Place categorization and semantic mapping on a mobile robot

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot with-out environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system upon a state-of-the-art convolutional network. We overcome its closed-set limitations by complementing the network with a series of one-vs-all classifiers that can learn to recognize new semantic classes online. Prior domain knowledge is incorporated by embedding the classification system into a Bayesian filter framework that also ensures temporal coherence. We evaluate the classification accuracy of the system on a robot that maps a variety of places on our campus in real-time. We show how semantic information can boost robotic object detection performance and how the semantic map can be used to modulate the robot’s behaviour during navigation tasks. The system is made available to the community as a ROS module.

Structural aspects of high-temperature cuprate superconductors

High-temperature superconductivity constitutes the most sensational discovery of recent times. Since these new superconductors are complex metal oxides, chemistry has had a big role to play in the investigations. For the first time, stoichiometry, structure, bonding, and such chemical factors have formed central themes in superconductivity, an area traditionally dominated by physicists. These oxide superconductors have given a big boost to solid-state chemistry.

A Novel, Balanced, and Energy-Efficient Training Method for Receive Antenna Selection

In receive antenna selection (AS), only signals from a subset of the antennas are processed at any time by the limited number of radio frequency (RF) chains available at the receiver. Hence, the transmitter needs to send pilots multiple times to enable the receiver to estimate the channel state of all the antennas and select the best subset. Conventionally, the sensitivity of coherent reception to channel estimation errors has been tackled by boosting the energy allocated to all pilots to ensure accurate channel estimates for all antennas. Energy for pilots received by unselected antennas is mostly wasted, especially since the selection process is robust to estimation errors. In this paper, we propose a novel training method uniquely tailored for AS that transmits one extra pilot symbol that generates accurate channel estimates for the antenna subset that actually receives data. Consequently, the transmitter can selectively boost the energy allocated to the extra pilot. We derive closed-form expressions for the proposed scheme's symbol error probability for MPSK and MQAM, and optimize the energy allocated to pilot and data symbols. Through an insightful asymptotic analysis, we show that the optimal solution achieves full diversity and is better than the conventional method.

Tiedostumaton nykytaiteessa : Katse, ääni ja aika vuosituhannen taitteen suomalaisessa nykytaiteessa

Leevi Haapala explores moving image works, sculptures and installations from a psychoanalytic perspective in his study The Unconscious in Contemporary Art. The Gaze, Voice and Time in Finnish Contemporary Art at the Turn of the Millennium . The artists included in the study are Eija-Liisa Ahtila, Hans-Christian Berg, Markus Copper, Liisa Lounila and Salla Tykkä. The theoretical framework includes different psychoanalytic readings of the concepts of the gaze, voice and temporality. The installations are based on spatiality and temporality, and their detailed reading emphasizes the medium-specific features of the works as well as their fragmentary nature, heterogeneity and affectivity. The study is cross-disciplinary in that it connects perspectives from the visual culture, new art history and theory to the interpretation of contemporary art. The most important concepts from psychoanalysis, affect theory and trauma discourse used in the study include affect, object a (objet petit a) as articulated by Jacques Lacan, Sigmund Freud s uncanny (das Unheimliche) and trauma. Das Unheimliche has been translated as uncanny in art history under the influence of Rosalind Krauss. The object of the study, the unconscious in contemporary art, is approached through these concepts. The study focuses on Lacan s additions to the list of partial drives: the gaze and voice as scopic and invocative drives and their interpretations in the studies of the moving image. The texts by the American film theorist and art historian Kaja Silverman are in crucial role. The study locates contemporary art as part of trauma culture, which has a tendency to define individual and historical experiences through trauma. Some of the art works point towards trauma, which may appear as a theoretic or fictitious construction. The study presents a comprehensive collection of different kinds of trauma discourse in the field of art research through the texts of Hal Foster, Cathy Caruth, Ruth Leys and Shoshana Felman. The study connects trauma theory with the theoretical analysis of the interference and discontinuity of the moving image in the readings by Susan Buck-Morss, Mary Ann Doane and Peter Osborn among others. The analysis emphasizes different ways of seeing and multisensoriality in the reception of contemporary art. With their reflections and inverse projections, the surprising mechanisms of Hans-Christian Berg s sculptures are connected with Lacan s views on the early mirroring and imitation attempts of the individual s body image. Salla Tykkä s film trilogy Cave invites one to contemplate the Lacanian theory of the gaze in relation to the experiences of being seen. The three oceanic sculpture installations by Markus Copper are studied through the vocality they create, often through an aggressive way of acting, as well as from the point of view of the functioning of an invocative drive. The study compares the work of fiction and Freud s texts on paranoia and psychosis to Eija-Liisa Ahtila s manuscripts and moving image installations about the same topic. The cinematic time in Liisa Lounila s time-slice video installations is approached through the theoretical study of the unconscious temporal structure. The viewer of the moving image is inside the work in an in-between state: in a space produced by the contents of the work and its technology. The installations of the moving image enable us to inhabit different kinds of virtual bodies or spaces, which do not correspond with our everyday experiences. Nevertheless, the works of art often try to deconstruct the identification to what has been shown on screen. This way, the viewer s attention can be fixed on his own unconscious experiences in parallel with the work s deconstructed nature as representation. The study shows that contemporary art is a central cultural practice, which allows us to discuss the unconscious in a meaningful way. The study suggests that the agency that is discursively diffuse and consists of several different praxes should be called the unconscious. The emergence of the unconscious can happen in two areas: in contemporary art through different senses and discursive elements, and in the study of contemporary art, which, being a linguistic activity is sensitive to the movements of the unconscious. One of the missions of art research is to build different kinds of articulated constructs and to open an interpretative space for the nature of art as an event.

