Vision-Based Localization Algorithm Based on Landmark Matching, Triangulation, Reconstruction, and Comparison

Many generic position-estimation algorithms are vulnerable to ambiguity introduced by nonunique landmarks. Also, the available high-dimensional image data is not fully used when these techniques are extended to vision-based localization. This paper presents the landmark matching, triangulation, reconstruction, and comparison (LTRC) global localization algorithm, which is reasonably immune to ambiguous landmark matches. It extracts natural landmarks for the (rough) matching stage before generating the list of possible position estimates through triangulation. Reconstruction and comparison then rank the possible estimates. The LTRC algorithm has been implemented using an interpreted language, onto a robot equipped with a panoramic vision system. Empirical data shows remarkable improvement in accuracy when compared with the established random sample consensus method. LTRC is also robust against inaccurate map data

Expanded Vandermonde powers and sum rules for the two-dimensional one-component plasma

The two-dimensional one-component plasma (2dOCP) is a system of $N$ mobile particles of the same charge $q$ on a surface with a neutralising background. The Boltzmann factor of the 2dOCP at temperature $T$ can be expressed as a Vandermonde determinant to the power $\Gamma=q^{2}/(k_B T)$. Recent advances in the theory of symmetric and anti-symmetric Jack polymonials provide an efficient way to expand this power of the Vandermonde in their monomial basis, allowing the computation of several thermodynamic and structural properties of the 2dOCP for $N$ values up to 14 and $\Gamma$ equal to 4, 6 and 8. In this work, we explore two applications of this formalism to study the moments of the pair correlation function of the 2dOCP on a sphere, and the distribution of radial linear statistics of the 2dOCP in the plane

Resonant Raman scattering off neutral quantum dots

Resonant inelastic (Raman) light scattering off neutral GaAs quantum dots which contain a mean number, N=42, of electron-hole pairs is computed. We find Raman amplitudes corresponding to strongly collective final states (charge-density excitations) of similar magnitude as the amplitudes related to weakly collective or single-particle excitations. As a function of the incident laser frequency or the magnetic field, they are rapidly varying amplitudes. It is argued that strong Raman peaks should come out in the spin-density channels, not related to valence-band mixing effects in the intermediate states.Comment: Accepted in Physical Review

Electrode Polarization Effects in Broadband Dielectric Spectroscopy

In the present work, we provide broadband dielectric spectra showing strong electrode polarization effects for various materials, belonging to very different material classes. This includes both ionic and electronic conductors as, e.g., salt solutions, ionic liquids, human blood, and colossal-dielectric-constant materials. These data are intended to provide a broad data base enabling a critical test of the validity of phenomenological and microscopic models for electrode polarization. In the present work, the results are analyzed using a simple phenomenological equivalent-circuit description, involving a distributed parallel RC circuit element for the modeling of the weakly conducting regions close to the electrodes. Excellent fits of the experimental data are achieved in this way, demonstrating the universal applicability of this approach. In the investigated ionically conducting materials, we find the universal appearance of a second dispersion region due to electrode polarization, which is only revealed if measuring down to sufficiently low frequencies. This indicates the presence of a second charge-transport process in ionic conductors with blocking electrodes.Comment: 9 pages, 6 figures, experimental data are provided in electronic form (see "Data Conservancy"

“Trunk-like” heavy ion structures observed by the Van Allen Probes

Dynamic ion spectral features in the inner magnetosphere are the observational signatures of ion acceleration, transport, and loss in the global magnetosphere. We report “trunk-like” ion structures observed by the Van Allen Probes on 2 November 2012. This new type of ion structure looks like an elephant's trunk on an energy-time spectrogram, with the energy of the peak flux decreasing Earthward. The trunks are present in He+ and O+ ions but not in H+. During the event, ion energies in the He+ trunk, located at L = 3.6–2.6, magnetic local time (MLT) = 9.1–10.5, and magnetic latitude (MLAT) = −2.4–0.09°, vary monotonically from 3.5 to 0.04 keV. The values at the two end points of the O+ trunk are energy = 4.5–0.7 keV, L = 3.6–2.5, MLT = 9.1–10.7, and MLAT = −2.4–0.4°. Results from backward ion drift path tracings indicate that the trunks are likely due to (1) a gap in the nightside ion source or (2) greatly enhanced impulsive electric fields associated with elevated geomagnetic activity. Different ion loss lifetimes cause the trunks to differ among ion species

What do people do with porn? qualitative research into the consumption, use and experience of pornography and other sexually explicit media

