Towards lifelong navigation and mapping in an office environment

This paper addresses the challenge of developing robots that map and navigate autonomously in real world, dynamic environments throughout the robot’s entire lifetime – the problem of lifelong navigation. Static mapping algorithms can produce highly accurate maps, but have found few applications in real environments that are in constant flux. Environments change in many ways: both rapidly and gradually, transiently and permanently, geometrically and in appearance. This paper demonstrates a biologically inspired navigation algorithm, RatSLAM, that uses principles found in rodent neural circuits. The algorithm is demonstrated in an office delivery challenge where the robot was required to perform mock deliveries to goal locations in two different buildings. The robot successfully completed 1177 out of 1178 navigation trials over 37 hours of around the clock operation spread over 11 days.

'Rubygem' strawberry

'Rubygem', a new short-day strawberry (Fragaria xananassa Duch.), produces high yields of moderately firm, attractive well-flavored fruit from late autumn through early spring in the strawberry-growing district in Southeast Queensland. 'Rubygem' is recommended for trial in areas with mild winter climates, especially where rainfall is unlikely and a well-flavored berry is required.

Performance Analysis of MQAM-OFDM based WLAN in presence of Zigbee interference in AWGN and Rayleigh fading channel

In this paper we give the performance of MQAM OFDM based WLAN in presence of single and multiple channels Zigbee interference. An analytical model for getting symbol error rate (SER) in presence of single and multiple channel Zigbee interference in AWGN and Rayleigh fading channel for MQAM OFDM system is given. Simulation results are compared with analytical symbol error rate (SER) of the MQAM-OFDM system. For analysis we have modeled the Zigbee interference using the power spectral density (PSD) of OQPSK modulation and finding the average interference power for each sub-carrier of the OFDM system. Then we have averaged the SER over all WLAN sub-carriers. Simulations closely match with the analytical models. It is seen from simulation and analytical results that performance of WLAN is severely affected by Zigbee interference. Symbol error rate (SER) for 16QAM and 64QAM OFDM system is of order of 10(-2) for SIR (signal to interference ratio) of 20dB and 30dB respectively in presence of single Zigbee interferer inside the WLAN frequency band for Rayleigh fading channel. For SIR values more than 30dB and 40dB the SER approaches the SER without interference for 16QAM and 64QAM OFDM system respectively.

Microstructural evolution and mechanical properties of Mg composites containing nano-B4C hybridized micro-Ti particulates

In this work, the microstructural evolution and mechanical properties of extruded Mg composites containing micro-Ti particulates hybridized with varying contents of nano-B4C are investigated, and compared with Mg-5.6Ti. Microstructural characterization showed the presence of uniformly distributed micro-Ti particles embedded with nano-B4C particulates that resulted in significant grain refinement. Electron back scattered diffraction (EBSD) analyses of Mg-(5.6Ti + x-B4C)(BM) hybrid composites showed that the addition of hybridized particle resulted in relatively more recrystallized grains, realignment of basal planes and extension of weak basal fibre texture when compared to Mg-5.6Ti. The evaluation of mechanical properties indicated improved strength with ductility retention in Mg-(5.6Ti + x-B4C)(BM) hybrid composites. When compared to Mg-5.6Ti, the superior strength properties of the Mg-(5.6Ti + xB(4)C)(BM) hybrid composites are attributed to the presence of nano-reinforcements, the uniform distribution of the hybridized particles, better interfacial bonding between the matrix and the reinforcement particles and the matrix grain refinement achieved by nano-B4C addition. The ductility enhancement obtained in hybrid composites can be attributed to the fibre texture spread and favourable basal plane orientation achieved due to nano B4C addition. (C) 2013 Elsevier B.V. All rights reserved.

Rv1027c-Rv1028c encode functional KdpDE two - Component system in Mycobacterium tuberculosis

In Mycobacterium tuberculosis Rv1027c-Rv1028c genes are predicted to encode KdpDE two component system, which is highly conserved across all bacterial species. Here, we show that the system is functionally active and KdpD sensor kinase undergoes autophosphorylation and transfers phosphoryl group to KdpE, response regulator protein. We identified His(642) and Asp(52) as conserved phosphorylation sites in KdpD and KdpE respectively and by SPR analysis confirmed the physical interaction between them. KdpD was purified with prebound divalent ions and their importance in phosphorylation was established using protein refolding and ion chelation approaches. Genetically a single transcript encoded both KdpD and KdpE proteins. Overall, we report that M. tuberculosis KdpDE system operates like a canonical two component system. (C) 2014 Elsevier Inc. All rights reserved.

