Experimental analysis of sample-based maps for long-term SLAM

This paper presents a system for long-term SLAM (simultaneous localization and mapping) by mobile service robots and its experimental evaluation in a real dynamic environment. To deal with the stability-plasticity dilemma (the trade-off between adaptation to new patterns and preservation of old patterns), the environment is represented at multiple timescales simultaneously (5 in our experiments). A sample-based representation is proposed, where older memories fade at different rates depending on the timescale, and robust statistics are used to interpret the samples. The dynamics of this representation are analysed in a five week experiment, measuring the relative influence of short- and long-term memories over time, and further demonstrating the robustness of the approach

Determining Salinity-Tolerance of Giant Salvinia Using Chlorophyll Fluorescence

Salvinia molesta Mitchell, a floating invasive aquatic plant, is one of the top 10 worst invasive aquatic weeds in the world. It was discovered in the lower Pascagoula River in 2005 and evidence suggests that this non-native species is spreading along the northern Gulf of Mexico. These plants exhibit rapid growth and nutrient uptake rates, allowing them to out compete other plants in similar habitats. Distributional observations suggest that non-native S. molesta is able to survive in salinities of up to 7 ppt in the lower Pascagoula River. The response of S. molesta to three salinity levels (0, 5, 10 ppt) was tested using chlorophyll fluorescence. The health of the plants was measured over a period of one month, using a log scale series of observation intensities (hourly, daily, weekly). Plant responses indicated an acute salinity effect after about 4-6 hrs and then a gradual chronic decline. Compared to initial measurements, the final actual quantum yield (ΔF/Fm\u27) dropped by 5%, 6% and 29%, while the final potential quantum yield (Fv/Fm) dropped 6%, 27% and 39% in the 0, 5, and 10 ppt treatments, respectively. Only plants in the 0 ppt treatment showed significant new growth. Plants in 5 ppt appeared to maintain themselves, but plants at 10 ppt all exhibited signs of severe stress and loss of color, turgor, and tissue viability after 10 d. Tolerance to brackish salinities has been reported in the past, and has implications for the use of the biological control agent, the weevil Cyrtobagous salviniae, that can only tolerate freshwater conditions

Integration of a Mindfulness Meditation Lab for University Students

Background: Mindfulness meditation can effectively enhance every dimension of holistic wellness and learning, including cognition, attention, self-regulatory resources, and first-year academic success.Aim: This paper discusses the potential impact of a mindfulness meditation room on student wellness, education, experiential learning, and development.Methods: The program curriculum and the structure of the Wolf Wellness Lab at the University of West Georgia emphasizes a holistic approach to higher education curriculum development and student wellness and is based on the National Wellness Institute's six dimensions of wellness. The newly developed mindfulness meditation room is discussed in regard to recent research and valid, practical application as a way to improve student learning and overall wellness.Conclusions: The mindfulness meditation room provides experiential learning and high-impact practices associated with the University of West Georgia educational curriculum. The mindfulness meditation room could promote student learning and overall well-being via personal practice and opportunities to guide other students and faculty through meditation practice

Measuring the Effects of Salinity Stress In the Red Mangrove, \u3ci\u3eRhizophora mangle\u3c/i\u3e L.

The mangrove habitat exhibits many unique physical features, one of the most important of which is a salinity gradient. Photosynthetic rates, as measured by leaf stomatal conductance and leaf chlorophyll fluorescence induction, were tested as indicators of salinity stress in seedlings of the red mangrove, Rhizophora mangle, grown under five different salinity levels: 0, 15, 30, 45, and 60 parts per thousand. Photosynthetic gas exchange (measured by stomatal conductance), as well as the light reaction of photosynthesis (measured by chlorophyll fluorescence) were found to decrease as salinity increased. The use of leaf stomatal conductance and chlorophyll fluorescence as a measure of photosynthesis allowed a rapid and reliable quantification of the known stressor, salinity, in seedlings of R. mangle. These non-destructive in-vivo techniques were found to be rapid and reliable for monitoring photosynthetic stress, an important physiological parameter determining survival and growth of mangrove plants. These techniques should be considered in forestry management and mangrove restoration projects to assess plant condition

A qualitatively driven approach to multimethod and mixed methods research

This chapter discusses the meaning of qualitatively -driven inquiry and what this is in the context of mixed and multi methods research. It distinguishes between qualitatively-driven mixed and multi methods approaches and considers why methods may be mixed using a qualitatively-driven approach. The chapter identifies some reasons for using qualitatively-driven mixed and multi method approaches and defines templates for their application. The chapter provides several research examples throughout to illustrate the insight gained with these approaches. It concludes with in-depth discussions of the value of these approaches and considers their contribution more widely to the field of mixed-methods researc

Searching for Ground Truth: a stepping stone in automating genre classification

This paper examines genre classification of documents and its role in enabling the effective automated management of digital documents by digital libraries and other repositories. We have previously presented genre classification as a valuable step toward achieving automated extraction of descriptive metadata for digital material. Here, we present results from experiments using human labellers, conducted to assist in genre characterisation and the prediction of obstacles which need to be overcome by an automated system, and to contribute to the process of creating a solid testbed corpus for extending automated genre classification and testing metadata extraction tools across genres. We also describe the performance of two classifiers based on image and stylistic modeling features in labelling the data resulting from the agreement of three human labellers across fifteen genre classes.

