Topological SLAM using neighbourhood information of places

Perceptual aliasing makes topological navigation a difficult task. In this paper we present a general approach for topological SLAM~(simultaneous localisation and mapping) which does not require motion or odometry information but only a sequence of noisy measurements from visited places. We propose a particle filtering technique for topological SLAM which relies on a method for disambiguating places which appear indistinguishable using neighbourhood information extracted from the sequence of observations. The algorithm aims to induce a small topological map which is consistent with the observations and simultaneously estimate the location of the robot. The proposed approach is evaluated using a data set of sonar measurements from an indoor environment which contains several similar places. It is demonstrated that our approach is capable of dealing with severe ambiguities and, and that it infers a small map in terms of vertices which is consistent with the sequence of observations.

Topological map induction using neighbourhood information of places

In topological mapping, perceptual aliasing can cause different places to appear indistinguishable to the robot. In case of severely corrupted or non-available odometry information, topological mapping is difficult as the robot is challenged with the loop-closing problem; that is to determine whether it has visited a particular place before. In this article we propose to use neighbourhood information to disambiguate otherwise indistinguishable places. Using neighbourhood information for place disambiguation is an approach that neither depends on a specific choice of sensors nor requires geometric information such as odometry. Local neighbourhood information is extracted from a sequence of observations of visited places. In experiments using either sonar or visual observations from an indoor environment the benefits of using neighbourhood clues for the disambiguation of otherwise identical vertices are demonstrated. Over 90% of the maps we obtain are isomorphic with the ground truth. The choice of the robot’s sensors does not impact the results of the experiments much.

The identity of the empire : the Italian colonial experience in the design of places

The Italian Colonial Experience in the design of the built environment is analysed as a case study of State image promotion.

Children's emotions and multimodal appraisal of places : walking with the camera

This sensory ethnography explores the affordances and constraints of multimodal design to represent emotions and appraisal associated with experiencing local places. Digital video production, walking with the camera, and the use of a think-aloud protocol to reflect on the videos, provided an opportunity for the primary school children to represent their emotions and appraisal of places multimodally. Applying a typology from Martin and White's (2005) framework for the Language of Evaluation, children's multimodal emotional responses to places in this study tended toward happiness, security, and satisfaction. The findings demonstrate an explicit connection between children's emotions in response to local places through video, while highlighting the potential for teachers to use digital filmmaking to allow children to reflect actively on their placed experiences and represent their emotional reactions to places through multiple modes.

Letter on the election of Dr. Leo to the position of Honorary Secretary of Home for Aged and Infirm

Letter: Dr. Leo elected Honorary Secretary of Home for Aged and Infirm. Written in English script.

Letter regarding the election of Dr. Leo to the Progress Lodge

Letter regarding the election of Dr. Leo to the Progress Lodge. Written in English script on blue lined white paper.

Meeting of congregation for election of 6 trustees and to obtain a new charter

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Letters to Reverend Peixotto announcing election of Naphtali Phillips as Parnas

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Letter announcing election of Aaron Levy as trustee of K. K. S. I.

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Notice of election of Benjamin Nathan

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Certificate of election of Isaac Moses as trustee

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Notice of election of B. Nathan and S. Lazarus

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Letters regarding election of trustees

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Politicians, elections and catastrophe: the general election of 1847

Over the last decade, much new research has appeared on the subject of the Great Irish Famine but, remarkably, a major political event during the famine - the 1847 general election - has received virtually no mention. Recent work on politics in this period has tended to concentrate on political reaction in Britain rather than Ireland. The aim of this article is to examine the response of Irish politicians to the famine during the general election of 1847. The main source has been the political addresses and nomination speeches of most of the 140 candidates. The evidence from this material shows that, although the famine was an important matter in many constituencies, it was not the dominant issue countrywide. Various proposals to deal with the famine emerged, but there was an absence of agreed, practical measures to deal with immediate problems. The parties in Ireland failed to create a common platform to challenge the government over its efforts. Ideological constraints played an important part in these failures. The general election of 1847 represents a lost opportunity to tackle some of the effects of the famine.

Consociationalism and its critics: Evidence from the historic Northern Ireland Assembly Election of 2007:

Critics of consociational power-sharing institutional arrangements in deeply divided societies argue that such arrangements solidify the underlying conflict cleavage and render it all-important for party competition and voter behaviour. I find evidence to the contrary in the case of voter behaviour at the historic 2007 Assembly election in Northern Ireland. At least in the unionist bloc, I find the effective disappearance of the ethno-national conflict cleavage as a determinant of voter choice. This suggests that consociational arrangements have led to both inclusion and moderation, rather than polarisation and ‘ethnic outbidding’