Collective cluster-based map merging in multi robot SLAM

New challenges arise with multi-robotics, while information integration is among the most important problems need to be solved in this field. For mobile robots, information integration usually refers to map merging . Map merging is the process of combining partial maps constructed by individual robots in order to build a global map of the environment. Different approaches have been made toward solving map merging problem. Our method is based on transformational approach, in which the idea is to find regions of overlap between local maps and fuse them together using a set of transformations and similarity heuristic algorithms. The contribution of this work is an improvement made in the search space of candidate transformations. This was achieved by enforcing pair-wise partial localization technique over the local maps prior to any attempt to transform them. The experimental results show a noticeable improvement (15-20%) made in the overall mapping time using our technique

Fuzzy Computational Model for Emotion Regulation Based on Affect Control Theory

Emotion modeling is a multi-disciplinary problem that has managed to attract a great deal of research work spanned to a wide spectrum of scholarly areas starting at humanistic science fields passing through applied sciences and engineering and arriving at health care and wellbeing. Emotion research under the umbrella of IT and Computer Science was extensively successful with a handful of achievements especially in the last two decades. Affective Computing is an IT originated systematic research area that strives to best model emotions in a way that fits the needs for computer applications enriched with affective component. A comprehensive Affective Computing based system is made of three major components: a component for emotion detection, a component for emotion modeling, and finally a component to generating affective responses in artificial agents. The major focus of this dissertation is on developing efficient computational models for emotions. In fact most of the research works presented in this dissertation were focused on a sub problem of emotion modeling known as emotion regulation at which we strive to model the dynamics of changes in the emotional response levels of individuals as a result of the overt or covert situational changes. In this dissertation, several emotion related problems were addressed. Modeling the dynamics for emotion elicitation from a pure appraisal approach, investigating individualistic differences in emotional processes, and modeling emotion contagion as a type of social contagion phenomena are a few to name from those conducted research works. The main contribution of this dissertation was to propose a new computational model for the problem of emotion regulation that is based on Affect Control Theory. The new approach utilized a hybrid appraisal-dimensional architecture. By using a fuzzy modeling approach, the natural fuzziness in perceiving, representing and expressing emotions was effectively and efficiently addressed. Furthermore, the combination of automata framework with the concept of bipolar emotional channels used at the heart of the modeling processes of the proposed model has further contributed to promote the behavior of the model in order to exhibit an accepted degree of human-like affective behavior

Determination of numerical and structural chromosomal changes in skin cancer in rat and finding comparable parts in human

زمینه و هدف: القاء سرطان پوست در موش های صحرایی نژاد SD ایجاد تومورهایی را می نماید که از نظر فیزیولوژیکی و شیمیایی شباهت های زیادی با تومورهای پوستی در انسان دارد. لذا این مطالعه با هدف تعیین ناهنجاری های عددی و ساختاری در مجموعه کروموزوم های موش های صحرایی مبتلا به سرطان پوست و بررسی مناطق متناظر آن ها در کروموزوم های انسانی انجام شد. روش بررسی: در این مطالعه تجربی mg 5/2 ماده ی کارسینوژنیکDMBA (7,12-Dimethylbenzαanthracene) به طریق زیر جلـــدی به موش صحرایی نژاد اسپراگ داولی (SD) تزریق شد. سپس تومورهای ایجاد شده در گروه های مورد آزمایش با روش های هیستوپاتولوژی، ایمنوهیستوشیمی و کشت سلول مورد بررسی قرار گرفتند. با استفاده از سلول های حاصل از کشت سلولی به تهیه کروموزوم های متافازی اقدام و نواربندی گیمسا انجام گردید. با کمک پایگاه های اطلاعاتی، ژن های ساکن در نواحی تغییر یافته شناسایی گردید و همچنین جهت تعمیم نقش احتمالی آنها به انسان از روش مقایسه ی ژنومیک استفاده شد. یافته ها: تغییرات کروموزومی غیر اتفاقی و متداول در بین حداقل 15 سلول متافازی شامل: افزایش عددی کروموزوم‌های شماره 8، 9، 10، 18 و کاهش عددی در کروموزوم‌های شماره 4، 6، 12، 16 و همچنین تغییرات ساختاری از جمله حذف در کروموزوم‌های شماره 1، 4، 5، 6، 17 ثبت گردید. همینطور کروموزوم های مارکر در مدل های کروموزومی دیپلوئیدی و تریپلویدی، مشاهده شد. نتیجه گیری: با توجه به تغییرات ساختاری ویژه مشاهده شده در کروموزوم های متافازی و با در نظر گیری بررسی مقالات مختلف، پیش بینی می گردد ژن های SRD5A2،,BCAM SIRT2، AKT2، MLANA، RHOB، CANX و TERT در بروز سرطان پوست دخالت داشته باشند. همچنین پیشنهاد می گردد که ناهنجاری های ساختاری کروموزومی گزارش شده در این پژوهش که محل استقرار احتمالی ژن های دخیل در این سرطان می باشند مورد کنکاش بیشتری واقع گردد تا ژن های کاندید بیشتری برای بررسی دقیق تر مشخص گردد