Seagrasses in the Mississippi and Chandeleur Sounds and Problems Associated with Decadal-Scale Change Detection

Seagrass mapping data from a multitude of previous projects in the Mississippi and Chandeleur sounds were gathered and combined to provide information on seagrass change from 1940 to 2011. Seagrasses generally occur in three groups: (1) along the Mississippi mainland coastline dominated by Ruppia maritima, (2) on the north side of Mississippi Sound barrier islands dominated by Halodule wrightii, and (3) on the west side of the Chandeleur Islands dominated by Thalassia testudinum co-occurring with other seagrass species. The study area generally lost seagrasses over the 71-yr period, ostensibly due to loss or reduction of protective island barriers and reductions in water quality. An example of how the time series of maps generated in this project can be utilized to further investigate seagrass change was demonstrated with data from Horn Island, including problems associated with calculating change in seagrass area using data from previous investigations. Comparisons of seagrass area among various studies that used different mapping methods (seagrass extent vs. seagrass coverage vs. vegetated seagrass area) can result in overestimation of area change and misleading conclusions

Segment-specific expression of sodium-phosphate cotransporters NaPi-IIa and -IIc and interacting proteins in mouse renal proximal tubules

Sodium-dependent phosphate cotransport in renal proximal tubules (PTs) is heterogeneous with respect to proximal tubular segmentation (S1 vs. S3) and nephron generation (superficial vs. juxtamedullary). In the present study, S1 and S3 segments of superficial and juxtamedullary nephrons were laser-microdissected and mRNA and protein expression of the Na/Pi-cotransporters NaPi-IIa and NaPi-IIc and the PDZ proteins NHERF-1 and PDZK1 determined. Expression of NaPi-IIa mRNA decreased axially in juxtamedullary nephrons. There was no effect of dietary Pi content on NaPi-lla mRNA expression in any proximal tubular segment. The abundance of the NaPi-IIa cotransporter in the brush-border membrane showed inter- and intranephron heterogeneity and increased in response to a low-Pi diet (5days), suggesting that up-regulation of NaPi-lla occurs via post-transcriptional mechanisms. In contrast, NaPi-IIc mRNA and protein was up-regulated by the low-Pi diet in all nephron generations analysed. NHERF-1 and PDZK1, at both mRNA and protein levels, were distributed evenly along the PTs and did not change after a low-Pi die

Modeling Photosynthesis of \u3ci\u3eSpartina alterniflora\u3c/i\u3e (Smooth Cordgrass) Impacted by the Deepwater Horizon Oil Spill Using Bayesian Inference

To study the impact of the Deepwater Horizon oil spill on photosynthesis of coastal salt marsh plants in Mississippi, we developed a hierarchical Bayesian (HB) model based on field measurements collected from July 2010 to November 2011. We sampled three locations in Davis Bayou, Mississippi (30.375 degrees N, 88.790 degrees W) representative of a range of oil spill impacts. Measured photosynthesis was negative (respiration only) at the heavily oiled location in July 2010 only, and rates started to increase by August 2010. Photosynthesis at the medium oiling location was lower than at the control location in July 2010 and it continued to decrease in September 2010. During winter 2010-2011, the contrast between the control and the two impacted locations was not as obvious as in the growing season of 2010. Photosynthesis increased through spring 2011 at the three locations and decreased starting with October at the control location and a month earlier (September) at the impacted locations. Using the field data, we developed an HB model. The model simulations agreed well with the measured photosynthesis, capturing most of the variability of the measured data. On the basis of the posteriors of the parameters, we found that air temperature and photosynthetic active radiation positively influenced photosynthesis whereas the leaf stress level negatively affected photosynthesis. The photosynthesis rates at the heavily impacted location had recovered to the status of the control location about 140 days after the initial impact, while the impact at the medium impact location was never severe enough to make photosynthesis significantly lower than that at the control location over the study period. The uncertainty in modeling photosynthesis rates mainly came from the individual and micro-site scales, and to a lesser extent from the leaf scale