Learning Probabilistic Features for Robotic Navigation Using Laser Sensors

SLAM is a popular task used by robots and autonomous vehicles to build a map of an unknown environment and, at the same time, to determine their location within the map. This paper describes a SLAM-based, probabilistic robotic system able to learn the essential features of different parts of its environment. Some previous SLAM implementations had computational complexities ranging from O(Nlog(N)) to O(N2), where N is the number of map features. Unlike these methods, our approach reduces the computational complexity to O(N) by using a model to fuse the information from the sensors after applying the Bayesian paradigm. Once the training process is completed, the robot identifies and locates those areas that potentially match the sections that have been previously learned. After the training, the robot navigates and extracts a three-dimensional map of the environment using a single laser sensor. Thus, it perceives different sections of its world. In addition, in order to make our system able to be used in a low-cost robot, low-complexity algorithms that can be easily implemented on embedded processors or microcontrollers are used.

Behaviours, Processes and Probabilistic Environmental Functions in H-Open Systems

The Patten’s Theory of the Environment, supposes an impotent contribution to the Theoretical Ecology. The hypothesis of the duality of environments, the creaon and genon functions and the three developed propositions are so much of great importance in the field of the Applied Mathematical as Ecology. The authors have undertaken an amplification and revision of this theory, developing the following steps: 1) A theory of processes. 2) A definition of structural and behavioural functions. 3) A probabilistic definition of the environmental functions. In this paper the authors develop the theory of behavioural functions, begin the theory of environmental functions and give a complementary focus to the theory of processes that has been developed in precedent papers.

JavaVis: An Integrated Computer Vision Library for Teaching Computer Vision

In this article, we present a new framework oriented to teach Computer Vision related subjects called JavaVis. It is a computer vision library divided in three main areas: 2D package is featured for classical computer vision processing; 3D package, which includes a complete 3D geometric toolset, is used for 3D vision computing; Desktop package comprises a tool for graphic designing and testing of new algorithms. JavaVis is designed to be easy to use, both for launching and testing existing algorithms and for developing new ones.

Open cluster Dolidze 25: Stellar parameters and the metallicity in the Galactic anticentre

Context. The young open cluster Dolidze 25, in the direction of the Galactic anticentre, has been attributed a very low metallicity, with typical abundances between −0.5 and −0.7 dex below solar. Aims. We intend to derive accurate cluster parameters and accurate stellar abundances for some of its members. Methods. We have obtained a large sample of intermediate- and high-resolution spectra for stars in and around Dolidze 25. We used the fastwind code to generate stellar atmosphere models to fit the observed spectra. We derive stellar parameters for a large number of OB stars in the area, and abundances of oxygen and silicon for a number of stars with spectral types around B0. Results. We measure low abundances in stars of Dolidze 25. For the three stars with spectral types around B0, we find 0.3 dex (Si) and 0.5 dex (O) below the values typical in the solar neighbourhood. These values, even though not as low as those given previously, confirm Dolidze 25 and the surrounding H ii region Sh2-284 as the most metal-poor star-forming environment known in the Milky Way. We derive a distance 4.5 ± 0.3 kpc to the cluster (rG ≈ 12.3 kpc). The cluster cannot be older than ~3 Myr, and likely is not much younger. One star in its immediate vicinity, sharing the same distance, has Si and O abundances at most 0.15 dex below solar. Conclusions. The low abundances measured in Dolidze 25 are compatible with currently accepted values for the slope of the Galactic metallicity gradient, if we take into account that variations of at least ±0.15 dex are observed at a given radius. The area traditionally identified as Dolidze 25 is only a small part of a much larger star-forming region that comprises the whole dust shell associated with Sh2-284 and very likely several other smaller H ii regions in its vicinity.