Cavitation in holographic sQGP

We study the possibility of cavitation in the non-conformal N = 2* SU(N) theory which is a mass deformation of N = 4 SU(N) Yang-Mills theory. The second order transport coefficients are known from the numerical work using AdS/CFT by Buchel and collaborators. Using these and the approach of Rajagopal and Tripuraneni, we investigate the flow equations in a (1 + 1)-dimensional boost invariant set up. We find that the string theory model does not exhibit cavitation before phase transition is reached. We give a semi-analytic explanation of this finding. (C) 2011 Elsevier B.V. All rights reserved.

Digital Deadbeat Control Tuning for dc-dc Converters Using Error Correlation

This letter proposes a simple tuning algorithm for digital deadbeat control based on error correlation. By injecting a square-wave reference input and calculating the correlation of the control error, a gain correction for deadbeat control is obtained. The proposed solution is simple, it requires a short tuning time, and it is suitable for different DC-DC converter topologies. Simulation and experimental results on synchronous buck converters confirm the properties of the proposed tuning algorithm.

Application of Solar Powered High Voltage Discharge Plasma for NOX Removal in Diesel Engine Exhaust

This paper proposes a compact electric discharge plasma source for controlling NOX emission in diesel engine exhaust. Boost converter is used to boost to solar powered battery voltage to 24V, further an automobile ignition coil was used to generate the high voltage pulse using fly-back topology. This design is aimed at retrofitting the existing catalytic converters with pulse assisted cleaning technique. In this paper we bring out a relative comparison of discharge plasma and plasma-adsorbent process at different gas flow rates. Activated alumina was used as adsorbent. The main emphasis is laid on the development of a compact pulse source from 12V battery, which is powered by the solar, for the removal of NOX from the filtered diesel engine exhaust.

Application of Solar Powered High Voltage Discharge Plasma for NOX Rem

This paper proposes a compact electric discharge plasma source for controlling NOX emission in diesel engine exhaust. Boost converter is used to boost to solar powered battery voltage to 24V, further an automobile ignition coil was used to generate the high voltage pulse using fly-back topology. This design is aimed at retrofitting the existing catalytic converters with pulse assisted cleaning technique. In this paper we bring out a relative comparison of discharge plasma and plasma-adsorbent process at different gas flow rates. Activated alumina was used as adsorbent. The main emphasis is laid on the development of a compact pulse source from 12V battery, which is powered by the solar, for the removal of NOX from the filtered diesel engine exhaust.

Human action recognition using a fast learning fully complex-valued classifier

In this paper, we use optical flow based complex-valued features extracted from video sequences to recognize human actions. The optical flow features between two image planes can be appropriately represented in the Complex plane. Therefore, we argue that motion information that is used to model the human actions should be represented as complex-valued features and propose a fast learning fully complex-valued neural classifier to solve the action recognition task. The classifier, termed as, ``fast learning fully complex-valued neural (FLFCN) classifier'' is a single hidden layer fully complex-valued neural network. The neurons in the hidden layer employ the fully complex-valued activation function of the type of a hyperbolic secant function. The parameters of the hidden layer are chosen randomly and the output weights are estimated as the minimum norm least square solution to a set of linear equations. The results indicate the superior performance of FLFCN classifier in recognizing the actions compared to real-valued support vector machines and other existing results in the literature. Complex valued representation of 2D motion and orthogonal decision boundaries boost the classification performance of FLFCN classifier. (c) 2012 Elsevier B.V. All rights reserved.

