Combining visual features and Growing Neural Gas networks for robotic 3D SLAM

The use of 3D data in mobile robotics provides valuable information about the robot’s environment. Traditionally, stereo cameras have been used as a low-cost 3D sensor. However, the lack of precision and texture for some surfaces suggests that the use of other 3D sensors could be more suitable. In this work, we examine the use of two sensors: an infrared SR4000 and a Kinect camera. We use a combination of 3D data obtained by these cameras, along with features obtained from 2D images acquired from these cameras, using a Growing Neural Gas (GNG) network applied to the 3D data. The goal is to obtain a robust egomotion technique. The GNG network is used to reduce the camera error. To calculate the egomotion, we test two methods for 3D registration. One is based on an iterative closest points algorithm, and the other employs random sample consensus. Finally, a simultaneous localization and mapping method is applied to the complete sequence to reduce the global error. The error from each sensor and the mapping results from the proposed method are examined.

Indicators of success in the dietary management of overweight and obesity: weight, body fat loss and quality

Concepts: %WL: Percentage of weight loss; %FL: Percentage of fat loss. Objective: evaluate which unit of measurement for weight loss could determine the success or failure of dietary treatment for overweight and obesity. Method: 4,625 consultations carried out on 616 patients in the southeast of Spain from 2006 to 2012. All of the patients were over 25 years of age and suffered from overweight or obesity. The consultations were carried out every fortnight, using the Mediterranean or low-calorie diet. The patients were divided into four groups according to their %WL and %FL. Results: most of the sample consisted of: women; participants between 25-45 years of age; attended consultations for over a month and a half; obese. 80% of the patients obtained a %FL ≥ 5% (15.5 ± 12.8). The groups with a higher %FL obtained significant differences in weight loss (22.6 vs 11.2%, p = 0.000). The multinomial analysis shows significant differences between the groups with the highest %FL and the lowest %WL and %FL: sex (p = 0.006 vs p = 0.005), BMI (p = 0.010 vs p = 0.003) and attendance (p = 0.000 vs p = 0.000). Conclusion: the patients who lost < 5% of fat had higher initial parameters (percentage of weight and fat); most of the sample lost ≥ 5% of fat. This means that the method of personalised dietary treatment results in a high fat loss; fat is an indicator of the quality loss obtained. Recommendations: use the measurement of fat as a complementary unit of measurement to weight loss; establish a limit of 5% to evaluate such loss; and increase this type of research in any method of weight loss.

A simple method to predict elastic settlements in foundations resting on two soils of differing deformability

This paper shows the analysis results obtained from more than 200 finite element method (FEM) models used to calculate the settlement of a foundation resting on two soils of differing deformability. The analysis considers such different parameters as the foundation geometry, the percentage of each soil in contact with the foundation base and the ratio of the soils’ elastic moduli. From the described analysis, it is concluded that the maximum settlement of the foundation, calculated by assuming that the foundation is completely resting on the most deformable soil, can be correlated with the settlement calculated by FEM models through a correction coefficient named “settlement reduction factor” (α). As a consequence, a novel expression is proposed for calculating the real settlement of a foundation resting on two soils of different deformability with maximum errors lower than 1.57%, as demonstrated by the statistical analysis carried out. A guide for the application of the proposed simple method is also explained in the paper. Finally, the proposed methodology has been validated using settlement data from an instrumented foundation, indicating that this is a simple, reliable and quick method which allows the computation of the maximum elastic settlement of a raft foundation, evaluates its suitability and optimises its selection process.

