Autonomous navigation with constrained consistency for C-Ranger

Autonomous underwater vehicles (AUVs) have become the most widely used tools for undertaking complex exploration tasks in marine environments. Their synthetic ability to carry out localization autonomously and build an environmental map concurrently, in other words, simultaneous localization and mapping (SLAM), are considered to be pivotal requirements for AUVs to have truly autonomous navigation. However, the consistency problem of the SLAM system has been greatly ignored during the past decades. In this paper, a consistency constrained extended Kalman filter (EKF) SLAM algorithm, applying the idea of local consistency, is proposed and applied to the autonomous navigation of the C-Ranger AUV, which is developed as our experimental platform. The concept of local consistency (LC) is introduced after an explicit theoretical derivation of the EKF-SLAM system. Then, we present a locally consistency-constrained EKF-SLAM design, LC-EKF, in which the landmark estimates used for linearization are fixed at the beginning of each local time period, rather than evaluated at the latest landmark estimates. Finally, our proposed LC-EKF algorithm is experimentally verified, both in simulations and sea trials. The experimental results show that the LC-EKF performs well with regard to consistency, accuracy and computational efficiency

Discussion on surgical treatment for young patients with congenital lower eyelid entropion

AIM: To explore the surgical methods and clinical effects on young patients with congenital lower eyelid entropion. <p>METHODS: There were 27 patients(45 cases)who suffered congenital lower eyelid entropion accepted the modified blepharosphincterectomy. The clinical effects and complications were evaluated.<p>RESULTS: After followed up for 6mo, 42 eyes were fully recovered, 3 eyes were unsuccessful and the cure rate was 93%, 5 eyes suffered minor lower eyelid skin folds, none had lower eyelid retraction and ectropion.<p>CONCLUSION: Modified blepharosphincterectomy is an ideal cosmetic surgical treatment for young patients with congenital lower eyelid entropion. It is an effective surgical treatment with fewer complications

Non-perturbative renormalization of overlap quark bilinears on domain wall fermion configurations

We present renormalization constants of overlap quark bilinear operators on 2+1-flavor domain wall fermion configurations. Both overlap and domain wall fermions have chiral symmetry on the lattice. The scale independent renormalization constant for the local axial vector current is computed using a Ward Identity. The renormalization constants for the scalar, pseudoscalar and vector current are calculated in the RI-MOM scheme. Results in the MS-bar scheme are obtained by using perturbative conversion ratios. The analysis uses in total six ensembles with lattice sizes 24^3x64 and 32^3x64.Comment: 7 pages, 10 figures, presented at the 31st International Symposium on Lattice Field Theory (LATTICE 2013), 29 July - 3 August 2013, Mainz, German