This article reviews qualitative research into the consumption of pornography and other sexually explicit media emerging from a range of subject areas. Taking a critique of quantitative methods and a focus on measuring sexual effects and attitudes as a starting point, it considers the proposition that qualitative work is more suited to an examination of the complex social, cultural and political constructions of sexuality. Examining studies into the way men, women and young people see, experience, and use explicit media texts, the article identifies the key findings that have emerged. Qualitative work shows that sexuality explicit media texts are experienced and understood in a variety of ways and evoke strong and often contradictory reactions, not all of which are represented in public debates about pornography. These texts function in a range of different ways, depending on context; as a source of knowledge, a resource for intimate practices, a site for identity construction, and an occasion for performing gender and sexuality. The article reviews these studies and their findings, identifying what they suggest about directions for future research, both in terms of developing methodology and refining approaches to sexuality and media consumption.</p

Jack superpolynomials with negative fractional parameter: clustering properties and super-Virasoro ideals

The Jack polynomials P_\lambda^{(\alpha)} at \alpha=-(k+1)/(r-1) indexed by certain (k,r,N)-admissible partitions are known to span an ideal I^{(k,r)}_N of the space of symmetric functions in N variables. The ideal I^{(k,r)}_N is invariant under the action of certain differential operators which include half the Virasoro algebra. Moreover, the Jack polynomials in I^{(k,r)}_N admit clusters of size at most k: they vanish when k+1 of their variables are identified, and they do not vanish when only k of them are identified. We generalize most of these properties to superspace using orthogonal eigenfunctions of the supersymmetric extension of the trigonometric Calogero-Moser-Sutherland model known as Jack superpolynomials. In particular, we show that the Jack superpolynomials P_{\Lambda}^{(\alpha)} at \alpha=-(k+1)/(r-1) indexed by certain (k,r,N)-admissible superpartitions span an ideal {\mathcal I}^{(k,r)}_N of the space of symmetric polynomials in N commuting variables and N anticommuting variables. We prove that the ideal {\mathcal I}^{(k,r)}_N is stable with respect to the action of the negative-half of the super-Virasoro algebra. In addition, we show that the Jack superpolynomials in {\mathcal I}^{(k,r)}_N vanish when k+1 of their commuting variables are equal, and conjecture that they do not vanish when only k of them are identified. This allows us to conclude that the standard Jack polynomials with prescribed symmetry should satisfy similar clustering properties. Finally, we conjecture that the elements of {\mathcal I}^{(k,2)}_N provide a basis for the subspace of symmetric superpolynomials in N variables that vanish when k+1 commuting variables are set equal to each other.Comment: 36 pages; the main changes in v2 are : 1) in the introduction, we present exceptions to an often made statement concerning the clustering property of the ordinary Jack polynomials for (k,r,N)-admissible partitions (see Footnote 2); 2) Conjecture 14 is substantiated with the extensive computational evidence presented in the new appendix C; 3) the various tests supporting Conjecture 16 are reporte

Highly deformed 40^{40}Ca configurations in 28^{28}Si + 12^{12}C

The possible occurrence of highly deformed configurations in the $^{40}$Ca di-nuclear system formed in the $^{28}$Si + $^{12}$C reaction is investigated by analyzing the spectra of emitted light charged particles. Both inclusive and exclusive measurements of the heavy fragments (A $\geq$ 10) and their associated light charged particles (protons and $\alpha$ particles) have been made at the IReS Strasbourg {\sc VIVITRON} Tandem facility at bombarding energies of $E_{lab} (^{28}$Si) = 112 MeV and 180 MeV by using the {\sc ICARE} charged particle multidetector array. The energy spectra, velocity distributions, and both in-plane and out-of-plane angular correlations of light charged particles are compared to statistical-model calculations using a consistent set of parameters with spin-dependent level densities. The analysis suggests the onset of large nuclear deformation in $^{40}$Ca at high spin.Comment: 33 pages, 11 figure

Mutations in TITF-1 are associated with benign hereditary chorea

Benign hereditary chorea (BHC) (MIM 118700) is an autosomal dominant movement disorder. The early onset of symptoms (usually before the age of 5 years) and the observation that in some BHC families the symptoms tend to decrease in adulthood suggests that the disorder results from a developmental disturbance of the brain. In contrast to Huntington disease (MIM 143100), BHC is non-progressive and patients have normal or slightly below normal intelligence. There is considerable inter- and intrafamilial variability, including dysarthria, axial dystonia and gait disturbances. Previously, we identified a locus for BHC on chromosome 14 and subsequently identified additional independent families linked to the same locus. Recombination analysis of all chromosome 14-linked families resulted initially in a reduction of the critical interval for the BHC gene to 8.4 cM between markers D14S49 and D14S278. More detailed analysis of the critical region in a small BHC family revealed a de novo deletion of 1.2 Mb harboring the TITF-1 gene, a homeodomain-containing transcription factor essential for the organogenesis of the lung, thyroid and the basal ganglia. Here we report evidence that mutations in TITF-1 are associated with BHC