Polypyrrole thin film sensor base surface plasmon resonance for detection of Cu(II) and Fe(III) in aqueous solution

In this study, the performance of surface plasmon resonance method incorporated with polypyrrole sensing layer was examined for detection of Cu (II) and Fe (III) ions in aqueous solutions. The polypyrrole was prepared by electro-oxidation method on a gold layer for the detecting low concentration ions (0.1, 1 5 10 20 ppm). The experiments carried out at room temperature, and each sample was flowed through the flow cell. A photodiode registered the SPR signals as the function of rotation angle and thickness of layers. For observing the association and dissociation processes, the experiments repeated more than ten times, and the sensorgrams were obtained. Furthermore, Langmuir model was utilized to describe the binding interactions of ions with the polypyrrole layer. The lower concentration detection limit was about 0.1 ppm and the terminal resonance angles were occurred after the 300 s. The sensor was also found to be more sensitive to the presence of Cu than Fe ions

Influence of cobalt substitution on the structural and magnetic properties of cobalt substituted magnetite

Chemical substitution is one of the methods to modify magnetic and structural properties of magnetic materials. Substitution of cobalt ions in magnetite lattice has been done via co-precipitation method to investigate the effect of cobalt substitution in altering the structural and magnetic properties of Co(x)Fe(1-x)Fe2O4. Changes in the lattice constant have been observed with increase in cobalt concentration though particle size varied insignificantly. Qualitative study of the cation occupancy at tetrahedral and octahedral sites was observed at wavenumbers ranging from 600 to 400 cm-1, known as the characteristic range for ferrites. Preferential occupancy of cobalt ions into tetrahedral sites was evident by the changes in the intensity of transmitted FTIR signal as the wavenumbers shifted towards longer wavenumber with increasing cobalt concentration. Meanwhile for saturation magnetization, only small changes is observed when Fe2+ is completely substituted by Co2+. Increment of 21.3% in the saturation magnetization of 1.0Co was achieved in comparison with pure magnetite, therefore proves the role of cation substitution in the enhancement of saturation magnetization

Ganar o no ganar: cómo triunfar en la Liga de Campeones asiática

In professional sports, predicting success factors is very vital and important and is always questionable. The failure of teams in the leagues has been a constant issue and progress and gaining status has been a challenge for all clubs; and managers, officials, sports federations and clubs, and even researchers, are trying to shed light on the various dimensions of this issue. The purpose of this study was providing a model of predicting the success of football clubs in the Asian Champions League. The present study is descriptive-correlational. Seven Asian countries that won the Asian Champions League (ACL) were analyzed between 2014 and 2019. At the level of descriptive statistics, mean and standard deviation, and at the level of inferential statistics, because the response variable (success) was a qualitative variable, the logistic regression model was used. Data analysis was performed using SPSS software. Findings showed that 80% of the success of clubs in the ACL is correctly identified using the research model and foreign players, the average value of each player, the total value of the club and the number of players in a team have a positive impact on the success of football clubs. The age of the players has a negative effect, in other words, the lower average age can contribute to the success of football clubs. Therefore, these factors are considered as a comparative advantage for the success of clubs and managers and stakeholders are suggested to put the necessary planning and investment on their agenda to achieve these things.En los deportes profesionales, predecir los factores de éxito es muy vital e importante y siempre es cuestionable. El fracaso de los equipos en las ligas ha sido un tema constante y progresar y ganar estatus ha sido un reto para todos los clubes; y directivos, funcionarios, federaciones y clubes deportivos, e incluso investigadores, intentan arrojar luz sobre las diversas dimensiones de este problema. El propósito de este estudio fue proporcionar un modelo para predecir el éxito de los clubes de fútbol en la Liga de Campeones de Asia. El presente estudio es descriptivo-correlacional. Se analizaron siete países asiáticos que ganaron la Asian Champions League (ACL) entre 2014 y 2019. A nivel de estadística descriptiva, media y desviación estándar, y a nivel de estadística inferencial, porque la variable respuesta (éxito) fue una variable cualitativa. se utilizó el modelo de regresión logística. El análisis de datos se realizó con el software SPSS. Los hallazgos mostraron que el 80% del éxito de los clubes en la ACL se identifica correctamente utilizando el modelo de investigación y los jugadores extranjeros, el valor promedio de cada jugador, el valor total del club y la cantidad de jugadores en un equipo tienen un impacto positivo en El éxito de los clubes de fútbol. La edad de los jugadores tiene un efecto negativo, es decir, la menor edad media puede contribuir al éxito de los clubes de fútbol. Por lo tanto, estos factores se consideran una ventaja comparativa para el éxito de los clubes y se sugiere a los gerentes y partes interesadas que incluyan la planificación y la inversión necesarias en su agenda para lograr estas cosas.Actividad Física y Deport