A4 </it>was found in one patient (1/28, 3.6%). In the EVA with MD group, biallelic and monoallelic <it>SLC26A4 </it>mutations were identified in 46 patients (46/50, 92.0%) and three patients (3/50, 6.0%), respectively. Also, in the EVA group, biallelic and monoallelic <it>SLC26A4 </it>mutations were identified in 46 patients (46/50, 92.0%) and three patients (3/50, 6.0%), respectively. These percentages were identical to those in the EVA plus MD group. Only two patients carried monoallelic mutations of the <it>SLC26A4 </it>gene in the IEM group (2/16, 12.5%). There were significant differences in the frequency of <it>SLC26A4 </it>mutation among the groups (P < 0.001). The detection rate of <it>SLC26A4 </it>mutation in the isolated MD group was significantly lower than in the EVA group (with or without MD; P < 0.001), and there was no significant difference in the detection rate of <it>SLC26A4 </it>between the MD group and IEM group (P > 0.5).</p> <p>Conclusion</p> <p>Although mutations in the <it>SLC26A4 </it>gene were frequently found in Chinese EVA patients with and without MD, there was no evidence to show a relationship between isolated MD and the <it>SLC26A4 </it>gene in the Chinese population examined. Hearing impairment in patients with isolated MD may be caused by factors other than mutations in the <it>SLC26A4 </it>gene.</p

The Influence of Action Video Gaming Experience on the Perception of Emotional Faces and Emotional Word Meaning

Action video gaming (AVG) experience has been found related to sensorimotor and attentional development. However, the influence of AVG experience on the development of emotional perception skills is still unclear. Using behavioral and ERP measures, this study examined the relationship between AVG experience and the ability to decode emotional faces and emotional word meanings. AVG experts and amateurs completed an emotional word-face Stroop task prior to (the pregaming phase) and after (the postgaming phase) a 1 h AVG session. Within-group comparisons showed that after the 1 h AVG session, a more negative N400 was observed in both groups of participants, and a more negative N170 was observed in the experts. Between-group comparisons showed that the experts had a greater change of N170 and N400 amplitudes across phases than the amateurs. The results suggest that both the 1 h and long-term AVG experiences may be related to an increased difficulty of emotional perception. Furthermore, certain behavioral and ERP measures showed neither within- nor between-group differences, suggesting that the relationship between AVG experience and emotional perception skills still needs further research

Action Real-Time Strategy Gaming Experience Related to Enhanced Capacity of Visual Working Memory

Action real-time strategy gaming (ARSG)—a major genre of action video gaming (AVG)—has both action and strategy elements. ARSG requires attention, visual working memory (VWM), sensorimotor skills, team cooperation, and strategy-making abilities, thus offering promising insights into the learning-induced plasticity. However, it is yet unknown whether the ARSG experience is related to the development of VWM capacity. Using both behavioral and event-related potential (ERP) measurements, this study tested whether ARSG experts had larger VWM capacity than non-experts in a change detection task. The behavioral results showed that ARSG experts had higher accuracy and larger VWM capacity than non-experts. In addition, the ERP results revealed that the difference wave of the contralateral delay activity (CDA) component (size 4–size 2) elicited by experts was significantly larger than that of non-experts, suggesting that the VWM capacity was higher in experts than in non-experts. Thus, the findings suggested that prolonged ARSG experience is correlative with the enhancement of VWM

Anthropogenic Aerosols Cause Recent Pronounced Weakening of Asian Summer Monsoon Relative to Last Four Centuries

