Localization using GPS and VISION aided INS with an image database and a network of a ground-based reference station in outdoor environments

GPS/INS integrated systems do not guarantee robustness and accuracy of localization, because GPS has vulnerability to external disturbances. However, the overall performance and reliability of the system can be significantly improved by fusing multiple sensors with a different operating principle. In outdoor environments where GPS may be blocked, there are many features compared to the open space and these features can provide much information for UGV localization. Thus, this paper proposes an improved localization algorithm based on the hierarchical federation of three measurement layers, i.e., GPS, INS, and visual localization, to overcome the shortcomings of GPS/INS integrated systems. The proposed algorithm automatically switches the operation modes according to GPS status and a network of a ground-based reference station. A vocabulary tree with SURF is used in the visual localization method. In the data fusion of visual localization and INS, an asynchronous and time-delayed data fusion algorithm is presented because visual localization is always time-delayed compared with INS. By using DGPS to obtain the reference position under the dynamic conditions of the reference station, the restrictions of the conventional DGPS are overcome and all UGVs within WiBro communication range of the reference station can accurately estimate the position with a common GPS. The experiment results with a predefined path demonstrate enhancement of the robustness and accuracy of localization in outdoor environments.     

Immature chemodifferentiation of Purkinje cell synapses revealed by 5''-nucleotidase ecto-enzyme activity in the cerebellum of the reeler mouse

Data from child and adolescent emergency mental health screening episodes prior and subsequent to privatized Medicaid managed care in Massachusetts are used to investigate the relationship between payer source and disposition and to compare the match between clinical need and disposition level of care. Having Medicaid as the payer in the post-Medicaid managed care period decreased the odds of hospitalization by nearly 60%. None of the clinical need variables that contributed to hospitalization for Medicaid episodes in the pre-Medicaid managed care period were significant in the post-Medicaid managed care period. Multiple forces shaping professional standards, decision making, and quality of care are described. Public sector agencies must lay the groundwork for comprehensive evaluation prior to the implementation of privatized Medicaid managed care initiatives.     

Three-dimensional computations of the impulsive wave discharged from a duct

A sudden discharge of mass flow from the exit of a duct can generate an impulsive wave, generally leading to undesirable noise and vibration problems The present study develops an understanding of unsteady flow physics with regard to the impulsive wave discharged from a duct, using a numerical method A second order total variation diminishing scheme ts employed to solve three-dimensional, unsteady, compressible Euler equations Computations are performed for several exit conditions with and without ground and wall effects under a change in the Mach number of an initial shock wave from 11 to 15 The results obtained show that the directivity and magnitude of the impulsive wave discharged from the duct are significantly influenced by the initial shock Mach number and by the presence of the ground and walls     

Molecular dynamics study on the effect of solution-wall interaction potential on the properties of solution in uniformly charged hydrophobic channel

We numerically investigate the effect of the solution-wall (i.e., water-wall and ion-wall) interaction potential on the properties of confined aqueous solution by using molecular dynamics (MD) simulations. The effect is determined by comparing results obtained from the MD simulation using the Lennard-Jones (L-J) potential for the water-wall and ion-wall interactions and those using a purely repulsive potential, i.e., the Weeks-Chandler-Andersen-like potential. In the MD simulations, 680 water molecules and 20 chloride ions are included between uniformly charged plates that are separated by 2.6 nm. The results show that the properties of solution are influenced only in the region close to the wall: The water molecules are more densely packed for the case of the L-J potential. Comparison of the results of the MD simulations in the case of the L-J potential with those provided by solving the Poisson-Boltzmann equation, we found that classical continuum theory fails to predict the ion density and electrostatic potential distributions in the region near to the wall, but far way from the wall, the prediction from the continuum theory is in line with the MD simulation.