Multi-sensor Simultaneous Localization and Mapping

Simultaneous localization and mapping(SLAM) is a very important problem in mobile robotics. Many solutions have been proposed by different scientists during the last two decades, nevertheless few studies have considered the use of multiple sensors simultane¬ously. The solution is on combining several data sources with the aid of an Extended Kalman Filter (EKF). Two approaches are proposed. The first one is to use the ordinary EKF SLAM algorithm for each data source separately in parallel and then at the end of each step, fuse the results into one solution. Another proposed approach is the use of multiple data sources simultaneously in a single filter. The comparison of the computational com¬plexity of the two methods is also presented. The first method is almost four times faster than the second one.

Feature selection for automatic analysis of emotional response based on nonlinear speech modeling suitable for diagnosis of Alzheimer׳s disease

Alzheimer׳s disease (AD) is the most common type of dementia among the elderly. This work is part of a larger study that aims to identify novel technologies and biomarkers or features for the early detection of AD and its degree of severity. The diagnosis is made by analyzing several biomarkers and conducting a variety of tests (although only a post-mortem examination of the patients’ brain tissue is considered to provide definitive confirmation). Non-invasive intelligent diagnosis techniques would be a very valuable diagnostic aid. This paper concerns the Automatic Analysis of Emotional Response (AAER) in spontaneous speech based on classical and new emotional speech features: Emotional Temperature (ET) and fractal dimension (FD). This is a pre-clinical study aiming to validate tests and biomarkers for future diagnostic use. The method has the great advantage of being non-invasive, low cost, and without any side effects. The AAER shows very promising results for the definition of features useful in the early diagnosis of AD.

Equivalent representation form of oscillators with elastic and damping nonlinear terms

In this work we consider the nonlinear equivalent representation form of oscillators that exhibit nonlinearities in both the elastic and the damping terms. The nonlinear damping effects are considered to be described by fractional power velocity terms which provide better predictions of the dissipative effects observed in some physical systems. It is shown that their effects on the system dynamics response are equivalent to a shift in the coefficient of the linear damping term of a Duffing oscillator. Then, its numerical integration predictions, based on its equivalent representation form given by the well-known forced, damped Duffing equation, are compared to the numerical integration values of its original equations of motion. The applicability of the proposed procedure is evaluated by studying the dynamics response of four nonlinear oscillators that arise in some engineering applications such as nanoresonators, microresonators, human wrist movements, structural engineering design, and chain dynamics of polymeric materials at high extensibility, among others

Coherent patterns and self-induced diffraction of electrons on a thin nonlinear layer

Electron scattering on a thin layer where the potential depends self-consistently on the wave function has been studied. When the amplitude of the incident wave exceeds a certain threshold, a soliton-shaped brightening (darkening) appears on the layer causing diffraction of the wave. Thus the spontaneously formed transverse pattern can be viewed as a self-induced nonlinear quantum screen. Attractive or repulsive nonlinearities result in different phase shifts of the wave function on the screen, which give rise to quite different diffraction patterns. Among others, the nonlinearity can cause self-focusing of the incident wave into a beam, splitting in two "beams," single or double traces with suppressed reflection or transmission, etc.

Geomorphological mapping of granite zones in the province of Girona (Catalunya, Spain)

Since 1978, the unity of Geodynamics of the University of Girona has been publishing a series of detailed geological and geomorphological maps of different municipal terms of the Province of Girona, mainly on the scale of 1:10.000, situated for the major part in the Littoral and Prelittoral mountain ranges of the Cadena Costera Catalana. These mountain ranges are constituted of materials belonging to the palaeozoic era, basically metamorphous and igneous rocks (plutomc and hypoabyssal rocks)

Efficient image mosaicing for multi-robot visual underwater mapping

Robotic platforms have advanced greatly in terms of their remote sensing capabilities, including obtaining optical information using cameras. Alongside these advances, visual mapping has become a very active research area, which facilitates the mapping of areas inaccessible to humans. This requires the efficient processing of data to increase the final mosaic quality and computational efficiency. In this paper, we propose an efficient image mosaicing algorithm for large area visual mapping in underwater environments using multiple underwater robots. Our method identifies overlapping image pairs in the trajectories carried out by the different robots during the topology estimation process, being this a cornerstone for efficiently mapping large areas of the seafloor. We present comparative results based on challenging real underwater datasets, which simulated multi-robot mapping

