Posterior representation with a multi‐modal likelihood using the gaussian sum filter for localization in a known map

A Gaussian sum filter (GSF) with component extended Kalman filters (EKF) is proposed as an approach to localizing an autonomous vehicle in an urban environment with limited GPS availability. The GSF uses vehicle‐relative vision‐based measurements of known map features coupled with inertial navigation solutions to accomplish localization in the absence of GPS. The vision‐based measurements have multimodal measurement likelihood functions that are well represented as weighted sums of Gaussian densities. The GSF is used because of its ability to represent the posterior distribution of the vehicle pose with better efficiency (fewer terms, less computational complexity) than a corresponding bootstrap particle filter with various numbers of particles because of the interaction with measurement hypothesis tests. The expectation‐maximization algorithm is used off line to determine the representational efficiency of the particle filter in terms of an effective number of Gaussian densities. In comparison, the GSF, which uses an iterative condensation procedure after each iteration of the filter to maintain real‐time capabilities, is shown through a series of in‐depth empirical studies to more accurately maintain a representation of the posterior distribution than the particle filter using 37 min of recorded data from Cornell University's autonomous vehicle driven in an urban environment, including a 32 min GPS blackout. © 2012 Wiley Periodicals, Inc.     

An algorithm for solving sparse Nonlinear Least Squares problems

We introduce a new method for solving Nonlinear Least Squares problems when the Jacobian matrix of the system is large and sparse. The main features of the new method are the following:

1. The Gauss-Newton equation is “partially” solved at each iteration using a preconditioned Conjugate Gradient algorithm.
2. The new point is obtained using a two-dimensional trust region scheme, similar to the one introduced by Bulteau and Vial.

We prove global and local convergence results and we present some numerical experiments.     

Gaussian,Lobatto and Radau positive quadrature rules with a prescribed abscissa

For a given $\theta \in (a,b)$ , we investigate the question whether there exists a positive quadrature formula with maximal degree of precision which has the prescribed abscissa $\theta $ plus possibly $a$ and/or $b$ , the endpoints of the interval of integration. This study relies on recent results on the location of roots of quasi-orthogonal polynomials. The above positive quadrature formulae are useful in studying problems in one-sided polynomial $L_1$ approximation.     

Electroantennographic and coupled gas chromatographic-electroantennographic responses of the mediterranean fruit fly,Ceratitis capitata,to male-produced volatiles and mango odor

We have identified five compounds from the headspace of calling male Mediterranean fruit flies (medfly),Ceratitis capitata (Wiedemann), and three compounds from the headspace of ripe mango (Mangifera indica L). using coupled gas chromatographic-electroantennographic (GC-EAG) recordings, coupled gas chromatographic-mass spectrometric (GC-MS) analysis, and electroantennographic (EAG) assays of standards. The male-produced volatiles eliciting responses from female antennae were ethyl-(E)-3-octenoate, geranyl acetate, (E,E)--farnesene, linalool, and indole. An EAG dose-response test of linalool enantiomers and indole with female medfly antennae showed relatively strong EAG activities, but no significant difference between (R)-(-)-linalool and (S)-(+)-linalool. The three mango volatiles were identified as (1S)-(-)--pinene, ethyl octanoate, and-caryophyllene. In addition, a strong antennal response was recorded from a contaminant,-copaene, present in a commercial sample of-caryophyllene. The EAG response amplitudes from both male and female antennae to the above three mango volatiles were significantly greater than to a hexanol control. For both male and female medfly antennae, the greatest EAG responses were elicited by-caryophyllene followed by ethyl octanoate. The mean EAG responses of female antennae to-caryophyllene and (1S)-(-)--pinene were significantly greater than those of male antennae.     

Responses by amphisbaenianBlanus cinereus to chemicals from prey or potentially harmful ant species

We tested the ability of amphisbaenians (Blanus cinereus) to discriminate between odors of ant species selected as prey (Pheidole pallidula) and odors of potentially harmful ant species (Messor barbarus) that are avoided. Tongue-flick rate to swabs impregnated with ant odors, cologne, or deionized water differed among treatments, showing that amphisbaenians were able to discriminate ant species odors. Amphisbaenians showed an aggressive response and bit applicators bearing the odor of harmful ants, while the odor of prey ants did not elicit bites to swabs. The possible evolutionary advantage of identifying and avoiding harmful ants is discussed in relation to the fossoriality of amphisbaenians.     

A 2D algorithm with asymmetric workload for the UPC conjugate gradient method

This paper examines four different strategies, each one with its own data distribution, for implementing the parallel conjugate gradient (CG) method and how they impact communication and overall performance. Firstly, typical 1D and 2D distributions of the matrix involved in CG computations are considered. Then, a new 2D version of the CG method with asymmetric workload, based on leaving some threads idle during part of the computation to reduce communication, is proposed. The four strategies are independent of sparse storage schemes and are implemented using Unified Parallel C (UPC), a Partitioned Global Address Space (PGAS) language. The strategies are evaluated on two different platforms through a set of matrices that exhibit distinct sparse patterns, demonstrating that our asymmetric proposal outperforms the others except for one matrix on one platform.     

