Planar-Based Visual Inertial Navigation: Observability Analysis and Motion Estimation

In this paper, we address the problem of ego-motion estimation by fusing visual and inertial information. The hardware consists of an inertial measurement unit (IMU) and a monocular camera. The camera provides visual observations in the form of features on a horizontal plane. Exploiting the geometric constraint of features on the plane into visual and inertial data, we propose a novel closed form measurement model for this system. Our first contribution in this paper is an observability analysis of the proposed planar-based visual inertial navigation system (VINS). In particular, we prove that the system has only three unobservable states corresponding to global translations parallel to the plane, and rotation around the gravity vector. Hence, compared to general VINS, an advantage of using features on the horizontal plane is that the vertical translation along the normal of the plane becomes observable. As the second contribution, we present a state-space formulation for the pose estimation in the analyzed system and solve it via a modified unscented Kalman filter (UKF). Finally, the findings of the theoretical analysis and 6-DoF motion estimation are validated by simulations as well as using experimental data.     

Not all faces are processed equally: Evidence for featural rather than holistic processing of one's own face in a face-imaging task.

The present work considers the mental imaging of faces, with a focus in own-face imaging. Experiments 1 and 3 demonstrated an own-face disadvantage, with slower generation of mental images of one's own face than of other familiar faces. In contrast, Experiment 2 demonstrated that mental images of facial parts are generated more quickly for one's own face. Finally, Experiment 4 established that a bias toward local processing is advantageous for one's own face, whereas a global-processing bias produces an enhanced own-face disadvantage. The results suggest that own-face imaging is more synchronized with retrieval of face features and less attuned to a face's holistic pattern than is imaging of other people's faces. The authors propose that the salient information for own and other face identification reflects, in part, differences in the purpose and experiences (expertise) generally associated with processing of own and other faces. Consistent with work examining the range of face processing, including other-race faces, our results suggest that not all faces receive the same holistic emphasis. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Transformations for early reply and forward message passing mechanisms

Message passing notations (language, package, etc.) typically include some form of asynchronous or synchronous invocation. In a synchronous invocation, the invoker waits for the invocation's servicer to pass back results. Some message passing notations also include early reply or deferred reply (including forwarding), which alters how and when the servicer passes back its results; this additional flexibility is useful in realistic applications. It is well known how to transform a synchronous invocation into only asynchronous invocations. This paper extends such transformations to early reply and forward. This paper also describes the use of these transformations within the implementations of programming notations. Using the transformation simplifies the implementation without significantly affecting run‐time costs. Copyright © 2015 John Wiley & Sons, Ltd.     

Discovery of Ubonodin,an Antimicrobial Lasso Peptide Active against Members of the Burkholderia cepacia Complex

We report the heterologous expression, structure, and antimicrobial activity of a lasso peptide, ubonodin, encoded in the genome of Burkholderia ubonensis. The topology of ubonodin is unprecedented amongst lasso peptides, with 18 of its 28 amino acids found in the mechanically bonded loop segment. Ubonodin inhibits RNA polymerase in vitro and has potent antimicrobial activity against several pathogenic members of the Burkholderia genus, most notably B. cepacia and B. multivorans, causative agents of lung infections in cystic fibrosis patients.     

Cold sintering process of Li1.5Al0.5Ge1.5(PO4)3 solid electrolyte

The recently developed technique of cold sintering process (CSP) enables densification of ceramics at low temperatures, i.e., <300°C. CSP employs a transient aqueous solvent to enable liquid phase‐assisted densification through mediating the dissolution‐precipitation process under a uniaxial applied pressure. Using CSP in this study, 80% dense Li_1.5Al_0.5Ge_1.5(PO₄)₃ (LAGP) electrolytes were obtained at 120°C in 20 minutes. After a 5 minute belt furnace treatment at 650°C, 50°C above the crystallization onset, Li‐ion conductivity was 5.4 × 10^?5 S/cm at 25°C. Another route to high ionic conductivities ~10^?4 S/cm at 25°C is through a composite LAGP ‐ (PVDF‐HFP) co‐sintered system that was soaked in a liquid electrolyte. After soaking 95, 90, 80, 70, and 60 vol% LAGP in 1 M LiPF₆ EC‐DMC (50:50 vol%) at 25°C, Li‐ion conductivities were 1.0 × 10^?4 S/cm at 25°C with 5 to 10 wt% liquid electrolyte. This paper focuses on the microstructural development and impedance contributions within solid electrolytes processed by (i) Crystallization of bulk glasses, (ii) CSP of ceramics, and (iii) CSP of ceramic‐polymer composites. CSP may offer a new route to enable multilayer battery technology by avoiding the detrimental effects of high temperature heat treatments.     

Use of radio telescopes or satellite Earth station antennas as ultra-high scattering cross-section calibration targets for spaceborne remote sensing radars

Spaceborne synthetic aperture and scatterometer radars currently under development for Earth remote sensing may require the provision of ground calibration targets with very large scattering cross-sections. One way of providing these would be to adapt existing parabolic radio telescopes or satellite Earth station antennas by replacing the feed by a metallic sphere. A dichroic surface would facilitate tracking.     

A matrix population model to aid agency response to grass carp (Ctenopharyngodon idella) in the Great Lakes Basin - Lake Erie

Managers and researchers have identified a reproducing population of grass carp (Ctenopharyngodon idella) in the western basin of Lake Erie, generating concern over the potential threat to ecosystem function in the Great Lakes Basin. Capture histories indicate that grass carp may be present at low levels in other areas of Lake Erie, necessitating a large scale, multi-jurisdictional response. As a result, a group of experts and decision makers began a structured decision making exercise to collaboratively address the threat and identify potential response actions. To aid this process, we developed a spatially-explicit periodic matrix population model to project grass carp abundance, and probabilistically evaluate specific management actions. We evaluated four potential management response actions ranging from no action, diffuse removal efforts, and concentrated removal efforts with and without a barrier on the Sandusky River to reduce spawning success. Based on our current knowledge, concentrated removal including a barrier on the Sandusky River provides the most likely path to achieving and maintaining a management target of no more than 10 fish/ha. Our understanding of grass carp ecology in Lake Erie is growing. This model and parameter development methods were designed to flexibly accommodate new information as our understanding of grass carp ecology evolves, or management objectives change. Ultimately, this modeling framework and use of Bayesian methods could facilitate management response efforts for other invasive species occurring over large scales and multiple jurisdictions.     

A Distribution Management System for Relational Databases in Cloud Environments

For a transaction processing system to operate effectively and efficiently in cloud environments, it is important to distribute huge amount of data while guaranteeing the ACID (atomic, consistent, isolated, and durable) properties. Moreover, database partition and migration tools can help transplanting conventional relational database systems to the cloud environment rather than rebuilding a new system. This paper proposes a database distribution management (DBDM) system, which partitions or replicates the data according to the transaction behaviors of the application system. The principle strategy of DBDM is to keep together the data used in a single transaction, and thus, avoiding massive transmission of records in join operations. The proposed system has been implemented successfully. The preliminary experiments show that the DBDM performs the database partition and migration effectively. Also, the DBDM system is modularly designed to adapt to different database management system (DBMS) or different partition algorithms.