Bullying Victimization and Perpetration Among Adolescent Sport Teammates

Purpose: Bullying is a specific pattern of repeated victimization explored with great frequency in school-based literature, but receiving little attention within sport. The current study explored the prevalence of bullying in sport, and examined whether bullying experiences were associated with perceptions about relationships with peers and coaches. Method: Adolescent sport team members (n = 359, 64% female) with an average age of 14.47 years (SD = 1.34) completed a pen-and-paper or online questionnaire assessing how frequently they perpetrated or were victimized by bullying during school and sport generally, as well as recent experiences with 16 bullying behaviors on their sport team. Participants also reported on relationships with their coach and teammates. Results: Bullying was less prevalent in sport compared with school, and occurred at a relatively low frequency overall. However, by identifying participants who reported experiencing one or more act of bullying on their team recently, results revealed that those victimized through bullying reported weaker connections with peers, whereas those perpetrating bullying only reported weaker coach relationships. Conclusion: With the underlying message that bullying may occur in adolescent sport through negative teammate interactions, sport researchers should build upon these findings to develop approaches to mitigate peer victimization in sport.

Financial regulatory transparency: new data and implications for EU policy. Bruegel Policy Brief 2015/20, December 2015

International financial institutions have promoted financial regulatory transparency, or the publication by supervisors of financial industry data. Financial regulatory transparency enhances market stability and increases democratic legitimacy. • We introduce a new index of financial regulatory data transparency: the FRT Index. It measures how countries report to international financial institutions basic macroprudential data about their financial systems.The Index covers 68 high-income and emerging-market economies over 22 years (1990-2011). • We find a number of striking trends over this period. European Union members are generally more opaque than other high-income countries.This finding is especially relevant given efforts to create an EU capital markets union. • Globally, financial regulatory data transparency has increased. However, there is considerable variation. Some countries have become significantlymore transparent, while others have become much more opaque. Reporting tends to decline during financial crises. • We propose that the EU institutions take on a greater role in coordinating and possibly enforcing reporting of bank and non-bank institution data. Similar to the United States, a reporting requirement should be part of any EU general deposit insurance scheme.

Use of novel biomarkers (Homocysteine, vitamin B6, B9 and B12) on the assessing the progression of cardiovascular disease

A large number of evidences correlate elevated levels of homocysteine (Hcys) with a higher cardiovascular diseases (CVDs) risk, especially, atherosclerosis. Similarly, abnormal low levels of the vitamins B6, B9 and B12 are associated to an instability in the methionine cycle with an over production of Hcys. Thus, biomedical sciences are looking forward for a cheaper, faster, precise and accurate analytical methodology to quantify these compounds in a suitable format for the clinical environment. Therefore the objective of this study was the development of a simple, inexpensive and appropriate methodology to use at the clinical level. To achieve this goal, a procedure integrating a digitally controlled (eVol®) microextraction by packed sorbent (MEPS) and an ultra performance liquid chromatography (UPLC) coupled to a photodiode array detector (PDA) was developed to identify and quantify Hcys vitamins B6, B9 and B12. Although different conditions were assayed, we were not able to combine Hcys with the vitamins in the same analytical procedure, and so we proceeded to the optimization of two methods differing only in the composition of the gradient of the mobile phase and the injected volume. It was found that MEPS did not bring any benefit to the quantification of the Hcys in the plasma. Therefore, we developed and validate an alternative method that uses the direct injection of treated plasma (reduced and precipitated). This same method was evaluated in terms of selectivity, linearity, limit of detection (LOD), limit of quantification (LOQ), matrix effect and precision (intra-and inter-day) and applied to the determination of Hcys in a group composed by patients presenting augmented CVD risk. Good results in terms of selectivity and linearity (R2> 0.9968) were obtained, being the values of LOD and LOQ 0.007 and 0.21 mol / L, respectively. The intra-day precision (1.23-3.32%), inter-day precision (5.43-6.99%) and the recovery rate (82.5 to 93.1%) of this method were satisfactory. The matrix effect (>120%) was, however, higher than we were waiting for. Using this methodology it was possible to determine the amount of Hcys in real plasma samples from individuals presenting augmented CVD risk. Regarding the methodology developed for vitamins, despite the optimization of the extraction technique and the chromatographic conditions, it was found that the levels usually present in plasma are far below the sensitivity we obtained. Therefore, further optimizations of the methodology developed are needed. As conclusion, part of the objectives of this study was achieved with the development of a quick, simple and cheaper method for the quantification of Hcys.

