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.

Brazil and the EU in the global economy. CEPS Working Document No. 371, February 2013

The structure of the world economy has been changing quickly during the last decade. The emerging global economy is much more fragmented than in the past and characterised by different global actors, each one with specific features and roles. In this setting, both Brazil and the European Union play role. This paper, without pretending to provide a full analysis of the European and Brazilian economies, offers a description of their main international economic features to understand their current and future role in the global order.

Global and regional financial safety nets: lessons from Europe and Asia. Bruegel Working Paper 2013/06 [07?], November 2013

The Asian financial crisis (1997) and the European crisis (2009) have both contributed to the development and deepening of regional safety net arrangements. This paper analyses the relationships between global and regional financial safety nets, and uncovers the potential tensions and operational challenges associated with the involvement of several institutional players with potentially different interests, analytical biases and governance. The G20 has acknowledged the importance of these new players for the international monetary system, but the principles for cooperation between the IMF and regional financing arrangements are far too broad and ad hoc to contribute to a coherent and effective architecture. This paper tries to establish some lessons learned from the Asian financial crisis in 1997 and the current European crisis in order to enhance the effectiveness, efficiency, equity and governance of these arrangements. In particular, it proposes changes to the IMF articles of agreement to allow for lending or guarantees to regional arrangements directly and it establishes some key desirable features and practices of regional mechanisms that should be adopted everywhere to ensure some global consistency, particularly in the field of macroeconomic surveillance, programme design and conditionality.

A Global Strategy for a soul-searching European Union. EPC Discussion Paper, 13 July 2016

On 28 June 2016, just a few days after the historic Brexit vote, High Representative of the Union for Foreign Affairs and Security Policy Federica Mogherini presented the paper on the new European Union Global Strategy (EUGS) at the European Council, outlining the strategic coordinates for the EU’s foreign and security policy. In this Discussion Paper, Giovanni Grevi takes a closer look at the EUGS and assesses its main rationale, features, added value and prospects against the backdrop of an ever more complex world. Not only is the EU dealing with increasingly contested and polarised politics at home, but the global theatre itself has become hugely disorienting, more integrated and yet more fragmented at the same time. The paper recalibrates the overall foreign policy posture of the EU and sketches out a more modest and concrete approach compared to earlier aspirations, and a more joined-up one compared to current practice. By doing so, the strategy seeks to square the circle between the need for Europe to be cohesive and purposeful in a harder strategic environment and the fact that domestic politics within the Union constrain its external action and drain its attractiveness. The EUGS calls on the EU and member states to fully take on their responsibility to underpin unity, prosperity and security at home by taking more effective and joined-up action abroad. The question is, of course, whether this call will be heeded.

MEG responses to the perception of global structure within glass patterns

The perception of global form requires integration of local visual cues across space and is the foundation for object recognition. Here we used magnetoencephalography (MEG) to study the location and time course of neuronal activity associated with the perception of global structure from local image features. To minimize neuronal activity to low-level stimulus properties, such as luminance and contrast, the local image features were held constant during all phases of the MEG recording. This allowed us to assess the relative importance of striate (V1) versus extrastriate cortex in global form perception.

Reading skills are related to global, but not local, acoustic pattern perception

Although reading ability has been related to the processing of simple pitch features such as isolated transitions or continuous modulation spoken language also contains complex patterns of pitch changes that are important for establishing stress location and for segmenting the speech stream. These aspects of spoken language processing depend critically on pitch pattern (global structure) rather than on absolute pitch values (local structure). Here we show that the detection of global structure, and not local structure, is predictive of performance on measures of phonological skill and reading ability, which supports a critical importance of pitch contour processing in the acquisition of literacy.

Environmental features which limit organization and industry viability:a study of the footwear industry

This thesis proposes a conceptual framework for the analysis of organizational environments. Three primary segments of the task environment - the transaction environment, the industrial environment and the ecotone are delineated. The interrelationships between the organization and these three environmental segments are examined. It is suggested that the task environment i) defines the nature of the task confronting the organization and the economic, political and social position of the organization within this network; ii) influences the way organizations and industries are organized; iii) prevents recognition of the need for adaptation and change; and iv) limits the alternatives available to the organization should changes in the environment render existing technology, behaviour and structures obsolete. The British Footwear Industry provides an example of how this framework might be used to investigate the problem of industry decline and organization viability. It is argued that the explanations usually put forth to explain organization failure and industrial decline have not taken into consideration the environmental factors which affect organization and industry viability. The shift from national markets to global markets has altered the composition of the task environment and has changed the nature of competition from firm versus firm to environment versus environment. Organizations do not compete in the market, their products do. These products are often produced by organizations embedded in environments which are significantly different from the one in which the focal organization and industry are embedded.

