A simple device for the separation of weak larvae of Macrobrachium rosenbergii (De Man)

Larvae of Macrobrachium rosenbergii (De Man) are photopositive (Ling 1969a.b) and negatively rheotactic. While investigating larval diseases of M, rosenbergii it was observed that weak larvae failed to show both these responses. It was felt that this lack of response could be used to develop a device for separating the weak larvae from the apparently healthy ones. Such a device would be a valuable tool for assessing the health of a batch in terms of the percentage of 'healthy' and 'weak' larvae. What follows is a description and mode of operation of the 'photo-flow' device developed by the authors

A Realization Of An Fpga Sub System For Reducing Odometric Localization Errors In Wheeled Mobile Robots

This paper introduces a simple and efficient method and its implementation in an FPGA for reducing the odometric localization errors caused by over count readings of an optical encoder based odometric system in a mobile robot due to wheel-slippage and terrain irregularities. The detection and correction is based on redundant encoder measurements. The method suggested relies on the fact that the wheel slippage or terrain irregularities cause more count readings from the encoder than what corresponds to the actual distance travelled by the vehicle. The standard quadrature technique is used to obtain four counts in each encoder period. In this work a three-wheeled mobile robot vehicle with one driving-steering wheel and two-fixed rear wheels in-axis, fitted with incremental optical encoders is considered. The CORDIC algorithm has been used for the computation of sine and cosine terms in the update equations. The results presented demonstrate the effectiveness of the technique

An Encoded Infrared Sheet Of Light Navigational Beacon System For Precise Localization Of Indoor Mobile Robot Vehicles

A new localization approach to increase the navigational capabilities and object manipulation of autonomous mobile robots, based on an encoded infrared sheet of light beacon system, which provides position errors smaller than 0.02m is presented in this paper. To achieve this minimal position error, a resolution enhancement technique has been developed by utilising an inbuilt odometric/optical flow sensor information. This system respects strong low cost constraints by using an innovative assembly for the digitally encoded infrared transmitter. For better guidance of mobile robot vehicles, an online traffic signalling capability is also incorporated. Other added features are its less computational complexity and online localization capability all these without any estimation uncertainty. The constructional details, experimental results and computational methodologies of the system are also described

Lagrangian approximations and weak solutions of the Navier-Stokes equations

The motion of a viscous incompressible fluid flow in bounded domains with a smooth boundary can be described by the nonlinear Navier-Stokes equations. This description corresponds to the so-called Eulerian approach. We develop a new approximation method for the Navier-Stokes equations in both the stationary and the non-stationary case by a suitable coupling of the Eulerian and the Lagrangian representation of the flow, where the latter is defined by the trajectories of the particles of the fluid. The method leads to a sequence of uniquely determined approximate solutions with a high degree of regularity containing a convergent subsequence with limit function v such that v is a weak solution of the Navier-Stokes equations.

On the localization of electrons and holes in Hg_n and rare-gas clusters

We have used a microscopic theory to study the size dependence of the degree of localization of the valence electrons and holes in neutral an ionized rare-gas and Hg_n clusters. We discuss under which circumstances localization of the electrons and holes is favoured. We have calculated the ionization potential of Xe_n, Kr_n and small Hg_n clusters. Good agreement with experiments is obtained. We have also determined the dependence of the ionization potential on cluster structure.

Vision-based localization of an underwater robot in a structured environment

This paper presents a vision-based localization approach for an underwater robot in a structured environment. The system is based on a coded pattern placed on the bottom of a water tank and an onboard down looking camera. Main features are, absolute and map-based localization, landmark detection and tracking, and real-time computation (12.5 Hz). The proposed system provides three-dimensional position and orientation of the vehicle along with its velocity. Accuracy of the drift-free estimates is very high, allowing them to be used as feedback measures of a velocity-based low-level controller. The paper details the localization algorithm, by showing some graphical results, and the accuracy of the system

Correction of shading effects in vision-based UUV localization

This paper describes the improvements achieved in our mosaicking system to assist unmanned underwater vehicle navigation. A major advance has been attained in the processing of images of the ocean floor when light absorption effects are evident. Due to the absorption of natural light, underwater vehicles often require artificial light sources attached to them to provide the adequate illumination for processing underwater images. Unfortunately, these flashlights tend to illuminate the scene in a nonuniform fashion. In this paper a technique to correct non-uniform lighting is proposed. The acquired frames are compensated through a point-by-point division of the image by an estimation of the illumination field. Then, the gray-levels of the obtained image remapped to enhance image contrast. Experiments with real images are presented

Sunlight disinfects? Free media in weak democracies

Free media may not favor political accountability when other democratic institutions are weak, and may even bring undesirable unintended consequences. We propose a simple model in which politicians running for office may engage in coercion to obtain votes. A media scandal that exposes these candidates increases their coercion effort to offset the negative popularity shock. This may result in the tainted politicians actually increasing their vote share. We provide empirical evidence from one recent episode in the political history of Colombia, the ‘parapolitics’ scandal featuring politicians colluding with illegal armed paramilitary groups to obtain votes. We show that colluding candidates not only get more votes than their clean competitors, but also concentrate them in areas where coercion is more likely (namely, areas with more paramilitary presence, less state presence, and more judicial inefficiency). Harder to reconcile with other explanations and as a direct test of the effects of media exposure, we compare tainted candidates exposed before elections to those exposed after. We find that those exposed before elections get as many votes as those exposed once elected, but their electoral support is more strongly concentrated in places where coercion is more likely. Our re

