Near minimum time path planning for bearing-only localisation and mapping

The main contribution of this paper is an algorithm for integrating motion planning and simultaneous localisation and mapping (SLAM). Accuracy of the maps and the robot locations computed using SLAM is strongly dependent on the characteristics of the environment, for example feature density, as well as the speed and direction of motion of the robot. Appropriate control of the robot motion is particularly important in bearing-only SLAM, where the information from a moving sensor is essential. In this paper a near minimum time path planning algorithm with a finite planning horizon is proposed for bearing-only SLAM. The objective of the algorithm is to achieve a predefined mapping precision while maintaining acceptable vehicle location uncertainty in the minimum time. Simulation results have shown the effectiveness of the proposed method. © 2005 IEEE

Simultaneous image color correction and enhancement using particle swarm optimization

Color images captured under various environments are often not ready to deliver the desired quality due to adverse effects caused by uncontrollable illumination settings. In particular, when the illuminate color is not known a priori, the colors of the objects may not be faithfully reproduced and thus impose difficulties in subsequent image processing operations. Color correction thus becomes a very important pre-processing procedure where the goal is to produce an image as if it is captured under uniform chromatic illumination. On the other hand, conventional color correction algorithms using linear gain adjustments focus only on color manipulations and may not convey the maximum information contained in the image. This challenge can be posed as a multi-objective optimization problem that simultaneously corrects the undesirable effect of illumination color cast while recovering the information conveyed from the scene. A variation of the particle swarm optimization algorithm is further developed in the multi-objective optimization perspective that results in a solution achieving a desirable color balance and an adequate delivery of information. Experiments are conducted using a collection of color images of natural objects that were captured under different lighting conditions. Results have shown that the proposed method is capable of delivering images with higher quality. © 2013 Elsevier Ltd. All rights reserved

A robotic system for steel bridge maintenance: Research challenges and system design

This paper presents the research on and development of a robotic system for stripping paint and rust from steel bridges, with the ultimate objective of preventing human exposure to hazardous and dangerous debris (containing rust, paint particles, lead and/or asbestos), relieving human workers from labor intensive tasks and reducing costs associated with bridge maintenance. The robot system design, the key research challenges and enabling technologies and system development are discussed in detail. Research results obtained so far and discussions on some key issues are also presented

Eine neue Sensortechnik zur Messung von elektrischen Potentialprofilen der menschlichen Haut anAkupunkturpunkten

Introduction: From an electro-physiological point of view human skin shows an inhomogeneous pattern regarding its electrical resistance: in certain areas a decreased electrical resistance can be observed. It has been postulated that these areas correspond to acupuncture points. Subsequently, devices have been developed as detectors for acupuncture points which are used for diagnosis and treatment in acupuncture. However, most of these devices are inconsistent: they show a remarkable inaccuracy in their measurements and are poorly evaluated. Further analyses have shown that the measuring pens often used are subject to various disturbances such as pressure, angle of measurement, humidity of the skin, different thickness of stratum corneum of the skin and external disturbances such as temperature and humidity in the measuring room. Material and Methods: We present a new device for standardized measuring of electrical skin resistance. It consists of a field of 64 electrodes (measuring array) on a surface of 60 x 60 mm(2) and a distance of 8 mm between electrodes. For a more precise spatial resolution a field of 32 electrodes on a surface of 3.5 x 3.5 mm(2) with a distance of 0.65 mm is available. A high, precise, temporal resolution of electric potentials in human skin is realized by fast scanning of the electrodes. Technical details are described. Conclusions: First analyses of collected data show that reliable and valid measurements are possible. Using this device in a controlled and blinded study design will help elucidate the issue of altered skin resistance at acupuncture points and clarify if this phenomenon is unique at acupuncture points

Modelling the Proportion of Influenza Infections within Households during Pandemic and Non-Pandemic Years

