Semantic localization in the PCL library

The semantic localization problem in robotics consists in determining the place where a robot is located by means of semantic categories. The problem is usually addressed as a supervised classification process, where input data correspond to robot perceptions while classes to semantic categories, like kitchen or corridor. In this paper we propose a framework, implemented in the PCL library, which provides a set of valuable tools to easily develop and evaluate semantic localization systems. The implementation includes the generation of 3D global descriptors following a Bag-of-Words approach. This allows the generation of fixed-dimensionality descriptors from any type of keypoint detector and feature extractor combinations. The framework has been designed, structured and implemented to be easily extended with different keypoint detectors, feature extractors as well as classification models. The proposed framework has also been used to evaluate the performance of a set of already implemented descriptors, when used as input for a specific semantic localization system. The obtained results are discussed paying special attention to the internal parameters of the BoW descriptor generation process. Moreover, we also review the combination of some keypoint detectors with different 3D descriptor generation techniques.

Sistemas de acreditação e certificação hospitalar em Portugal Continetal

Dissertação apresentada à Escola Superior Agrária do Instituto Politécnico de Castelo Branco para obtenção do grau de Mestre em Inovação e Qualidade na Produção Alimentar.

Acculturation and material culture - George I. Quimby, Curator of Exhibits, Department of Anthropology, and Alexander Spoehr, Curator, Oceanic Ethnology.

v.36:no.6(1951)

Draft of report from Committee appointed by the Corporation to revise the Laws relating to Commons at the meeting of April 6, 1778, April 17, 1778

This report contains changes to the regulations proposed by a Committee of the Corporation at the April 6, 1778 meeting of the Corporation (these regulations can be found in the College commons records, Box 1). The proposed changes were to the articles concerning the reporting of damages to utensils by the waiters, and the requirement for the Steward to present a quarterly inventory of the utensils.

Letter from Levi Hedge to President John Kirkland, [ca. 1823]

Levi Hedge, Professor of Logic and Metaphysics, wrote Harvard president John Kirkland requesting renovations to the house which he occupied. Hedge's house was situated on North Street (now Massachusetts Avenue). He notes that the kitchen has a leaky sink, loose and unusable shelves, and is insufficiently insulated.

First Floor, Old Harvard Hall 1667-1764, 1935

Floor plan of the first floor of Old Harvard Hall drawn by H.R. Shurtleff in 1935. Includes the hall, kitchen, buttery, and two chambers

Engravings of a plan and an exterior view of Harvard Hall drawn by Pierre Eugène du Simitière, (photographic prints, photostats, and negative photostats), [ca. 1764]

The floor plan details all three floors of Harvard Hall, including its cellars, kitchen, chapel, and library. The items in this folder were reproduced from "The Burning of Harvard Hall, 1764, and its consequences," presented by F. Apthorp Foster at the April 1911 meeting of the Colonial Society of Massachusetts, and published in the Publications of the Colonial Society of Massachusetts, Volume XIV. The floor plan and exterior views were created by Pierre Eugène du Simitière in circa 1764. The original drawings are held in the Pierre Eugène du Simitière collection in the Ridgeway Branch of the Library Company of Philadelphia.

Front elevation and floor plans for first and second floors, ink and wash on paper, [ca. 1812]

Drawing by Charles Bulfinch of proposed plans for University Hall which were later rejected. Includes sketches of the front exterior view of the University Hall, and separate floor plans for the ground and second floors. Bulfinch designed a ground floor with a chapel and four dining halls each holding 100 students, a second floor with a gallery in the chapel and three rooms over the dining halls for public examinations and meetings of the Corporation and Overseers; and a basement under the halls intended for a kitchen under the dining halls and recitation rooms under the chapel.

Sales at auction of property of the late Caleb Gannett Esq. of Cambridge, 1818

Eleven-page handwritten list of items sold from the estate of Caleb Gannett, dated May 29, 1818. Items are arranged by house location (such as "in the kitchen") and entries consist of the item name, the purchaser, and the price. The list includes a substantial section of "books in Office sold June 3, 1818." The verso of the last page includes the note: "Account of Sales at auction of the personal estate of C. Gannett- copied from auctioneer's book."

