Air‐ground Matching: Appearance‐based GPS‐denied Urban Localization of Micro Aerial Vehicles

In this paper, we address the problem of globally localizing and tracking the pose of a camera‐equipped micro aerial vehicle (MAV) flying in urban streets at low altitudes without GPS. An image‐based global positioning system is introduced to localize the MAV with respect to the surrounding buildings. We propose a novel air‐ground image‐matching algorithm to search the airborne image of the MAV within a ground‐level, geotagged image database. Based on the detected matching image features, we infer the global position of the MAV by back‐projecting the corresponding image points onto a cadastral three‐dimensional city model. Furthermore, we describe an algorithm to track the position of the flying vehicle over several frames and to correct the accumulated drift of the visual odometry whenever a good match is detected between the airborne and the ground‐level images. The proposed approach is tested on a 2 km trajectory with a small quadrocopter flying in the streets of Zurich. Our vision‐based global localization can robustly handle extreme changes in viewpoint, illumination, perceptual aliasing, and over‐season variations, thus outperforming conventional visual place‐recognition approaches. The dataset is made publicly available to the research community. To the best of our knowledge, this is the first work that studies and demonstrates global localization and position tracking of a drone in urban streets with a single onboard camera.     

吴哥的朝阳与微笑

吴哥是我向往已久的旅行目的地,因此,我为这次春节柬埔寨之行做了大量功课。各种游记、攻略下载了一堆,旅行指南也买了很多本。在春节放假前抓紧时间一通恶补,除各种难以分辨的寺庙名称之外,日出和微笑成为我对吴哥的最深印象。     

Three-year outcome after balloon aortic valvuloplasty. Insights into prognosis of valvular aortic stenosis

BACKGROUND: To identify predictors of long-term outcome after balloon aortic valvuloplasty, we analyzed data on 674 adults (mean age, 78 +/- 9 years; 56% were women) undergoing this procedure at 24 clinical centers who had a mean initial increase in aortic valve area of 0.3 cm2. METHODS AND RESULTS: Baseline data included clinical, echocardiographic, and catheterization variables. Follow-up data included mortality, cause of death, rehospitalization, 6-month echocardiography, and functional status. Kaplan-Meier curves and log-rank tests were used to evaluate survival in subgroups. Multivariate Cox regression models were used to identify independent predictors of survival. Overall survival was 55% at 1 year, 35% at 2 years, and 23% at 3 years, with the majority of deaths (70%) classified as cardiac by an independent review committee. Rehospitalization was common (64%), although 61% of survivors at 2 years reported improved symptoms. Echocardiography at 6 months (n = 115) showed restenosis from the postprocedural valve area of 0.78 +/- 0.31 cm2 to 0.65 +/- 0.25 cm2 (P < .0001). With stepwise multivariate analysis, sequentially adding clinical, echocardiographic, and catheterization variables, the overall model identified independent predictors of survival as baseline functional status, baseline cardiac output, renal function, cachexia, female gender, left ventricular systolic function, and mitral regurgitation. Baseline and postprocedural variables were examined to identify which subgroup of patients has the best outcome after aortic valvuloplasty. A "lower-risk" subgroup (28% of the study population), defined by normal left ventricular systolic function and mild clinical functional limitation, had a 3-year survival of 36% compared with 17% in the remainder of the study group. CONCLUSIONS: Long-term survival after balloon aortic valvuloplasty is poor with 1- and 3-year survival rates of 55% and 23%, respectively. Although survivors report fewer symptoms, early restenosis and recurrent hospitalization are common.     

Evaluating and improving the content access in KAD

We analyze in detail the content retrieval process in kad. kad implements content search (publish and retrieval) functions that use the Kademlia Distributed Hash Table for content routing. Node churn is quite common in peer-to-peer systems and results in information loss and stale routing table entries. To deal with node churn, kad issues parallel route requests and publishes multiple redundant copies of each piece of information. We identify the key design parameters in kad and present an analytical model to evaluate the impact of changes in the values of these parameters on the overall lookup latency and message overhead. Extensive measurements of the lookup performance using an instrumented client allow us to validate the model. The overall lookup latency is in most cases 5 s or larger. We elucidate the cause for such high lookup latencies and propose an improved scheme that significantly decreases the overall lookup latency without increasing the overhead.     