Enterotoxigenic <Emphasis Type="Italic">Escherichia coli</Emphasis> strains bind bovine milk gangliosides in a ceramide-dependent process

Diarrhea caused by enterotoxigenic Escherichia coli (ETEC) is the main infectious disease of newborn calves. The first step of infection involves bacterial attachment to the intestinal mucosa. This adhesion is mediated by fimbriae that recognize some glycoconjugates on the host cell surface, in particular, several gangliosides. Because milk also contains gangliosides, these have been suggested to serve as ligands for bacterial fimbriae and thus prevent the bacterial attachment to mucosa. The most relevant ETEC strains in calves, including those with K99 and F41 fimbriae, were assayed to determine whether they are able to bind gangliosides isolated from several stages of bovine lactation. Both GM3 and GD3, the main gangliosides of milk, were recognized by ETEC strains, although the different fimbriae showed diverse levels of affinity. Unexpectedly, the adhesion to colostral gangliosides was considerably weaker than that to gangliosides from the other stages of lactation. Because the carbohydrate moiety did not change and because differences in the percentages of unsaturated FA and sphingosine between colostrum and other stages were observed, we conclude that the differences in adhesion could be due to a different composition of the ganglioside caramide.     

Electrochemical behaviour of indium ions in molten equimolar CaCl2–NaCl mixture at 550 ∘C

The stability of indium chloride and oxide as well as the electrochemical behaviour of indium ions have been studied in the equimolar CaCl2–NaCl melt at 550 C by X-ray diffraction (XRD) and different electrochemical techniques, using molybdenum and tungsten wires as working electrodes. Voltammetric and chronopotentiometric studies showed signals attributed to the presence of three oxidation states of indium, i.e. 0, i and iii. The standard potential of the redox couples, as well as the solubility products of indium oxides have been determined, showing that In(iii) ions are completely reduced to monovalent indium by the indium metal according to the reaction: In () + 2 In 3 In () and that In₂O is a strong oxide donor according to the reaction: In₂O(s) 2 In() + O^2- These results have allowed the construction of E-pO2– equilibrium diagrams summarising the properties of In–O compounds. The electrodeposition of indium was uncomplicated at Mo and W electrodes. Very good adherence of liquid indium to the electrode materials was observed, with the formation of Na–In alloys at highly reducing potentials, and there was no evidence of indium dissolution into the melt. Moreover, the voltammograms corresponding to the electrochemical In(iii)/In(i) exchange were well defined. The two electrochemical steps were found to be quasi-reversible, and the values of the kinetic parameters, ko and , for both reactions, as well as the diffusion coefficients, DIn(III) and DIn(I) were calculated.     

Surface and subsurface products of the interaction of O2 with Ag under catalytic conditions

Polycrystalline Ag treated with O₂ at pressures up to 1 bar and at temperatures up to 920 K was examined by TDS. It was found that the peak commonly observed at 595±25 K and assigned to adsorbed atomic oxygen (O_a) is shifted to higher desorption temperatures with rising dosing temperatures. Since saturation of the uptake was not possible either, this peak was identified as dissolved atomic oxygen (O_d). The existence of a maximum for the O₂ uptake after exposure at 820 K was found. Hence, under conditions of formaldehyde synthesis ( 920 K) the ability of the catalyst to dissolve oxygen is near its maximum.     

Silphinene Sesquiterpenes as Model Insect Antifeedants

Silphinene sesquiterpenes are established chrysomelid antifeedants. In this work, nine silphinene analogs, 11-acetoxy-5-angeloyloxysilphinen-3-one (1), 11-acetoxy-5-tigloyloxysilphinen-3-one (2), 11-acetoxy-5-iso- butyryloxysilphinen-3-one (3), 11-hydroxy-5-angeloyloxysilphinen-3-one (4), 11,5-dihydroxysilphinen-3-one (5), 11,5-diacetoxysilphinen-3-one (6), 5,11-diisobutyryloxysilphinen-3-one (7), silphinen-3,5,11-trione (8), and O-methyl-5-epicantabrenolic acid methyl ester (10), and a presilphiperfolane sesquiterpene (9) were tested against several divergent insect species, including the lepidopteran Spodoptera littoralis, the chrysomelid Leptinotarsa decemlineata, and five aphid species, and their antifeedant effects were compared with those of picrotoxinin, a GABA-antagonist, and thymol, an allosteric modulator for insect GABA receptors. All insects tested responded to at least one silphinene analog and/or GABA antagonist. Compound 3 and thymol were effective antifeedants against all species tested except S. littoralis, with varying potencies according to their feeding ecologies. The toxicity of these compounds was species-dependent and did not correlate with their antifeedant effect.