Position estimation using principal components of range data

This paper describes a new approach to mobile robot position estimation, based on principal component analysis of laser range data. An eigenspace is constructed from the principal components of a large number of range data sets. The structure of an environment, as seen by a range sensor, is represented as a family of surfaces in this space. Subsequent range data sets from the environment project as a point in this space. Associating this point to the family of surfaces gives a set of candidate positions and orientations (poses) for the sensor. These candidate poses correspond to positions and orientations in the environment which have similar range profiles. A Kalman filter can be used to select the most likely candidate pose based on coherence with small movements.

The first part of this paper describes how a relatively small number of depth profiles of an environment can be used to generate a complete eigenspace. This space is used to build a representation of the range scan profiles obtained from a regular grid of positions and orientations (poses). This representation has the form of a family of surface (a manifold). This representation converts the problem of associating a range profile to possible positions and orientations into a table lookup. As a side benefit, the method provides a simple means to detect obstacles in a range profile. The final section of the paper reviews the use of estimation theory to determine the correct pose hypothesis by tracking.     

Demands on Attention and the Role of Response Priming in Visual Discrimination of Feature Conjunctions.

This study examined how response mapping of features within single- and multiple-feature targets affects decision-based processing and attentional capacity demands. Observers judged the presence or absence of 1 or 2 target features within an object either presented alone or with distractors. Judging the presence of 2 features relative to the less discriminable of these features alone was faster (conjunction benefits) when the task-relevant features differed in discriminability and were consistently mapped to responses. Conjunction benefits were attributed to asynchronous decision priming across attended, task-relevant dimensions. A failure to find conjunction benefits for disjunctive conjunctions was attributed to increased memory demands and variable feature-response mapping for 2- versus single-feature targets. Further, attentional demands were similar between single- and 2-feature targets when response mapping, memory demands, and discriminability of the task-relevant features were equated between targets. Implications of the findings for recent attention models are discussed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

“Growing Smarter Over Time”: An Emergence Model for Administrating a New Media Writing Studio

This article reports on efforts to create an administrative structure for learning and teaching multimodal composing that depends not on the leadership of a new media writing expert but on the collaboration of relative novices organized according to principles of emergent learning. Based on four years’ experience in a grant-funded program that supports new media composing in multiple disciplines, I report on the benefits of a bottom-up, emergent approach while raising questions about the long-term sustainability of such an approach. I conclude by describing efforts to create more top-down support for new media composing, while remaining committed to serving the teachers and students who are the real agents of change.     

Mechanical properties and microstructure changes of proton exchange membrane under immersed conditions

In this study, mechanical tensile stress–strain response and microstructure changes of proton exchange membranes (PEM) in immersed conditions are studied. The effects of water pretreatment and immersion time on stress–strain responses of Nafion^®?212 membranes are discussed. It is found that in the water immersion it took 24 h for the membrane to reach saturation equilibrium. Compared with dry membrane, immersed Nafion membrane shows a lower stress level at 30°C, but a higher stress level at 70°C. In situ small angle neutron scattering (SANS) experiments show that with the increase of temperature and water uptake, domains of the membrane become ordered and stay stable at around 60°C. Based on the observation, the relationship between the microstructure and mechanical properties is explained. POLYM. ENG. SCI. 54:2215–2221, 2014. © 2013 Society of Plastics Engineers     

Synthesis and characterization of perfectly alternating polycarbonate‐polydimethylsiloxane multiblock copolymers possessing controlled block lengths