Age and isotopes in bottom sediments from Core VER-99-1-St2, Baikal Lake

A simple, reliable, and efficient method has been elaborated for direct determination of isotopic composition of authigenic uranium in siliceous lacustrine sediments. The method is based on studying kinetics of selective extraction of authigenic uranium from sediments by weak solutions of ammonium hydrocarbonate followed by ICP-MS analysis of nuclides. To estimate contamination of authigenic uranium by terrigenous one contents of 232Th and some other clastogenic elements in the extracts were measured simultaneously. Selectivity of extraction of authigenic uranium from the sediments treated with 1% NH4HCO3 solution appeared to be no worse than 99%. The method was applied to analysis of isotopic composition of authigenic uranium at several key horizons of the earlier dated core from the Baikal Lake. Measurements directly show that 234U/238U values in Baikal water varied depending on climate, which contradicts existing hypotheses. Measured 234U/238U ratios in water of the paleo-Baikal match corresponding values reconstructed from isotopic data for total uranium in the sediments on supposition that U/Th ratio is constant in terrigenous fraction of the sediments. Direct experimental determination of total and authigenic nuclides in sediments enhances potentiality of the method for 234U-230Th dating of non-carbonate lacustrine sediments including those from the Baikal Lake within intervals corresponding to periods of glaciation, when sediments were rich in terrigenous components. Portions of terrigenous and authigenic uranium are well separated and we can study variability of sources of terrigenous matter and refine the earlier model for reconstructing climate humidity in the East Siberia.

Kosciuszko, leader and exile,

"The second and the last part of a biography of Kosciuszko, the first part of which has been published under the title 'Kosciuszko in the American revolution' by the Polish institute of arts and sciences in America, in 1943 ... Intended to mark and to honor the bicentennial of Kosciuszko's birth in 1746."--Pref.

An account of some experiments and observations on Tar-Water : : wherein is shown the quantity of tar that is therein, which was read before the Royal Society /

A letter from Mr. Reid to Dr. Hales concerning the nature of Tar and a method of obtainig it's Medical Virtues, free from it's hurtful Oils: Whereby also the strength of each dose may be the better ascertained.

New French method,

First published under title: Progressive and practical method for the study of the French language.

A religious conference, in four dialogues, between Lorenzo and Evander.

Shaw-Shoemaker, 14880.

The wisdom of life, and other essays

Title within colored ornamental borders.

A Kinetic Vlasov Model for Plasma Simulation Using Discontinuous Galerkin Method on Many-Core Architectures

Thesis (Ph.D.)--University of Washington, 2016-03

Nonparametric Identication and Structural Estimation of Auction Models

Thesis (Ph.D.)--University of Washington, 2016-06

Insights on food and nutrition in the Federated States of Micronesia: a review of the literature

Background: Nutrition-related disorders, including vitamin A deficiency (VAD) and chronic diseases, are serious problems in the Federated States of Micronesia (FSM). Many suggest that these disorders are new problems related to dietary and lifestyle changes. In the past four decades, imported foods, such as white rice, flour, sugar, refined foods and fatty meats, have increasingly replaced local foods in the diet. Aim: A literature review was conducted to understand underlying issues related to dietary change and obtain insights for nutrition research and interventions. Method: Published and unpublished papers from different disciplines were reviewed and collated for information on food and nutrition in FSM. Topics covered were historical background, local foods, infant and child feeding, dietary assessment, and nutritional status. Particular focus was on information and data relating to VAD, the primary topic that led to the review of the literature. Conclusions: FSM, a tropical country of abundant agricultural resources, has suffered a great loss in production and consumption of local foods. Inconsistent external and internal government policies and food aid programmes have contributed to the problem. Further research on the nutrient content of local foods and factors affecting production, acquisition and consumption is needed, as well as a broad, well-planned, intersectoral intervention aimed at dietary improvement for all age groups in the population.