Construction of Structures I in Moodle: a new teaching methodology in the Degree of Building Engineer

The subject of Construction of Structures I studies, from a constructive point of view and taking into account current legislation, reinforced concrete structures used in buildings, through the acquisition of knowledge and construction criteria required in the profession of a Technical Architect. The contents acquired in this course are essential for further professional development of technicians and are closely related to many of the subjects taught in the same or other courses of the Degree in Technical Architecture at the University of Alicante. The aim of this paper is to present, analyze and discuss the development of a new methodology proposed in the mentioned subject, as it supposed an important change in the traditional way of teaching Construction and Structures I. In order to incorporate new teaching tools in 2013-2014, the course has been implemented by using a Moodle software tool to promote blended learning with online exercises. Our Moodle community allows collaborative work within an open-source platform where teachers and students share a new and personalized learning environment. Students are easily used to the interface and the platform, value the constant connection with teachers or other fellows and completely agree with the possibility of making questions or share documents 24 hours a day. The proposed methodology consists of lectures and practical classes. In the lectures, the basics of each topic are discussed; class attendance, daily study and conducting scheduled exercises are indispensable. Practical classes allow to consolidate the knowledge gained in theory classes by solving professional exercises and actual construction problems related to structures, that shall be compulsorily delivered online. So, after the correction of the teacher and the subsequent feedback of students, practical exercises ensure lifelong learning of the student, who can download any kind of material at any time (constructive details, practical exercises and even corrected exams). Regarding the general evaluation system, goals achievement is assessed on an ongoing basis (65% of the final mark) along the course through written and graphic evidences in person and online, as well as a individual development of a workbook. In all cases, the acquisition of skills, the ability to synthesize, the capacity of logical and critical thinking are assessed. The other 35 % of the mark is evaluated by a complementary graphic exam. Participation in the computing platform is essential and the student is required to do and present, at least 90% of the practices proposed. Those who do not comply with the practices in each specific date could not be assessed continuously and may only choose the final exam. In conclusion, the subject of Construction of Structures I is essential in the development of the regulated profession of Technical Architect as they are considered, among other professional profiles, as specialists in construction of building structures. The use of a new communication platform and online teaching allows the acquisition of knowledge and constructive approaches in a continuous way, with a more direct and personal monitoring by the teacher that has been highly appreciated by almost 100% of the students. Ultimately, it is important to say that the use of Moodle in this subject is a very interesting tool, which was really well welcome by students in one of the densest and important subjects of the Degree of Technical Architecture.

Plan for arranging library catalogues,1795-1800; 1822

This paper notebook contains six pages of financial entries made by Croswell between 1795 and 1800, followed by a bibliographical plan for the arrangement of the Harvard College Library, dated September 1822.

Plan for the arrangement of the catalogue of the University Library, [1817 January]

Six-page handwritten draft of an organization plan for the catalogue of the Harvard University Library.

Plan for the arrangement of the catalogue of the University Library (printed), 1817 January

Printed broadside containing an organization plan for the catalogue of the Harvard University Library.

Lists of books in the Harvard College Library, undated

This folder contains six leaves with undated book and shelf lists.

Miscellaneous library and book notes, undated

This folder contains three notes written in Latin.

Account of attendance at the Library, 1813

Five leaves containing handwritten accounts of William Croswell's attendance and absences from his job at the Harvard Library in 1813.

Diary entries related to Library employment, 1816-1817

Four pages containing brief entries related to Croswell's employment in the Harvard College Library.

Journal concerning the bequest and division of James Winthrop's personal library, 1822-1826

As described in the above biographical note, Winthrop bequeathed most of his library – including his father John Winthrop's books – to the newly established Allegheny College in Pennsylvania. All the books in his library did not go to Allegheny, though, and Winthrop bequeathed over 500 books to two individuals, Thaddeus Mason Harris and Harriet H. Peck. This paper-bound journal contains three lists: one list of all the books which were part of this bequest, with notations indicating their financial value; another list of "Mrs. Peck's part in the division of the legacy" (i.e. the books she selected); and another list of "TM Harris's part of Judge Winthrop's Legacy" (the books he selected). The lists indicate that Peck and Harris chose books from the library on February 3, 1822, and that the few books which remained afterwards were sold by Deacon Hilliard and the profits returned to Peck and Harris.

Library record,

A torn manuscript page listing members' library accounts.