Fast image reconstruction for fluorescence microscopy

Real-time image reconstruction is essential for improving the temporal resolution of fluorescence microscopy. A number of unavoidable processes such as, optical aberration, noise and scattering degrade image quality, thereby making image reconstruction an ill-posed problem. Maximum likelihood is an attractive technique for data reconstruction especially when the problem is ill-posed. Iterative nature of the maximum likelihood technique eludes real-time imaging. Here we propose and demonstrate a compute unified device architecture (CUDA) based fast computing engine for real-time 3D fluorescence imaging. A maximum performance boost of 210x is reported. Easy availability of powerful computing engines is a boon and may accelerate to realize real-time 3D fluorescence imaging. Copyright 2012 Author(s). This article is distributed under a Creative Commons Attribution 3.0 Unported License. http://dx.doi.org/10.1063/1.4754604]

Subspace Pursuit Embedded in Orthogonal Matching Pursuit

Orthogonal Matching Pursuit (OMP) is a popular greedy pursuit algorithm widely used for sparse signal recovery from an undersampled measurement system. However, one of the main shortcomings of OMP is its irreversible selection procedure of columns of measurement matrix. i.e., OMP does not allow removal of the columns wrongly estimated in any of the previous iterations. In this paper, we propose a modification in OMP, using the well known Subspace Pursuit (SP), to refine the subspace estimated by OMP at any iteration and hence boost the sparse signal recovery performance of OMP. Using simulations we show that the proposed scheme improves the performance of OMP in clean and noisy measurement cases.

A tuned rectifier for RF energy harvesting from ambient radiations

A circuit topology based on accumulate-and-use philosophy has been developed to harvest RF energy from ambient radiations such as those from cellular towers. Main functional units of this system are antenna, tuned rectifier, supercapacitor, a gated boost converter and the necessary power management circuits. Various RF aspects of the design philosophy for maximizing the conversion efficiency at an input power level of 15 mu W are presented here. The system is characterized in an anechoic chamber and it has been established that this topology can harvest RF power densities as low as 180 mu W/m(2) and can adaptively operate the load depending on the incident radiation levels. The output of this system can be easily configured at a desired voltage in the range 2.2-4.5 V. A practical CMOS load - a low power wireless radio module has been demonstrated to operate intermittently by this approach. This topology can be easily modified for driving other practical loads, from harvested RF energy at different frequencies and power levels.

Mitigation of lower order harmonics in a grid-connected single-phase PV inverter

In this paper, a simple single-phase grid-connected photovoltaic (PV) inverter topology consisting of a boost section, a low-voltage single-phase inverter with an inductive filter, and a step-up transformer interfacing the grid is considered. Ideally, this topology will not inject any lower order harmonics into the grid due to high-frequency pulse width modulation operation. However, the nonideal factors in the system such as core saturation-induced distorted magnetizing current of the transformer and the dead time of the inverter, etc., contribute to a significant amount of lower order harmonics in the grid current. A novel design of inverter current control that mitigates lower order harmonics is presented in this paper. An adaptive harmonic compensation technique and its design are proposed for the lower order harmonic compensation. In addition, a proportional-resonant-integral (PRI) controller and its design are also proposed. This controller eliminates the dc component in the control system, which introduces even harmonics in the grid current in the topology considered. The dynamics of the system due to the interaction between the PRI controller and the adaptive compensation scheme is also analyzed. The complete design has been validated with experimental results and good agreement with theoretical analysis of the overall system is observed.

Speed control of brushed DC motor for low cost electric cars

As petrol prices are going up in developing countries in upcoming decades low cost electric cars will become more and more popular in developing world. One of the main deciding factors for success of electric cars specially in developing world in upcoming decades will be its cost. This paper shows a cost effective method to control the speed of low cost brushed D.C. motor by combining a IC 555 Timer with a High Boost Converter. The main purpose of using High Boost Converter since electric cars needs high voltage and current which a High Boost Converter can provide even with low battery supply.

Influenza hemagglutinin stem-fragment immunogen elicits broadly neutralizing antibodies and confers heterologous protection

Influenza hemagglutinin (HA) is the primary target of the humoral response during infection/vaccination. Current influenza vaccines typically fail to elicit/boost broadly neutralizing antibodies (bnAbs), thereby limiting their efficacy. Although several bnAbs bind to the conserved stem domain of HA, focusing the immune response to this conserved stem in the presence of the immunodominant, variable head domain of HA is challenging. We report the design of a thermotolerant, disulfide-free, and trimeric HA stem-fragment immunogen which mimics the native, prefusion conformation of HA and binds conformation specific bnAbs with high affinity. The immunogen elicited bnAbs that neutralized highly divergent group 1 (H1 and H5 subtypes) and 2 (H3 subtype) influenza virus strains in vitro. Stem immunogens designed from unmatched, highly drifted influenza strains conferred robust protection against a lethal heterologous A/Puerto Rico/8/34 virus challenge in vivo. Soluble, bacterial expression of such designed immunogens allows for rapid scale-up during pandemic outbreaks.