Reports of the Committee of commons, 1800

This collection contains two handwritten committee reports that provide a brief financial overview of the Harvard College Steward's accounts for the quarters ending February 27, 1800 and May 29, 1800. The February 27th statement is dated March 4, 1800, and the May 29th statement is dated June 2, 1800.

Appropriating Bimby on the Internet: Perspectives on technology mediated meals by a virtual brand community

It was Christmas day when an intriguing news piece about a kitchen technology was published in the Wall Street Journal in 2013 (Kowsmann, 2013). Immediately after, the piece went viral in the Portuguese (social) media (TV, blogs, press). It reported an odd 'obsession' of Portuguese consumers with a pricey German-made kitchen appliance - the Bimby (Figure 7.1) - during a difficult period of 'painful budget slashing in return for an international bailout'. The news piece served to unveil the irony: how come ''Western Europe's poorest country' could afford such an expensive technology 'that outsells high-end iPads [...] and is more popular on Facebook than the country's best-known rock band?' The journalistic piece advanced explanations for this technology craze: 'But the Portuguese love gadgets and seem determined, despite hard times, to maintain their tradition of regularly getting together for dinner. In this explanatory attempt, Bimby is portrayed as an intermediary that opens up the possibility for thinking about meal practices in a particular way, in this case, linking nation and meals through ideas around commensality.

A cerâmica de cozinha africana de Monte Molião: Monte Molião, Lagos

Monte Molião fica situado na margem esquerda do estuário da Ribeira de Bensafrim, em Lagos. Teve uma ocupação pré-romana, tendo sido densamente povoado durante toda a época romana. Neste trabalho, analisam-se os fragmentos de cerâmica de cozinha africana recolhidos no sítio, em escavações arqueológicas. O conjunto engloba 2005 fragmentos classificaveis, no entanto, apenas 1767 foram passíveis de tipificação (de acordo com as propostas de Tortorella, Hayes e M. Bonifay), tendo sido analisados também de acordo com a sua posição estratigráfica, o que permitiu retirar informação sobre a sua cronologia absoluta e integração nas diferentes fases de ocupação romana do sítio. Todos foram também abordados do ponto de vista do fabrico, concretamente no que se refere à cor e à estrutura física da pasta, numa tentativa de aproximação aos centros produtores. 161 exemplares, considerados representativos do conjunto, foram desenhados e tintados. O circuito da cerâmica de cozinha africana no sul de Portugal foi proposto com base nos dados do sítio de Lagos, mas também com outros provenientes de distintos locais algarvios, tendo-se concluído que aqueles em que esta cerâmica se tinha registado eram litorais ou facilmente acessíveis por rio.

Study for implementing a unit for production of powdered olive oil

This work aimed to make a study for the implementation of an industrial unit for production of olive oil powder. For obtaining this product, which is designed for the gourmet kitchen market, is used the maltodextrin, which allows obtaining the small spheres (micro-droplets) of olive oil. To fulfil the proposed objective, were evaluated all steps that constitute the production process, including the olive oil production and then the transformation into the final product, i.e., in the form of powder. In this way, it will allow establishing all the steps necessary for the final project, which involve: definition of premises and equipment, layout and also some brief considerations regarding the effluents and wastes generated.

Pamphlets - homoeopathic.

Title from spine.

UM Men's Swimming Team, 1988

Front Row: swimming coach Jon Urbanchek, Rob Silverman, Mike Bayerl, Bill Hayes, Lee Michaud, Alec Campbell, Jan-Erick Olsen, Tim Petsche, Eric Kitchen, Martin Moran, Mike Barrowman, diving coach Dick Kimball

2nd Row: trainer Dave Tomchek, Eric Wise, D, Mott, Rick Reising, M. Smith, Alex Alvizuri, Zeb Esselstyn, Tato Ceresa, D. McNear, M. Curry, E. Gotting

3rd Row: David Parrish, Dan Dewhirst, Sean Gallagher, Steve Pancratz, Scott Van Appledorn, Dave Goch, Bill Kopas, G. Williams, Ron Howard, Rick Wilkening, A. DeLuca

Back Row: assistant coach Joe Parker, Scott Ryan, Bjoern Warland, Jarret Winter, Ron Melnyk, L. Aspenwall, Jeff Heydanek, Mats Nygren, Mike Creaser, graduate assistant Dan Kerska