From local to global: feminist and postcolonial approaches to the relationship between the Antipodes (Galicia-Australia)

Starting from the exploration of the common features related to a postcolonial and feminist analysis, I will attempt to establish new relationships and to open up new perspectives within the cultural exchanges between the two nations, Galicia and Australia, within a global world. On the one hand, this will be new relationships in favour of a non-sexist language which contributes to overcoming gender discrimination; and on the other hand, new relationships which favour a re-evaluation of voices which have been silenced by hegemonic and centralised discourses.

Towards convection-resolving, global atmospheric simulations with the Model for Prediction Across Scales (MPAS) v3.1: an extreme scaling experiment, links to sourcecode of model and grides

The Model for Prediction Across Scales (MPAS) is a novel set of Earth system simulation components and consists of an atmospheric model, an ocean model and a land-ice model. Its distinct features are the use of unstructured Voronoi meshes and C-grid discretisation to address shortcomings of global models on regular grids and the use of limited area models nested in a forcing data set, with respect to parallel scalability, numerical accuracy and physical consistency. This concept allows one to include the feedback of regional land use information on weather and climate at local and global scales in a consistent way, which is impossible to achieve with traditional limited area modelling approaches. Here, we present an in-depth evaluation of MPAS with regards to technical aspects of performing model runs and scalability for three medium-size meshes on four different high-performance computing (HPC) sites with different architectures and compilers. We uncover model limitations and identify new aspects for the model optimisation that are introduced by the use of unstructured Voronoi meshes. We further demonstrate the model performance of MPAS in terms of its capability to reproduce the dynamics of the West African monsoon (WAM) and its associated precipitation in a pilot study. Constrained by available computational resources, we compare 11-month runs for two meshes with observations and a reference simulation from the Weather Research and Forecasting (WRF) model. We show that MPAS can reproduce the atmospheric dynamics on global and local scales in this experiment, but identify a precipitation excess for the West African region. Finally, we conduct extreme scaling tests on a global 3?km mesh with more than 65 million horizontal grid cells on up to half a million cores. We discuss necessary modifications of the model code to improve its parallel performance in general and specific to the HPC environment. We confirm good scaling (70?% parallel efficiency or better) of the MPAS model and provide numbers on the computational requirements for experiments with the 3?km mesh. In doing so, we show that global, convection-resolving atmospheric simulations with MPAS are within reach of current and next generations of high-end computing facilities.

A suite of global, cross-scale topographic variables for environmental and biodiversity modeling, links to files in GeoTIFF format

Topographic variation, the spatial variation in elevation and terrain features, underpins a myriad of patterns and processes in geography and ecology and is key to understanding the variation of life on the planet. The characterization of this variation is scale-dependent, i.e. it varies with the distance over which features are assessed and with the spatial grain (grid cell resolution) of analysis. A fully standardized and global multivariate product of different terrain features has the potential to support many large-scale basic research and analytical applications, however to date, such technique is unavailable. Here we used the digital elevation model products of global 250 m GMTED and near-global 90 m SRTM to derive a suite of topographic variables: elevation, slope, aspect, eastness, northness, roughness, terrain roughness index, topographic position index, vector ruggedness measure, profile and tangential curvature, and 10 geomorphological landform classes. We aggregated each variable to 1, 5, 10, 50 and 100 km spatial grains using several aggregation approaches (median, average, minimum, maximum, standard deviation, percent cover, count, majority, Shannon Index, entropy, uniformity). While a global cross-correlation underlines the high similarity of many variables, a more detailed view in four mountain regions reveals local differences, as well as scale variations in the aggregated variables at different spatial grains. All newly-developed variables are available for download at http://www.earthenv.org and can serve as a basis for standardized hydrological, environmental and biodiversity modeling at a global extent.