Background: The key epidemiological difference between pandemic and seasonal influenza is that the population is largely susceptible during a pandemic, whereas, during non-pandemic seasons a level of immunity exists. The population-level efficacy of household-based mitigation strategies depends on the proportion of infections that occur within households. In general, mitigation measures such as isolation and quarantine are more effective at the population level if the proportion of household transmission is low. Methods/Results: We calculated the proportion of infections within households during pandemic years compared with non-pandemic years using a deterministic model of household transmission in which all combinations of household size and individual infection states were enumerated explicitly. We found that the proportion of infections that occur within households was only partially influenced by the hazard h of infection within household relative to the hazard of infection outside the household, especially for small basic reproductive numbers. During pandemics, the number of within-household infections was lower than one might expect for a given h because many of the susceptible individuals were infected from the community and the number of susceptible individuals within household was thus depleted rapidly. In addition, we found that for the value of h at which 30% of infections occur within households during non-pandemic years, a similar 31% of infections occur within households during pandemic years. Interpretation: We suggest that a trade off between the community force of infection and the number of susceptible individuals in a household explains an apparent invariance in the proportion of infections that occur in households in our model. During a pandemic, although there are more susceptible individuals in a household, the community force of infection is very high. However, during non-pandemic years, the force of infection is much lower but there are fewer susceptible individuals within the household. © 2011 Kwok et al.published_or_final_versio

Researching shadow education: Methodological challenges and directions

Research on shadow education has considerably increased in volume and has helped to improve understanding of the scale, nature, and implications of the phenomenon. However, the field is still in its infancy. Literature on shadow education reflects confusion over terms and parameters, and data suffer from challenges in securing evidence from actors who may be unwilling or unable to respond to enquiries in a clear manner. Particular care is needed in cross-national and cross-cultural comparisons. Nevertheless, the trajectory of improvement in both conceptualisation and instrumentation gives ground for confidence that shadow education will be progressively better documented and better understood. © Education Research Institute, Seoul National University, Seoul, Korea 2010.published_or_final_versionSpringer Open Choice, 01 Dec 201

A Genetic Screen for Dihydropyridine (DHP)-Resistant Worms Reveals New Residues Required for DHP-Blockage of Mammalian Calcium Channels

Dihydropyridines (DHPs) are L-type calcium channel (Cav1) blockers prescribed to treat several diseases including hypertension. Cav1 channels normally exist in three states: a resting closed state, an open state that is triggered by membrane depolarization, followed by a non-conducting inactivated state that is triggered by the influx of calcium ions, and a rapid change in voltage. DHP binding is thought to alter the conformation of the channel, possibly by engaging a mechanism similar to voltage dependent inactivation, and locking a calcium ion in the pore, thereby blocking channel conductance. As a Cav1 channel crystal structure is lacking, the current model of DHP action has largely been achieved by investigating the role of candidate Cav1 residues in mediating DHP-sensitivity. To better understand DHP-block and identify additional Cav1 residues important for DHP-sensitivity, we screened 440,000 randomly mutated Caenorhabditis elegans genomes for worms resistant to DHP-induced growth defects. We identified 30 missense mutations in the worm Cav1 pore-forming (α1) subunit, including eleven in conserved residues known to be necessary for DHP-binding. The remaining polymorphisms are in eight conserved residues not previously associated with DHP-sensitivity. Intriguingly, all of the worm mutants that we analyzed phenotypically exhibited increased channel activity. We also created orthologous mutations in the rat α1C subunit and examined the DHP-block of current through the mutant channels in culture. Six of the seven mutant channels examined either decreased the DHP-sensitivity of the channel and/or exhibited significant residual current at DHP concentrations sufficient to block wild-type channels. Our results further support the idea that DHP-block is intimately associated with voltage dependent inactivation and underscores the utility of C. elegans as a screening tool to identify residues important for DHP interaction with mammalian Cav1 channels

Epidemiological Characteristics of 2009 (H1N1) Pandemic Influenza Based on Paired Sera from a Longitudinal Community Cohort Study

Steven Riley and colleagues analyze a community cohort study from the 2009 (H1N1) influenza pandemic in Hong Kong, and found that more children than adults were infected with H1N1, but children were less likely to progress to severe disease than adults