An array of perfectly alternating polycarbonate‐polydimethylsiloxane (PC‐PDMS) multiblock copolymers possessing systematic variations in block molecular weights were successfully produced by coupling preformed PC and PDMS telechelic oligomers using hydrosilylation. Based on gel permeation chromatography results, the multiblock copolymers were essentially void of the oligomeric precursors. Despite the relatively large difference in solubility parameter between PC and PDMS, the multiblock copolymers exhibited significant partial miscibility between the two phases. As expected, the degree of partial miscibility was dependent on the molecular weight of the blocks with the extent of partial miscibility increasing with decreasing block molecular weights. Morphological characterization using small angle X‐ray scattering showed that, at a given PC block molecular weight, the uniformity of the two phase morphology increased with increasing PDMS block molecular weight, which is consistent with a decrease in the extent of phase mixing with increasing PDMS block molecular weight. POLYM. ENG. SCI., 54:1648–1663, 2014. © 2013 Society of Plastics Engineers     

Material properties and fire test results

Five material properties commonly used to describe the fire behavior of solids were evaluated as sole explanatory variables for four small‐scale fire tests with pass/fail outcomes by using a physically based probabilistic (phlogistic) burning model. The phlogistic model describes the likelihood of passing vertical Bunsen burner tests and a regulatory heat release rate test reasonably well over a wide range of material properties, as deduced from the correlation coefficient and mean deviation of the predicted and measured values. Of the thermal, combustion, and fire properties examined, the best predictors of the likelihood of passing the fire tests of this study were the heat of combustion of the sample, the heat release capacity, and the heat release parameter. The relative merits and drawbacks of qualitative (threshold) and quantitative (probabilistic) approaches to predicting fire test results using thermal and combustion properties are discussed. Published 2013. This article is a U.S. Government work and is in the public domain in the USA.     

Effects of osteoporosis on AIS 3+ injury risk in motor-vehicle crashes

Older occupants in motor-vehicle crashes are more likely to experience injury than younger occupants. One possible reason for this is that increasing age is associated with increased prevalence of osteoporosis, which decreases bone strength.Crash-injury data were used with Bayes’ Theorem to estimate the conditional probability of AIS 3+ skeletal injury given that an occupant is osteoporotic for the injury to the head, spine, thorax, lower extremities, and upper extremities. This requires the conditional probabilities of osteoporosis given AIS 3+ injury for each of the body regions, which were determined from analysis of the Crash Injury Research and Engineering Network database. It also requires information on probability of osteoporosis in the crash-involved population and the probabilities of AIS 3+ skeletal injury to different body regions in crashes. The latter probabilities were obtained from the National Automotive Sampling System-Crashworthiness Data System (NASS-CDS) database. The former was obtained by modeling the probability of osteoporosis in the US populations using data from the 2006 National Health Examination Nutrition Survey and applying this model to the estimate of the crash-involved population in NASS-CDS. To attempt to account for the effects of age on injury outcome that are independent of osteoporosis, only data from occupants who were 60 years of age or older were used in all analyses.Results indicate that the only body region that experiences a statistically significant change in fracture injury risk with osteoporosis is the spine, for which osteoporosis increases the risk of AIS 3+ fracture by 3.28 times, or from 0.41% to 1.34% (p < 0.0001). This finding suggests that the increase in AIS 3+ injury risk with age for non-spine injuries is likely influenced by factors other than osteoporosis.     

Effective learning in science: The use of personal response systems with a wide range of audiences

This paper describes the flexibility of Personal Response Systems (PRSs), (also known as ‘clickers’ or electronic voting systems (EVS)), as part of strategies to support students’ learning in science. Whilst variants of this technology began to appear 12 years ago, there is now a steadily increasing adoption of these systems within higher education, including science programmes, and this use has grown significantly in the last six years. They have previously been shown to offer a measurable learning benefit. Typically, someone at an institution buys these systems for learning support and they never make it out of their cases. Far less work has been done with these systems at school level. In this practitioner based paper, the broad range of practical uses for these systems is described in a variety of formal and informal learning situations – from testing the understanding of science concepts (from primary aged school children up to physics undergraduates), to undertaking evaluation of events as well as public participation in data collection for research on attitudes to careers. In addition, the data collected on such handsets can be mapped to demographic factors such as gender and age yielding further layers of analysis. Overall this is a highly flexible and transferable approach to the use of interactive technology for engaging learners of all ages as well as carrying out research.