Nonlinear principal and canonical directions from continuous extensions of multidimensional scaling

A continuous random variable is expanded as a sum of a sequence of uncorrelated random variables. These variables are principal dimensions in continuous scaling on a distance function, as an extension of classic scaling on a distance matrix. For a particular distance, these dimensions are principal components. Then some properties are studied and an inequality is obtained. Diagonal expansions are considered from the same continuous scaling point of view, by means of the chi-square distance. The geometric dimension of a bivariate distribution is defined and illustrated with copulas. It is shown that the dimension can have the power of continuum.

Photomultiplier nonlinear response in time-domain laser-induced luminescence spectroscopy

A new procedure to find the limiting range of the photomultiplier linear response of a low-cost, digital oscilloscope-based time-resolved laser-induced luminescence spectrometer (TRLS), is presented. A systematic investigation on the instrument response function with different signal input terminations, and the relationship between the luminescence intensity reaching the photomultiplier and the measured decay time are described. These investigations establish that setting the maximum intensity of the luminescence signal below 0.3V guarantees, for signal input terminations equal or higher than 99.7 ohm, a linear photomultiplier response.

KITCHIN, Rob (ed.). Mapping worlds: international perspectives on Social and Cultural Geographies

Rob Kitchin, geógrafo muy activo y prolífico, mantiene una intensa actividad editorial, puesto que dirige colecciones de temas geográficos y forma parte de los comités asesores de varias revistas internacionales de primera línea, entre ellas, Social and Cultural Geography, que se publica bimensualmente desde el año 2000 y de la que es director. Precisamente, en esta revista dedicada a temas relacionados con la geografía cultural y social se halla el origen de este libro, uno de cuyos propósitos iniciales fue desafiar la hegemonía anglosajona que domina el panorama geográfico internacional.

Full instability behavior of N-dimensional dynamical systems with a one-directional nonlinear vector field

We show how certain N-dimensional dynamical systems are able to exploit the full instability capabilities of their fixed points to do Hopf bifurcations and how such a behavior produces complex time evolutions based on the nonlinear combination of the oscillation modes that emerged from these bifurcations. For really different oscillation frequencies, the evolutions describe robust wave form structures, usually periodic, in which selfsimilarity with respect to both the time scale and system dimension is clearly appreciated. For closer frequencies, the evolution signals usually appear irregular but are still based on the repetition of complex wave form structures. The study is developed by considering vector fields with a scalar-valued nonlinear function of a single variable that is a linear combination of the N dynamical variables. In this case, the linear stability analysis can be used to design N-dimensional systems in which the fixed points of a saddle-node pair experience up to N21 Hopf bifurcations with preselected oscillation frequencies. The secondary processes occurring in the phase region where the variety of limit cycles appear may be rather complex and difficult to characterize, but they produce the nonlinear mixing of oscillation modes with relatively generic features

Webometric network analysis : mapping cooperation and geopolitical connections between local government administration on the web

