Estimating the Heading of a Husky Mobile Robot with a LiDAR Compass based on Direction Maps

Without an absolute position sensor (e.g., GPS), an accurate heading estimate is necessary for proper localization of an autonomous unmanned vehicle or robot. This paper introduces direction maps (DMs), which represent the directions of only dominant surfaces of the vehicle’s environment and can be created with negligible effort. Given an environment with reoccurring surface directions (e.g., walls, buildings, parked cars), lines extracted from laser scans can be matched with a DM to provide an extremely lightweight heading estimate that is shown, through experimentation, to drastically reduce the growth of heading errors. The algorithm was tested using a Husky A200 mobile robot in a warehouse environment over traverses hundreds of metres in length. When a simple a priori DM was provided, the resulting heading estimation showed virtually no error growth.

Dynamics of North Patagonian rainforests from fine-resolution pollen, charcoal and tree-ring analysis, Chonos Archipelago, Southern Chile

Fine-resolution palaeoecological and dendrochronological methods were used to investigate the impacts of climate change, and natural and anthropogenic disturbances on vegetation in the North Patagonian rainforest of southern Chile at decadal to century timescales during the late Holocene. A lake sediment mud–water interface core was collected from the northern Chonos Archipelago and analysed for pollen and charcoal. Dendrochronological analysis of tree cores collected from stands of Pilgerodendron uviferum close to the lake site was incorporated into the study. The combined analysis showed that the present mosaic of vegetation types in this region is a function of environmental changes across a range of timescales: millennial climate change, more recent natural and anthropogenic disturbances, and possibly short-term climatic variations. Of particular interest is the spatiotemporal distribution of Pilgerodendron uviferum dieback/burning in the Chonos Archipelago region.

Postglacial formation and dynamics of North Patagonian Rainforest in the Chonos Archipelago, Southern Chile

Pollen analysis of continuous sediment cores from two lakes in the northern Chonos Archipelago (44S) in southern Chile shows a complete postglacial record of vegetation change. The fossil records indicate that deglaciation was complete in the northern Chonos by at least 13,600 14Cyr BP. Ericaceous heath and grassland persisted for more than 600 years after deglaciation under the influence of dry/cold climates and frequent burning. Nothofagus-Pilgerodendron-Podocarpus forest, with modern analogues in the southern Chonos Archipelago, was established across the northern islands by 12,400 14Cyr BP under increasingly warm and wet climates. There is no evidence for a return to cooler climates during the Younger Dryas chronozone. The rise of Tepualia stipularis and Weinmannia trichosperma as important forest components between 10,600 and 6000 14Cyr BP may be associated withclimates that were warmer than present. The collapse of Pilgerodendron communities during this time may have been triggered by a combination of factors related to disturbance frequency including tephra deposition events, fire and climate change. After 6000 14Cyr BP Pilgerodendron recovers and Nothofagus-Pilgerodendron-Tepualia forest persists until the present. European logging and burning activity may have increased the susceptibility of North Patagonian Rainforest to invasion by introduced species and to future collapse of the long-lived Pilgerodendron communities.

Annotated Chromosome Maps for Renal Disease

A combination of linkage analyses and association studies are currently employed to promote the identification of genetic factors contributing to inherited renal disease. We have standardized and merged complex genetic data from disparate sources, creating unique chromosomal maps to enhance genetic epidemiological investigations. This database and novel renal maps effectively summarize genomic regions of suggested linkage, association, or chromosomal abnormalities implicated in renal disease. Chromosomal regions associated with potential intermediate clinical phenotypes have been integrated, adding support for particular genomic intervals. More than 500 reports from medical databases, published scientific literature, and the World Wide Web were interrogated for relevant renal-related information. Chromosomal regions highlighted for prioritized investigation of renal complications include 3q13-26, 6q22-27, 10p11-15, 16p11-13, and 18q22. Combined genetic and physical maps are effective tools to organize genetic data for complex diseases. These renal chromosome maps provide insights into renal phenotype-genotype relationships and act as a template for future genetic investigations into complex renal diseases. New data from individual researchers and/or future publications can be readily incorporated to this resource via a user-friendly web-form accessed from the website: www.qub.ac.uk/neph-res/CORGI/index.php.

Positive dilations of piecewise monotonic Markov maps

We provide an explicit formula which gives natural extensions of piecewise monotonic Markov maps defined on an interval of the real line. These maps are exact endomorphisms and define chaotic discrete dynamical systems.