Beyond divide and rule : weak dictators, natural resources and civil conflict

We propose a model where an autocrat rules over an ethnically divided society. The dictator selects the tax rate over domestic production and the nation’s natural resources to maximize his rents under the threat of a regime-switching revolution. We show that a weak ruler may let the country plunge in civil war to increase his personal rents. Inter-group fighting weakens potential opposition to the ruler, thereby allowing him to increase fiscal pressure. We show that the presence of natural resources exacerbates the incentives of the ruler to promote civil conflict for his own profit, especially if the resources are unequally distributed across ethnic groups. We validate the main predictions of the model using cross-country data over the period 1960-2007, and show that our empirical results are not likely to be driven by omitted observable determinants of civil war incidence or by unobservable country-specific heterogeneity.

Electron localization function at the correlated level

The electron localization function (ELF) has been proven so far a valuable tool to determine the location of electron pairs. Because of that, the ELF has been widely used to understand the nature of the chemical bonding and to discuss the mechanism of chemical reactions. Up to now, most applications of the ELF have been performed with monodeterminantal methods and only few attempts to calculate this function for correlated wave functions have been carried out. Here, a formulation of ELF valid for mono- and multiconfigurational wave functions is given and compared with previous recently reported approaches. The method described does not require the use of the homogeneous electron gas to define the ELF, at variance with the ELF definition given by Becke. The effect of the electron correlation in the ELF, introduced by means of configuration interaction with singles and doubles calculations, is discussed in the light of the results derived from a set of atomic and molecular systems

Implementation and application of basis set superposition error-correction schemes to the theoretical modeling of weak intermolecular interactions

This thesis deals with the so-called Basis Set Superposition Error (BSSE) from both a methodological and a practical point of view. The purpose of the present thesis is twofold: (a) to contribute step ahead in the correct characterization of weakly bound complexes and, (b) to shed light the understanding of the actual implications of the basis set extension effects in the ab intio calculations and contribute to the BSSE debate. The existing BSSE-correction procedures are deeply analyzed, compared, validated and, if necessary, improved. A new interpretation of the counterpoise (CP) method is used in order to define counterpoise-corrected descriptions of the molecular complexes. This novel point of view allows for a study of the BSSE-effects not only in the interaction energy but also on the potential energy surface and, in general, in any property derived from the molecular energy and its derivatives A program has been developed for the calculation of CP-corrected geometry optimizations and vibrational frequencies, also using several counterpoise schemes for the case of molecular clusters. The method has also been implemented in Gaussian98 revA10 package. The Chemical Hamiltonian Approach (CHA) methodology has been also implemented at the RHF and UHF levels of theory for an arbitrary number interacting systems using an algorithm based on block-diagonal matrices. Along with the methodological development, the effects of the BSSE on the properties of molecular complexes have been discussed in detail. The CP and CHA methodologies are used for the determination of BSSE-corrected molecular complexes properties related to the Potential Energy Surfaces and molecular wavefunction, respectively. First, the behaviour of both BSSE-correction schemes are systematically compared at different levels of theory and basis sets for a number of hydrogen-bonded complexes. The Complete Basis Set (CBS) limit of both uncorrected and CP-corrected molecular properties like stabilization energies and intermolecular distances has also been determined, showing the capital importance of the BSSE correction. Several controversial topics of the BSSE correction are addressed as well. The application of the counterpoise method is applied to internal rotational barriers. The importance of the nuclear relaxation term is also pointed out. The viability of the CP method for dealing with charged complexes and the BSSE effects on the double-well PES blue-shifted hydrogen bonds is also studied in detail. In the case of the molecular clusters the effect of high-order BSSE effects introduced with the hierarchical counterpoise scheme is also determined. The effect of the BSSE on the electron density-related properties is also addressed. The first-order electron density obtained with the CHA/F and CHA/DFT methodologies was used to assess, both graphically and numerically, the redistribution of the charge density upon BSSE-correction. Several tools like the Atoms in Molecules topologycal analysis, density difference maps, Quantum Molecular Similarity, and Chemical Energy Component Analysis were used to deeply analyze, for the first time, the BSSE effects on the electron density of several hydrogen bonded complexes of increasing size. The indirect effect of the BSSE on intermolecular perturbation theory results is also pointed out It is shown that for a BSSE-free SAPT study of hydrogen fluoride clusters, the use of a counterpoise-corrected PES is essential in order to determine the proper molecular geometry to perform the SAPT analysis.

Tactile localization of acoustic stimuli with an earmold vibratrory aid

This study examines the tactile localization of sound sources utilizing an earmold vibratory hearing aid.

Tactile errors of localization on the sternums of tactaid VII users and non-users

This paper discusses a study done to test tactile errors of localization abilities, with and without a Tactaid VII communication aid.

Weak constraints in four-dimensional variational data assimilation

The formulation of four-dimensional variational data assimilation allows the incorporation of constraints into the cost function which need only be weakly satisfied. In this paper we investigate the value of imposing conservation properties as weak constraints. Using the example of the two-body problem of celestial mechanics we compare weak constraints based on conservation laws with a constraint on the background state.We show how the imposition of conservation-based weak constraints changes the nature of the gradient equation. Assimilation experiments demonstrate how this can add extra information to the assimilation process, even when the underlying numerical model is conserving.