Odometry-Based Viterbi Localization with Artificial Neural Networks and Laser Range Finders for Mobile Robots

This paper proposes an approach that solves the Robot Localization problem by using a conditional state-transition Hidden Markov Model (HMM). Through the use of Self Organized Maps (SOMs) a Tolerant Observation Model (TOM) is built, while odometer-dependent transition probabilities are used for building an Odometer-Dependent Motion Model (ODMM). By using the Viterbi Algorithm and establishing a trigger value when evaluating the state-transition updates, the presented approach can easily take care of Position Tracking (PT), Global Localization (GL) and Robot Kidnapping (RK) with an ease of implementation difficult to achieve in most of the state-of-the-art localization algorithms. Also, an optimization is presented to allow the algorithm to run in standard microprocessors in real time, without the need of huge probability gridmaps.     

2D structured grid generation method producing a mesh with prescribed properties near boundary

A variational method of generating a structured mesh on a two-dimensional domain is considered. To this end, a quasiconformal mapping of the parametric domain with a given Cartesian mesh onto the underlying physical domain is used. The functions implementing the mapping are sought by solving the Dirichlet problem for the system of elliptic second-order partial differential equations. An additional control for the cell shape is executed by introducing a local mapping which induces a control metric. In some particular cases, instead of an additional local mapping, a global mapping of the parametric domain onto the intermediate domain is used, where the curvilinear mesh is produced, and next this domain is mapped onto the underlying physical domain. The control metric allows to obtain a mesh with required properties: grid line orthogonality and prescribed mesh point clustering near the domain boundary. Examples of mesh in the annulus and near airfoil are presented.     

Kalman filter for controlled hybrid systems

The linear partially observed discrete-continuous (hybrid) stochastic controllable system described by differential equations with measures is considered. The optimal filtering equations in the form of generalized Kalman filter are obtained in the case of non-anticipating control. This result could be a theoretical basis for the optimal control in stochastic hybrid systems with incomplete information.     

Patterns of self-stabilization in database consistency maintenance

A substantial portion of the database programming efforts are invested in integrity constraints enforcement. Traditionally, both the constraint semantics and their enforcement were embedded inside application programs. In recent years several studies have dealt with specifying integrity constraints as separate entities (e.g. rules), and relating the database consistency requirements to these rules. In this paper we deal with the complementary issue of stabilizing the database when update exceptions occur. While a simplistic approach is to abort any transaction that inflicts consistency violations, this is not always the desired action. We take advantage of the empirical observation that most of the exception-handling policies follow a small number of behavior patterns. Unlike some previous approaches that base their repair solution on syntactic analysis of the constraints and performance issues, we base our approach on the application semantics as reflected in these behavioral patterns. We describe a model that uses high-level abstractions called stabilizer types denoting these behavior patterns for consistency restorations, whose exact semantics is case dependent. It follows the fault tolerance's self-stabilization approach. An inference mechanism translates these abstractions into executable active rules. This approach provides high-level language to the exception handling portion of the application and substantially reduces the required programming.     

DNA Penetration into a Lysozyme Layer at the Surface of Aqueous Solutions

The interactions of DNA with lysozyme in the surface layer were studied by performing infrared reflection–absorption spectroscopy (IRRAS), ellipsometry, surface tensiometry, surface dilational rheology, and atomic force microscopy (AFM). A concentrated DNA solution was injected into an aqueous subphase underneath a spread lysozyme layer. While the optical properties of the surface layer changed fast after DNA injection, the dynamic dilational surface elasticity almost did not change, thereby indicating no continuous network formation of DNA/lysozyme complexes, unlike the case of DNA interactions with a monolayer of a cationic synthetic polyelectrolyte. A relatively fast increase in optical signals after a DNA injection under a lysozyme layer indicates that DNA penetration is controlled by diffusion. At low surface pressures, the AFM images show the formation of long strands in the surface layer. Increased surface compression does not lead to the formation of a network of DNA/lysozyme aggregates as in the case of a mixed layer of DNA and synthetic polyelectrolytes, but to the appearance of some folds and ridges in the layer. The formation of more disordered aggregates is presumably a consequence of weaker interactions of lysozyme with duplex DNA and the stabilization, at the same time, of loops of unpaired nucleotides at high local lysozyme concentrations in the surface layer.     

