Selection and monitoring of navigation modes for an autonomous rover

Considering the wide spectrum of situations that it may encounter, a robot navigating autonomously in outdoor environments needs to be endowed with several operating modes, for robustness and efficiency reasons. Indeed, the terrain it has to traverse may be composed of flat or rough areas, low cohesive soils such as sand dunes, concrete road etc... Traversing these various kinds of environment calls for different navigation and/or locomotion functionalities, especially if the robot is endowed with different locomotion abilities, such as the robots WorkPartner, Hylos [4], Nomad or the Marsokhod rovers.

Selection and monitoring of navigation modes for an autonomous rover

Considering the wide spectrum of situations that it may encounter, a robot navigating autonomously in outdoor environments needs to be endowed with several operating modes, for robustness and efficiency reasons. Indeed, the terrain it has to traverse may be composed of flat or rough areas, low cohesive soils such as sand dunes, concrete road etc. . .Traversing these various kinds of environment calls for different navigation and/or locomotion functionalities, especially if the robot is endowed with different locomotion abilities, such as the robots WorkPartner, Hylos [4], Nomad or the Marsokhod rovers. Numerous rover navigation techniques have been proposed, each of them being suited to a particular environment context (e.g. path following, obstacle avoidance in more or less cluttered environments, rough terrain traverses...). However, seldom contributions in the literature tackle the problem of selecting autonomously the most suited mode [3]. Most of the existing work is indeed devoted to the passive analysis of a single navigation mode, as in [2]. Fault detection is of course essential: one can imagine that a proper monitoring of the Mars Exploration Rover Opportunity could have avoided the rover to be stuck during several weeks in a dune, by detecting non-nominal behavior of some parameters. But the ability to recover the anticipated problem by switching to a better suited navigation mode would bring higher autonomy abilities, and therefore a better overall efficiency. We propose here a probabilistic framework to achieve this, which fuses environment related and robot related information in order to actively control the rover operations.

Prospects of integration of aquaculture with animal husbandry and land crop culture in Tripura State

Tripura is a densely populated small state with meagre water resources. 47.51% of the population is constituted by socio-economically backward, illiterate, orthodox, tribal and scheduled castes. Some of them are nomad and a majority of the rest of the population is refugees from Bangladesh, but almost 100% is fish eater. Settlement of tribes in villages, provision of nutritious food and employment therefore calls for proper utilization of every resource they have. The State is poor in water resources but recently has created 21,636.23 ha of new water area. Tripura is rich in pig population, besides poultry birds. Paddy is the main crop cultivated in arable lands. An integration of livestock raising and land based agriculture with pisciculture practices around mini barrages will help in solving the problems to a great extent. The paper is an attempt to outline the prospects of integration of aquaculture with animal husbandry and land based crop culture in Tripura State.

The Ocean Colour Climate Change Initiative: III. A round-robin comparison on in-water bio-optical algorithms

Satellite-derived remote-sensing reflectance (Rrs) can be used for mapping biogeochemically relevant variables, such as the chlorophyll concentration and the Inherent Optical Properties (IOPs) of the water, at global scale for use in climate-change studies. Prior to generating such products, suitable algorithms have to be selected that are appropriate for the purpose. Algorithm selection needs to account for both qualitative and quantitative requirements. In this paper we develop an objective methodology designed to rank the quantitative performance of a suite of bio-optical models. The objective classification is applied using the NASA bio-Optical Marine Algorithm Dataset (NOMAD). Using in situRrs as input to the models, the performance of eleven semi-analytical models, as well as five empirical chlorophyll algorithms and an empirical diffuse attenuation coefficient algorithm, is ranked for spectrally-resolved IOPs, chlorophyll concentration and the diffuse attenuation coefficient at 489 nm. The sensitivity of the objective classification and the uncertainty in the ranking are tested using a Monte-Carlo approach (bootstrapping). Results indicate that the performance of the semi-analytical models varies depending on the product and wavelength of interest. For chlorophyll retrieval, empirical algorithms perform better than semi-analytical models, in general. The performance of these empirical models reflects either their immunity to scale errors or instrument noise in Rrs data, or simply that the data used for model parameterisation were not independent of NOMAD. Nonetheless, uncertainty in the classification suggests that the performance of some semi-analytical algorithms at retrieving chlorophyll is comparable with the empirical algorithms. For phytoplankton absorption at 443 nm, some semi-analytical models also perform with similar accuracy to an empirical model. We discuss the potential biases, limitations and uncertainty in the approach, as well as additional qualitative considerations for algorithm selection for climate-change studies. Our classification has the potential to be routinely implemented, such that the performance of emerging algorithms can be compared with existing algorithms as they become available. In the long-term, such an approach will further aid algorithm development for ocean-colour studies.

