Efficient Factor Graph Fusion for Multi-robot Mapping

This work presents a novel method to efficiently factorize the combination of multiple factor graphs having common variables of estimation. The fast-paced innovation in the algebraic graph theory has enabled new tools of state estimation like factor graphs. Recent factor graph formulation for Simultaneous Localization and Mapping (SLAM) like Incremental Smoothing and Mapping using the Bayes tree (ISAM2) has been very successful and garnered much attention. Variable ordering, a well-known technique in linear algebra is employed for solving the factor graph. Our primary contribution in this work is to reuse the variable ordering of the graphs being combined to find the ordering of the fused graph. In the case of mapping, multiple robots provide a great advantage over single robot by providing a faster map coverage and better estimation quality. This coupled with an inevitable increase in the number of robots around us produce a demand for faster algorithms. For example, a city full of self-driving cars could pool their observation measurements rapidly to plan a traffic free navigation. By reusing the variable ordering of the parent graphs we were able to produce an order-of-magnitude difference in the time required for solving the fused graph. We also provide a formal verification to show that the proposed strategy does not violate any of the relevant standards. A common problem in multi-robot SLAM is relative pose graph initialization to produce a globally consistent map. The other contribution addresses this by minimizing a specially formulated error function as a part of solving the factor graph. The performance is illustrated on a publicly available SuiteSparse dataset and the multi-robot AP Hill dataset

Synthesis and Characterization of Silver and Gold Nanoparticles Using Aqueous Extract of Seaweed, Turbinaria conoides,

Silver and gold nanoparticles were synthesized using an aqueous extract of the seaweed Turbinaria conoides and their antibiofilm activity against marine biofilm forming bacteria is reported here. The UV-Vis spectra showed the characteristics SPR absorption band for Ag NPs at 421 and for Au NPs at 538 nm. Further, the synthesized nanoparticles were characterized using FT-IR, XRD, FESEM, EDX, and HRTEM analysis. Spherical and triangular nanostructures of the Ag and Au nanoparticles were observed between the size ranges of 2–17 nm and 2–19 nm, respectively. The synthesized Ag NPs are efficient in controlling the bacterial biofilm formation; however, Au NPs did not show any remarkable antibiofilm activity. The maximum zone of inhibition was recorded against E. coli (17.6±0.42 mm), followed by Salmonella sp., S. liquefaciens, and A. hydrophila. The macrotube dilution method inferred the MIC (20–40 µL mL−1) and MBC (40–60 µL mL−1) of Ag NPs. The CLSM images clearly showed the weak adherence and disintegrating biofilm formation of marine biofilm bacterial strains treated with Ag NPs. The Artemia cytotoxicity assay recorded the LC50 value of 88.914±5.04 µL mL−1. Thus the present study proved the efficiency of Ag NPs as a potent antimicrofouling agent and became the future perspective for the possible usage in the biofouling related issues in the aquaculture installations and other marine systems

Breakdown in p‐n junction diodes made on polycrystalline silicon of large grain size

This communication describes the voltage‐current characteristics in the breakdown region of p‐n junctions made on polycrystalline silicon of large grain size. The observed soft breakdown characteristics have been explained by taking into account the effect of curvature of the junction near the grain boundaries