Global Trade Governance and ASEAN: Studies of Trade-Related Aspects of Labor, Environment and Culture in Southeast Asia

Thesis (Ph.D.)--University of Washington, 2016-08

Modelling the Sun's small scale global photospheric magnetic field

We present a new model for the Sun's global photospheric magnetic field during a deep minimum of activity, in which no active regions emerge. The emergence and subsequent evolution of small- scale magnetic features across the full solar surface is simulated, subject to the influence of a global supergranular flow pattern. Visually, the resulting simulated magnetograms reproduce the typical structure and scale observed in quiet Sun magnetograms. Quantitatively, the simulation quickly reaches a steady state, resulting in a mean field and flux distribution that are in good agreement with those determined from observations. A potential coronal magnetic field is extrapolated from the simulated full Sun magnetograms, to consider the implications of such a quiet photospheric magnetic field on the corona and inner heliosphere. The bulk of the coronal magnetic field closes very low down, in short connections between small-scale features in the simulated magnetic network. Just 0.1% of the photospheric magnetic flux is found to be open at 2:5 Rʘ, around 10 - 100 times less than that determined for typical HMI synoptic map observations. If such conditions were to exist on the Sun, this would lead to a significantly weaker interplanetary magnetic field than is presently observed, and hence a much higher cosmic ray flux at Earth.

Global oceanic precipitation: A joint view by TOPEX and the TOPEX microwave radiometer

The TOPEX/POSEIDON mission offers the first opportunity to observe rain cells over the ocean by a dual-frequency radar altimeter (TOPEX) and simultaneously observe their natural radiative properties by a three-frequency radiometer (TOPEX microwave radiometer (TMR)). This work is a feasibility study aimed at understanding the capability and potential of the active/passive TOPEX/TMR system for oceanic rainfall detection. On the basis of past experiences in rain flagging, a joint TOPEX/TMR rain probability index is proposed. This index integrates several advantages of the two sensors and provides a more reliable rain estimate than the radiometer alone. One year's TOPEX/TMR TMR data are used to test the performance of the index. The resulting rain frequency statistics show quantitative agreement with those obtained from the Comprehensive Ocean-Atmosphere Data Set (COADS) in the Intertropical Convergence Zone (ITCZ), while qualitative agreement is found for other regions of the world ocean. A recent finding that the latitudinal frequency of precipitation over the Southern Ocean increases steadily toward the Antarctic continent is confirmed by our result. Annual and seasonal precipitation maps are derived from the index. Notable features revealed include an overall similarity in rainfall pattern from the Pacific, the Atlantic, and the Indian Oceans and a general phase reversal between the two hemispheres, as well as a number of regional anomalies in terms of rain intensity. Comparisons with simultaneous Global Precipitation Climatology Project (GPCP) multisatellite precipitation rate and COADS rain climatology suggest that systematic differences also exist. One example is that the maximum rainfall in the ITCZ of the Indian Ocean appears to be more intensive and concentrated in our result compared to that of the GPCP. Another example is that the annual precipitation produced by TOPEX/TMR is constantly higher than those from GPCP and COADS in the extratropical regions of the northern hemisphere, especially in the northwest Pacific Ocean. Analyses of the seasonal variations of prominent rainy and dry zones in the tropics and subtropics show various behaviors such as systematic migration, expansion and contraction, merging and breakup, and pure intensity variations, The seasonality of regional features is largely influenced by local atmospheric events such as monsoon, storm, or snow activities. The results of this study suggest that TOPEX and its follow-on may serve as a complementary sensor to the special sensor microwave/imager in observing global oceanic precipitation.

Estratificação do carcinoma do colo do útero pré e pós-terapêutica - uma perspectiva global

O carcinoma do colo do útero é um dos tumores malignos mais frequentes a nível mundial. Para garantir a uniformização de critérios entre países com diferentes recursos, o estadiamento deste tumor permanece clínico, segundo as orientações da Federação Internacional de Ginecologia e Obstetrícia, e tem por principal objectivo a identificação das doentes que são candidatas à cirurgia. A avaliação radiológica é amplamente recomendada, quando disponível, com o objectivo de aumentar a acuidade do diagnóstico, assegurando a optimização terapêutica, sendo também recomendada no seguimento. Importa, assim, que o radiologista tenha presente não só o protocolo técnico adequado na suspeita de carcinoma do colo do útero e o respectivo espectro de apresentação radiológica, mas também algumas características da própria doença e possíveis abordagens terapêuticas, de forma a incluir no seu relatório toda a informação relevante. A ressonância magnética permanece o principal pilar na avaliação radiológica destas doentes, embora recentemente o papel da tomografia computorizada por emissão de positrões tenha vindo a ganhar relevo, sobretudo no que respeita à avaliação ganglionar e ao despiste de recidiva. Neste artigo as autoras dão uma perspectiva aprofundada da avaliação radiológica do carcinoma do colo do útero, deste o diagnóstico ao seguimento pós-terapêutico, à luz dos estudos mais recentes.