History of several mistakes: on differences between Lev Gumilev and Eurasians

This article challenges prevalent views about Gumilev’s relation to classic Eurasianism. On the basis of previously unavailable correspondence and interviews, it is argued that Lev Gumilev had substantial degree of affinity with the original Eurasian movement understood as a scholarly tradition. This was manifested both in his personal contacts with some of its key members, and in his scholarly work on the nomad history, which remained Eurasian in its spirit. However, the most significant departure from Eurasianism, under-appreciated by most scholars, was his theory of ethnogenesis, which attempted to establish a new naturalistic paradigm for study of history.

Big and little Meccano

The emergence of the mechanical bond during the past 25 years is giving chemistry a fillip in more ways than one. While its arrival on the scene is already impacting materials science and molecular nanotechnology, it is providing a new lease of life to chemical synthesis where mechanical bond formation Occurs as a consequence of the all-important templation Orchestrated by molecular recognition and self-assembly. The way in which covalent bond formation activates noncovalent bonding interactions, switching on molecular recognition that leads to self-assembly, and the template-directed synthesis of mechanically interlocked molecules-of which the so-called catenanes and rotaxanes may be regarded as the prototypes-has introduced a level of integration into chemical synthesis that has not previously been attained jointly at the supramolecular and molecular levels. The challenge now is to carry this I vel of integration during molecular synthesis beyond relatively small molecules into the realms of precisely functionalized extended molecular Structures and superstructures that perform functions in a collective manner as the key sources of instruction, activation, and performance in multi-component integrated Circuits and devices. These forays into organic chemistry by a scientific nomad are traced through thick and thin from the Athens of the North to the Windy City by Lake Michigan with interludes on the edge of the Canadian Shield beside Lake Ontario, in the Socialist Republic of South Yorkshire, on the Plains of Cheshire beside the Wirral, in the Midlands in the Heartland of Albion, and in the City of Angels beside the Peaceful Sea. (C) 2008 Elsevier Ltd. All rights reserved.

Parallel editing, multi-positionality and maximalism: cosmopolitan effects as explored in some art works by Melanie Jackson and Vivienne Dick

Garfield produces a critique of neo-minimalist art practice by demonstrating how the artist Melanie Jackson’s Some things you are not allowed to send around the world (2003 and 2006) and the experimental film-maker Vivienne Dick’s Liberty’s booty (1980) – neither of which can be said to be about feeling ‘at home’ in the world, be it as a resident or as a nomad – examine global humanity through multi-positionality, excess and contingency, and thereby begin to articulate a new cosmopolitan relationship with the local – or, rather, with many different localities – in one and the same maximalist sweep of the work. ‘Maximalism’ in Garfield’s coinage signifies an excessive overloading (through editing, collage, and the sheer density of the range of the material) that enables the viewer to insert themselves into the narrative of the work. In the art of both Jackson and Dick Garfield detects a refusal to know or to judge the world; instead, there is an attempt to incorporate the complexities of its full range into the singular vision of the work, challenging the viewer to identify what is at stake.

Learning as movements in interspace

My research issues (in rearch project for PhD-degree, named Drama in School) concern how learning takes place in drama education in compulsory school. One part is to explore and problematize approaches to learning (in and through drama). In this paper will the concept learning be discussed by using a thought derived from Deleuze and Guattari’s nomad philosophy. They describe learning as a movement in the interspace. Focus is on process and inquiry, not on achievement of predetermined skills and competences. 