The Asian Summer Monsoon (ASM) affects ecosystems, biodiversity, and food security of billions of people. In recent decades, ASM strength (as represented by precipitation) has been decreasing, but instrumental measurements span only a short period of time. The initiation and the dynamics of the recent trend are unclear. Here for the first time, we use an ensemble of 10 tree ring-width chronologies from the west-central margin of ASM to reconstruct detail of ASM variability back to 1566 CE. The reconstruction captures weak/strong ASM events and also reflects major locust plagues. Notably, we found an unprecedented 80-year trend of decreasing ASM strength within the context of the 448-year reconstruction, which is contrary to what is expected from greenhouse warming. Our coupled climate model shows that increasing anthropogenic sulfate aerosol emissions over the Northern Hemisphere could be the dominant factor contributing to the ASM decrease. Plan Language Summary Monsoonal rainfall has a certain influence on agriculture and industry in the regions of Asian Summer Monsoon (ASM). An understanding of the spatial-temporal variability of the ASM and the associated dynamics is vital for terrestrial ecosystems, water resources, forests, and landscapes. We have developed a 448-year ASM reconstruction back to 1566 CE using 10 tree ring chronologies from the margin region of ASM. We find that historical severe droughts and locust plague disasters during weak ASM events. The recent decreasing ASM trend persisting for over 80 years is unprecedented over the past 448 years. Coupled climate models show that increasing anthropogenic aerosol emissions are the dominant underlying factor. Our aim is that the time series will find a wide range of utility for understanding past climate variability and for predicting future climate change.National Natural Science Foundation of China [41630531]; National Research Program for Key Issues in Air Pollution Control [DQGG0104]; Chinese Academy of Sciences [QYZDJ-SSW-DQC021, XDPB05, GJHZ1777]; Institute of Earth Environment, Chinese Academy of Sciences; State Key Laboratory of Loess and Quaternary Geology6 month embargo; first published: 09 April 2019This item from the UA Faculty Publications collection is made available by the University of Arizona with support from the University of Arizona Libraries. If you have questions, please contact us at [email protected]

A novel outdoor scene-understanding framework for unmanned ground vehicles with 3D laser scanners

Outdoor scene understanding plays a key role for unmanned ground vehicles (UGVs) to navigate in complex urban environments. This paper presents a novel 3D scene-understanding framework for UGVs to handle uncertain and changing lighting conditions outdoors. A 2D bearing angle (BA) image is deployed to perform scene understanding so that the computational burden in the process of segmentation and classification of the 3D laser point cloud can be reduced. An improved super-pixel algorithm is used for fast 3D scene segmentation, and then the Gentle–Adaboost algorithm is utilized to perform super-pixel patch classification using the texture features of the Gray Level Co-occurrence Matrix. All false classification results in the uncertain super-pixel patches of BA images are transformed back to raw 3D laser points and a re-classification is conducted to refine the 3D scene understanding for UGVs. The results from a real laser dataset taken from a large-scale campus environment show the validity and robust performance of the proposed approach, in comparison with the results from Korea Advanced Institute of Science and Technology dataset. </jats:p

Analysis on the influence of runoff trend in the Liusha River Basin of Xishuangbanna

In recent decades, there are lots of the changes of land use in the Liusha River basin in Xishuangbanna, Yunnan Province. The large-scale replacement of natural forests by rubber plantation have had a certain impact on the ecological environment and water resources in the Liusha River basin. Based on the data of runoff, rainfall and evaporation from 1963 to 2015 measured by Menghai Hydrological Station of Liusha River, the effects of climate change and human activities on the ecological environment of Liusha River runoff and the degree of change were analyzed by using the comparison method of slope change rate of runoff accumulation. The research results show that the cumulative amount of runoff flow after mutation presents significant decrease trend from 1963 to 2015. Because of the Liusha river runoff change decision which residents downstream watershed water security, the runoff of the ecological environment situation and analysis, the protection of natural resources such as forests and the effective protection of regional water resources sustainable development has important guiding significance

Composite cathode based on doped vanadate enhanced with loaded metal nanoparticles for steam electrolysis

The use of composite electrodes based on La0.7Sr 0.3VO3 (LSV) for steam electrolysis has uncovered the tremendous potential and capacity inherent in this material. Unfortunately, this material has a major setback of inefficient electrolysis triggered by limited electrocatalytic activity. In this work, an infiltration method is employed to load catalytic-active metal nanoparticles onto the composite electrodes in order to achieve an activity-enhanced electrode performance. The electrical properties of LSV are methodically explored and correlated to electrode performance. At 800 C in either pure H2 or low hydrogen partial pressure (pH2) of 5%H2/N2, the polarization resistance of symmetrical cells with Ni-loaded LSV (LSV-Ni) cathode is largely enhanced, in contrast to bare LSV cathode. Similar improvement is also achieved for the Fe-loaded LSV (LSV-Fe) cathode in a wide range of hydrogen partial pressures of 5%-100%. The Faraday efficiencies of LSV-Ni and LSV-Fe composite cathodes were remarkably improved for electrolysis in either 3%H 2O/4.7H2/Ar or 3%H2O/Ar at 800 C. © 2013 Elsevier B.V. All rights reserved