The ability of a robot to determine its position while at the same time creating a map of a previously unknown environment (also termed SLAM) is an important step towards autonomy in mobile robotics. One well-known approach consists of estimating the robot position and orientation, as well as the map comprised of the positions of landmarks in the environment, using an Extended Kalman Filter (EK...

To navigate successfully in a previously unexplored environment, a mobile robot must be able to estimate the spatial relationships of the objects of interest accurately. A Simultaneous Localization and Mapping (SLAM) system employs its sensors to build incrementally a map of its surroundings and to localize itself in the map simultaneously. The aim of this research project is to develop a SLAM ...

This paper analyses the properties of the full covariance simultaneous map building problem (SLAM). We prove that, for the special case of a stationary vehicle (with no process noise) which uses a range-bearing sensor and has non-zero angular uncertainty, the fullcovariance SLAM algorithm always yields an inconsistent map. We also show, through simulations, that these conclusions appear to exte...

This paper analyses the properties of the full covariance simultaneous map building problem (SLAM). We prove that, for the special case of a stationary vehicle (with no process noise) which uses a range-bearing sensor and has non-zero angular uncertainty, the fullcovariance SLAM algorithm always yields an inconsistent map. We also show, through simulations, that these conclusions appear to exte...

In this paper we outline a system for automatic surveying of beacon positions for an autonomous guided vehicle. The vehicle measures the bearing to retro-reeective beacons using a laser scanner. As the vehicle moves, asynchronous measurements to unidenti-ed beacons are obtained. The goal of the system is to automatically group those measurements that belong to the same beacons, to nd all the er...

DNA polymerases are molecular motors that catalyze template-dependent DNA replication, advancing along template DNA by one nucleotide with each catalytic cycle. Nanopore-based measurements have emerged as a single molecule technique for the study of these enzymes. Using the alpha-hemolysin nanopore, we determined the position of DNA templates bearing inserts of abasic (1',2'-dideoxy) residues, ...

P44A-04. [15] Scott and Tanaka (1986) U.S. Geological Survey, I-1802-A. [16] Mustard et al. (2001) Nature, 412, 411-414. [17] Head et al. (2003) Nature, 426, 797-802. Figure 2. (left) HRSC context image showing a dark structure centered at 73°E, 29.3°N. (right) OMEGA map of the 1.9 μm band depth. Figure 1. Map of the hydrated mineral-bearing deposits as seen by OMEGA (over MOLA altimetry). A la...

We investigated the theoretical possibility of applying phenomenon of synchronization of coupled nonlinear oscillators to control alternate bearing in citrus. The alternate bearing of fruit crops is a phenomenon in which a year of heavy yield is followed by an extremely light one. This phenomenon has been modeled previously by the resource budget model, which describes a typical nonlinear oscil...

Bearings are integral components of rotating machinery and their failure tends to be a catastrophic the machine. Poincare Maps used detect bearing failures using concept non-linear dynamics. Each time-domain vibration signature array has its own Map over period time. Fast Fourier Transform (FFT) is method analysing frequency plots signature. Convolutional Neural Networks (CNN) process Continuou...

Whether spatial learning is a special case of configural or relational learning, or whether abstract principles evolved from the concrete need to navigate in space, is a question of long-standing debate. The parallel map theory of hippocampal function offers a resolution of the debate by redefining 'spatial learning' as two parallel, geometric processes, Euclidean metric and topological. Moreov...