套管井工程检测技术及其应用

油田开发中的套管井工程检测技术，主要是采用多种可行的电、磁、声、核、机械等技术方法，有效地检查套管井井身状况，提供如井眼斜度及方位、套管程序、套管损坏程度、水泥环胶结状态等井身状况参数，最后通过这些检测参数对井身状况做出评价，以便指导修井、作业等方案的设计制定，为油水井的安全生产提供技术参数。本文主要介绍这些套管井工程检测技术及其在油田中的应用状况，并通过实例说明工程检测技术在套管井井身状况检查方面的重要作用。

Estado actual del bosque de galería de la parte alta del rio Santa Elena, sector norte de la Universidad Nacional Agraria, Managua

~vii~ RESUMEN La presente investigación se realizó en el bosque de galería de la parte alta del río Santa Elena, de la Universidad Nacional Agraria, donde se identificó el estado actual y la estructura horizontal y vertical, la composición florística en el estrato arbóreo del río, además, se determinó la diversidad a través del índice ecológico de Shannon-Weiner, por lo cual se realizó un inventario al cien por ciento (100 %). En cuanto a la estructura horizontal, se encontró el mayor número de individuos correspondiendo a la categoría 10 a 19.9 cm, la que presento menores cantidades de árboles fue la categoría mayor de 90cm, la dominancia más alta fue para Ficus trigonata (Chilamate). En cuanto al índice de valor de importancia (IVI), los valores más altos, le corresponden a las especies, Ficus trigonata (Chilamate), seguido por Guazuma ulmifolia (Guácimo de ternero) y Pithecellobium dulce (Espino de playa), con respecto a la abundancia específica, Ficus trigonata (Chilamate) y Guazuma ulmifolia (Guácimo de ternero), son las más abundantes, obteniéndose el mayor valor en la ribera 4, similares resultados para la ribera 2, ribera 3, y los que presentaron menor diversidad fueron ribera 1 e Isla, existiendo las mayores abundancias para la ribera 4 y la ribera 2, sobresaliendo las especies de: Ficus trigonata (Chilamate), Inga vera (Guavillo) y Terminalia catappa (Almendra), las cuales se encuentran en todas las riberas, y otras presentes en tres y dos riberas, no obstante, las actividades que se realizan en el área y los en sayos de agricultura han permitido que disminuya la cobertura vegetal y dando espacio a nuevas especies arvense que se desarrollen llegando incluso a las orillas del río, por esta razón se proponen soluciones para conservar el recurso bosque de galería.

Generalized rayleigh principle and its applications

In this paper, we mainly deal with cigenvalue problems of non-self-adjoint operator. To begin with, the generalized Rayleigh variational principle, the idea of which was due to Morse and Feshbach, is examined in detail and proved more strictly in mathematics. Then, other three equivalent formulations of it are presented. While applying them to approximate calculation we find the condition under which the above variational method can be identified as the same with Galerkin's one. After that we illustrate the generalized variational principle by considering the hydrodynamic stability of plane Poiseuille flow and Bénard convection. Finally, the Rayleigh quotient method is extended to the cases of non-self-adjoint matrix in order to determine its strong eigenvalne in linear algebra.

狭缝投影位置传感技术及其在精密定位中的应用

提出了一种基于狭缝投影的位置传感技术，阐述了此技术的传感原理及其在精密定位中的应用。准直激光束照明的投影狭缝由一个透镜以掠入射角度投影在被测物体上，狭缝投影经过被测物体表面的反射和另一个透镜的成像在探测双缝上形成投影狭缝像。探测双缝放大成像在双像限探测器上，投影狭缝像透过探测双缝的光强分别被双像限探测器的两个像限所接收，通过检测双像限探测器两个像限上的光强获得被测物体的位置。实验验证了此传感技术的可行性，其位置重复测量偏差小于32nm（1σ）。

Mechanism of red colouration in Tovel-See (”Conclusions” only) [Translation from: Archiv fur Hydrobiologie 38 299-302, 1941]

Cases of red colouration in small lake basins, due to the abundant appearance of microorganisms have long been known. Usually it is caused by a fast, sudden, intensive propagation (so called ”bloom”) of Cyanophycae and bacteria. (e.g. Oscillatoracae, thiobacteria etc.). An exception to this is the red colouration of Tovel-See, an alpine lake basin in the Dolomites of the Brenta group (Trentino), lying at a height of 1178 m and hidden in the woodland of a valley. Here the red bloom has a double rhythm: a daily and a yearly rhythm. The colouration of one part of the lake takes place in the warmest months of the year (i.e. July, August, September) and in the middle hours of the day. The immediate origin of the bloom has been known for a long time: it is caused by the Peridinacae Glenodinium sanguineum. This paper describes the phenomenon of red colouration of the lake and discusses its conditions.