Navegação exploratória baseada em problemas de valores de contorno

Este trabalho apresenta e discute uma estratégia e discute uma estratégia inédita para o problema de exploração e mapeamento de ambientes desconhecidos usandoo robô NOMAD 200. Esta estratégia tem como base a solução numéricqa de problemas de valores de contorno (PVC) e corresponde ao núcleo da arquitetura de controle do robô. Esta arquitetura é similar à arquitetura blackboard, comumente conhecida no campo da Inteligência Artificial, e é responsável pelo controle e gerenciamento das tarefas realizadas pelo robô através de um programa cleinte. Estas tarefas podem ser a exploração e o mapeamento de um ambiente desconhecido, o planejamento de caminhos baseado em um mapa previamente conhecido ou localização de um objeto no ambiente. Uma características marcante e importante é que embora estas tarefas pareçam diferentes, elas têm em comum o mesmo princípio: solução de problemas de valores de contorno. Para dar sustentabilidade a nossa proposta, a validamos através de inúmeros experimentos, realizados e simulação e diretamente no robô NOMAD 200, em diversos tipos de ambientes internos. Os ambientes testados variam desde labirintos formados por paredes ortogonais entre si até ambientes esparsos. Juntamente com isso, introduzimos ao longo do desenvolvimento desta tese uma série de melhorias que lidam com aspectos relacionados ao tempo de processamento do campo potencial oriundo do PVC e os ruídos inseridos na leitura dos sensores. Além disso, apresentamos um conjunto de idéias para trabalhos futuros.

A biologia em obras infantis de Monteiro Lobato: modulações literárias, científicas e culturais

A tessitura deste trabalho abarca os traços da Biologia presentes em duas obras infanto-juvenis de Monteiro Lobato. Os entendimentos acerca dos traços biológicos como evolução, seleção natural, tamanho, classificação e organização natural se hibridizam, mesclam-se a outros discursos e significados e apontam relações e significações que se dão entre os espaços - diferenças - dos múltiplos conhecimentos. Ao reconhecer que a Biologia participa dessa Literatura, construiu-se um olhar para seus significados que são (re)criados em relação às diferenças, não funcionando como decalque, cópia de um campo cultural único ou suposto como original. Ao migrar para o texto, os significados culturais desses traços biológicos expandem o campo da escritura por uma interrupção e um espaçamento. Investigaram-se as relações de diferenças que se estabelecem entre Literatura e Biologia, e a intensidade das narrativas que trazem traços de crenças, valores, interesses políticos no discurso científico, e que são arrastados para a Literatura, num trajeto híbrido e nômade.

Travessia e impasse: O lugar de Sebastião Uchoa Leite na poesia contemporânea

Sebastião Uchoa Leite's work is circumscribed in a field of tension with tradition, which makes impossible is delimitation to anyone who seeks to draw his poetic profile. The undeniable identification with the modernist masters does not mean the enhancement of such standards; on the contrary, they are contaminated by the crossing of the most diverse references. The ambiguity comes from the fact that the poet neither puts limits in a temporal-spaced territory, nor sets defined directions. His is a hybrid textual project, as in a crossing, which the nomad route places, side by side, the referring speeches from tradition and from the contemporary world.

Território circense

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Variação nômade: Henry Miller, filosofia e o combate contra o juízo

We discuss Henry Miller's novel Tropic of Cancer based on the concept of nomadism, as coined by Deleuze and Guattari. The relation between philosophy and literature is very productive for both. A phenomenon of dual capture between these two areas that is characteristic of a nomadic thinking: literature that engenders philosophy which, in turn, engenders literature, establishing connections, new relations between terms in a distinct nomad variation that dismisses the classical image of thought of its eminence: a perspective between philosophy and literature as form of discussing the nomadism in Miller's novel. Thus, the linkage between philosophy and literature aims to capture the Millerian paths on this new space of thought, which is achieved by giving up any origin, human or divine, and stands as productive thought that affirms the real in a combat waged against the faculty of judgment, or simply of Judgment, in all its forms.

Por que ainda é importante pensar como um nômade em nosso tempo

This article argues for the existence of a nomadic way of thinking, in accord with Deleuze and Guattari’s proposals throughout their “nomadology”. I will look forward to develop such an argument through of four points: the epistemological, the political, the historical and the ontological one. These four points, in set, describe what we call nomadic thought. Such reflection is defined in the observation of a dominant process that constitutes subjectivities ruled by a “capitalist axiomatic”, in our time. Such process is understood as a nomadic device involving, as its main by-product, what is called of narcissism of the difference. However, if the dominant way of becoming subjects ruled by capitalist society, in our time, is nomadic, is it still worthwhile thinking as a nomad, as pursued Deleuze and Guattari?