火山灰对富有机质页岩形成的影响——以西西伯利亚盆地中生界巴热诺夫组为例

西西伯利亚盆地上侏罗统-下白垩统巴热诺夫组硅质-钙质富有机质泥页岩总有机碳(TOC)含量高且有机质成熟度适中,是俄罗斯目前页岩油的勘探首选目的层系。近年研究表明,该套富有机质页岩层段发育数套厘米-毫米级的火山灰夹层,具黄色荧光,岩心薄片见大量沸石等火山灰蚀变矿物,使该区火山灰与富有机质形成的相互关系引起关注。以该盆地的巴热诺夫组为例,介绍了火山灰对该区富有机质页岩形成的影响。巴热诺夫组的地质-地球化学分析表明,在火山灰发育同期沉积的富有机质层段中不仅硅、磷等营养元素含量高,而且钡、锰、钼、铀等藻类繁殖催化元素含量也高,推测火山灰携带物质促进了巴热诺夫页岩沉积时期古生物的大量繁殖甚至爆发,为富有机质的形成奠定了物质基础;同时,在火山灰发育层段之上的富有机质泥页岩中大量发育草莓状黄铁矿,且呈层状分布,Co/Ni比值小于1,S/Fe比值偏高,指示火山灰喷发之后形成缺氧的强还原环境,有利于泥页岩中有机质的保存;火山灰发育井区TOC含量高(多>7%),有机质成熟度与邻近火山灰不发育区相比偏高(R_o=0.7%～1.1%),生烃潜力高且已达到生油高峰,推测可能火山灰携带的...     

On quadratic two-parameter families of spheres and their envelopes

In the present paper we investigate rational two-parameter families of spheres and their envelope surfaces in Euclidean . The four dimensional cyclographic model of the set of spheres in is an appropriate framework to show that a quadratic triangular Bézier patch in corresponds to a two-parameter family of spheres with rational envelope surface. The construction shows also that the envelope has rational offsets. Further we outline how to generalize the construction to obtain a much larger class of surfaces with similar properties.     

Metformin Attenuates Slow-to-Fast Fiber Shift and Proteolysis Markers Increase in Rat Soleus after 7 Days of Rat Hindlimb Unloading

Muscle unloading leads to signaling alterations that cause muscle atrophy and weakness. The cellular energy sensor AMPK can regulate myofiber-type shift, calcium-dependent signaling and ubiquitin-proteasome system markers. We hypothesized that the prevention of p-AMPK downregulation during the first week of muscle unloading would impede atrophy development and the slow-to-fast shift of soleus muscle fibers, and the aim of the study was to test this hypothesis. Thirty-two male Wistar rats were randomly assigned to four groups: placebo control (C), control rats treated with metformin (C + M), 7 days of hindlimb suspension (HS) + placebo (7HS), and 7 days of HS + metformin administration (7HS + M). In the soleus of the 7HS rats, we detected a slow-to-fast fiber-type shift as well as a significant downregulation of MEF-2D and p300 in the nuclei. In the 7HS group, we also found decreases in p-ACC (AMPK target) protein level and in the expression of E3 ubiquitin ligases and p-CaMK II protein level vs. the C group. The 7-day metformin treatment for soleus muscle unloading (1) prevented slow-to-fast fiber-type shift; (2) counteracted changes in the p-ACC protein level; (3) hindered changes in the nuclear protein level of the slow myosin expression activators MEF-2D and p300, but did not affect NFATc1 signaling; and (4) attenuated the unloading-induced upregulation of MuRF-1, atrogin-1, ubiquitin and myostatin mRNA expression, but did not prevent soleus muscle atrophy. Thus, metformin treatment during muscle disuse could be useful to prevent the decrease in the percentage of slow-type fatigue-resistant muscle fibers.