Webben är en enorm källa för information. Innehållet på webbsidorna är en synlig typ av information, men webben innehåller även information av en annan typ, en mera gömd typ i form av sambanden och nätverken som hyperlänkarna skapar mellan webbsajterna och –sidorna som de kopplar ihop. Forskningsområdet webometri ämnar, bland annat, att skapa ny kunskap ur denna gömda information som finns inbyggt i hyperlänkarna samt att skapa förståelse för hurudana fenomen och förhållanden utanför webben kan finnas representerade i hyperlänkarna. Målet med denna forskning var att öka förståelse för användningen av hyperlänkar på webben och speciellt kommunernas användning av hyperlänkar. Denna forskning undersökte hur kommunerna i Egentliga Finland skapade och mottog hyperlänkar samt hurudana nätverk formades av dessa hyperlänkar. Forskningen kartlade nätverk av direkta länkar mellan kommunerna och av samlänkar till och från kommunerna och undersökte ifall dessa nätverk kunde användas för att undersöka geopolitiska förhållanden och samarbete mellan kommunerna i Egentliga Finland. De övergripande forskningsfrågorna som har besvarats i denna forskning är: 1) Från ett webometriskt perspektiv, hur använder kommunerna i Egentliga Finland webben? 2) Kan hyperlänkar (direkta länkar och samlänkar) användas för att kartlägga geopolitiska förhållanden och samarbete mellan kommuner? 3) Vilka är de viktigaste motiveringarna för att skapa länkar mellan, till och från kommunernas webbsajter? Denna forskning kom till ovanligt tydliga resultat för en webometrisk forskning, både när det gäller upptäckta geografiska faktorer som påverkar hyperlänkningarna och de klassificerade motivationerna för att skapa länkarna. Resultaten visade att de direkta hyperlänkarna mellan kommunerna kan användas för att kartlägga geopolitiska förhållanden och samarbete mellan kommunerna för att de direkta länkarna var motiverade av officiella orsaker och de var klart påverkade av distansen mellan kommunerna och av de ekonomiska regionerna. Samlänkningarna in till kommunerna visade sig fungera som ett mått för geografisk likhet mellan kommunerna, medan samlänkningarna ut från kommunerna visade potential för att kunna användas till för att kartlägga kommunernas gemensamma intressen. Forskningen kontribuerade även till utvecklandet av forskningsområdet webometri. En del av de viktigaste kontributionerna av denna forskning var utvecklandet av nya metoder för webometrisk forskning samt att öka kunskap om hur existerande metoder från nätverksanalys kan användas effektivt för webometrisk forskning. Resultaten från denna forskning och de utvecklade metoderna kan användas för snabba kartläggningar av diverse förhållanden mellan olika organisationer och företag genom att använda information gratis tillgängligt på webben.

Mapping of QTLs related with wood quality and developmental characteristics in hybrids (Eucalyptus grandis x Eucalyptus urophylla)

The present work aimed to characterize and identify QTLs for wood quality and growth traits in E. grandis x E. urophylla hybrids. For this purpose a RAPD linkage map was developed for the hybrids (LOD=3 and r=0.40) containing 52 markers and 12 linkage groups. Traits related to wood quality and growth were evaluated in the QTL analyses. QTL analyses were performed using chi-square tests, single-marker, interval mapping and composite interval mapping analyses. All approaches led to the identification of similar QTLs associated with wood density, cellulose pulp yield and percentage of extractives, which were detected and confirmed by both the interval mapping and composite interval mapping methodologies. Some QTLs regions were confirmed only by the composite interval mapping methodology: percentage of soluble lignin, percentage of insoluble lignin, CBH and total height. Overlapping QTLs regions were detected, and these, can be the result of major genes involved in the regulation and control of the growth traits by epistatic interactions. In order to evaluate the effect of early selection using RAPD molecular data, molecular markers adjacent to QTLs were used genotype selection. The analysis of selection differential values suggests that for all the traits the phenotypic selection at seven years should generate larger genetic gains than early selection assisted by molecular markers and the combination of the strategies should elevate the selection efficiency.

Using aster multispectral imagery for mapping woody invasive species in pico da vara natural reserve (Azores Islands, Portugal)

This paper aims to assess the effectiveness of ASTER imagery to support the mapping of Pittosporum undulatum, an invasive woody species, in Pico da Vara Natural Reserve (S. Miguel Island, Archipelago of the Azores, Portugal). This assessment was done by applying K-Nearest Neighbor (KNN), Support Vector Machine (SVM) and Maximum Likelihood (MLC) pixel-based supervised classifications to 4 different geographic and remote sensing datasets constituted by the Visible, Near-Infrared (VNIR) and Short Wave Infrared (SWIR) of the ASTER sensor and by digital cartography associated to orography (altitude and "distance to water streams") of which the spatial distribution of Pittosporum undulatum directly depends. Overall, most performed classifications showed a strong agreement and high accuracy. At targeted species level, the two higher classification accuracies were obtained when applying MLC and KNN to the VNIR bands coupled with auxiliary geographic information use. Results improved significantly by including ecology and occurrence information of species (altitude and distance to water streams) in the classification scheme. These results show that the use of ASTER sensor VNIR spectral bands, when coupled to relevant ancillary GIS data, can constitute an effective and low cost approach for the evaluation and continuous assessment of Pittosporum undulatum woodland propagation and distribution within Protected Areas of the Azores Islands.