磁盘空间占用“大户”查看我最行

当计算机系统长时间运行之后,很多人或许会感觉到系统速度会越来越慢,硬盘剩余空间也越来越小了。特别是一些喜欢下载软件或欣赏视频的用户,常常会感觉到硬盘空间就像是被病毒侵蚀一样不知不觉就被消耗光了。     

识别并管理企业的应用个性

很多时候,IT预算只是用来管理并运行企业的基础设施,而不是推动业务创新。不能适应当今迅速变化步伐的老旧系统和应用更加剧了这一问题。这种方式往往会导致企业发展停滞不前,且难以满足不断变化的业务需求。将现代化应用组合进行整合并转换到全新架构将能促进企业发展,能显著提高其敏捷性及创新能力。     

Atropine and exercise-induced bronchoconstriction

Six asthmatic children were studied to determine whether supplemental, parenteral atropine would increase the effects of bronchodilation and protection against exercise-induced bronchoconstriction after maximal effects had been achieved by inhalation. First, we determined the amount of inhaled atropine sulfate that would give maximal bronchodilation for each patient at rest. This quantity of atropine was designated as "A." Then all subjects exercised for five sessions with the following pre-exercise treatments in a random order: (a) inhaled distilled water plus intramuscular (IM) saline solution; (b) inhaled A dose of atropine plus IM saline solution; (c) inhaled distilled water plus 0.35 mg IM atropine; (d) inhaled A dose of atropine plus 0.35 mg IM atropine; and (e) inhaled double the A dose plus IM saline solution. The results showed that the combination of inhaled and IM atropine had the greatest bronchodilation effect and the greatest protection against exercise-induced bronchoconstriction. Atropine inhalation alone (A dose) or IM injection (0.35 mg) was not as effective in bronchodilation or in alleviation of exercise-induced bronchoconstriction. Doubling the dose of inhalation (2A) did not increase the effects of the A dose. These results support the hypothesis that inhaled atropine does not reach all the airways where cholinergic receptors are present.     

Measurement of thrombus formation on intravascular catheters

War is a complex social situation due to the interplay of multiple factors. Economical and political ones are of utmost importance, but human attitudes and motivations must be also taken into account. Being desirable to modify human transactions in such a way that they do not interfere with the basic right of everyone to a condition of physical and mental well-being, war must be abolished. The author contends that an understanding of behaviour through Psychology can be helpful in that aim. Aggression is considered the principal psychological cause of war. It is worth while to differentiate between aggression as an instrument for attaining a special end, and as pure hostility. Only in the first form, it is held here, does it play an important role in war. Psychogists must deal also with a wide range of states of mind that can be "served" by aggression: feelings of inferiority or insecurity, fear, greed, projections, compensations, rationalizations, etc. Scientific approach is not the only one Physiology brings to war prevention. It is equally important the wide dissemination of its conclusions among the general public. Information on the dynamics that prompt people to decide war would make it easier to control. This applies not only to political or military leaders, but also to civil populations. Concerning those two possible contributions of psychologists, scientific and educative, it is suggested the extensive use of psychodramatic techniques. Their richness lie in the lifelike experiences they convey to the participants, and particular aptitude to promote changes of attitudes. Investigation and information on the psychological processes related to war should be undertaken by international organizations of social scientists, acting simultaneously in several countries. Some of the initial steps they could further: 1) that prevention of war be a current subject matter in psychological courses; 2) that the World Health Organization take interest in this subject; 3) that psychologists participate in international political and economical bodies in order to clarify the psychological factors leading to war.     

Relative importance of growth hormone and sex steroids for the growth at puberty of trunk length, limb length, and muscle width in growth hormone-deficient children

We have followed the growth of stature, sitting height, skinfolds, muscle widths measured radiologically, and skeletal maturity in growth hormone-deficient patients in whom hGH was given and withheld in alternating three-month periods throughout puberty (referred to as "off-hGH" and "on-hGH" periods). Six boys and four girls had true isolated GH deficiency and developed puberty spontaneously. Two boys had gonadotrophin deficiency plus GH deficiency, and five boys had multiple deficiencies; in these boys the signs of puberty were induced by hormone treatment. Boys with true isolated deficiency grew about two-thirds as much in height in the off-hGH periods as in the on-hGH periods; their total gain in height during the adolescent spurt would have been about 20 cm, instead of 30 cm, if hGH had been discontinued at the beginning of puberty. The effect of hGH was entirely on growth in leg-length, however, which virtually ceased during the off-hGH periods. Growth in sitting height altered little when hGH was withdrawn. Growth in limb muscles, however, was GH dependent throughout puberty; during the majority of periods when hGH was withheld, muscle was actually lost; this occurred in the boys who were receiving large doses of testosterone as well as in those producing their own normal amounts. Subcutaneous fat diminished when hGH was given and increased when it was withdrawn; this occurred independently of administration of testosterone. There was little evidence that growth of pubic and axillary hair progressed faster during on-hGH periods, except perhaps in patients with multiple deficiencies. There was some evidence, however, that bone age progressed less rapidly during on-hGH periods than during off-hGH periods in the patients with isolated deficiency. The results in the girls agreed with those in boys so far as stature was concerned, but the relationship with sitting height and leg length appeared to be different; the reasons for this are discussed. We conclude that all children with GH deficiency should continue on treatment with hGH throughout puberty, ideally until growth ceases.