Academic literature on the topic '6-D SLAM'

This work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the addition of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The DI-D initializes new features in the system defining single hypothesis for the initial depth of features by stochastic triangulation. The HOHCT is based on evaluation of statistically compatible hypotheses, and search algorithm designed to exploit the Delayed Inverse-Depth technique characteristics. Experiments with real data are presented in order to validate the performance of the system.

Abstract Lung diseases are the second leading cause of death worldwide. There is a growing understanding that lung stem cells, rather than being distributed throughout the tissue, are concentrated in specialized niches. Thus, in our previous study we demonstrated that in analogy to bone marrow (BM) transplantation, lung progenitors could navigate through the blood to their appropriate niches, provided that the niches were cleared of endogenous cell populations (Nature Medicine 2015). Lung injury was induced by Naphthalene, and lung progenitors of all lineages were further depleted by 6GY total body irradiation (TBI) 48 hrs after Naphthalene exposure; at this time, endogenous lung progenitors proliferated extensively. In the present study, we further established the feasibility of our approach in an allogeneic setting. To that end, we induced central immune tolerance towards donor cells, with no need for chronic immune suppression, by virtue of hematopoietic stem cells also present at high levels in fetallung alongside epithelial progenitors. The possibility that the E16 lung might contain high levels of hematopoietic progenitors was first suggested by examination of the peripheral blood of C57BL/6 mice transplanted with GFP+ E16 lung cells, or of RAG-SCID mice (H2Kb) receiving C3H (H2Kk) E16 lung cells. Robust chimerism was also documented in the BM and spleen of all transplanted mice. Based on this initial observation, we attempted to define by FACS the level of putative hematopoietic progenitors in E16 lungs. We thus evaluated two commonly used phenotypes, namely, LSK (lineage-, SCA-1+, C-KIT+) and SLAM (lineage-, CD48-, CD150+). Indeed, we found a similar level of LSK and SLAM cells in the fetal liver and lung, representing about 20-40% of the levels found in the adult BM. A competitive chimerism assay in which normal adult BM cells from a CD45.1+ C57BL/6 donor compete with E16 lung cells from a GFP+CD45.2+ C57BL/6 donor, revealed marked capacity of the E16 lung cells to induce robust chimersim following infusion of a 1:1 mixture of these cells into lethally irradiated CD45.1+ C57BL/6 recipients. Thus, at 9 months post-transplant, 4/4 mice exhibited blood cells derived from the lung donor. In 2 out of 4 mice, levels ofchimerism were above 30%, strongly indicating the robust capacity of the lung hematopoietic progenitors for self-renewal. Based on our ability to induce durable hematopoietic chimeras in syngeneic recipients following transplantation of E16 lung cells, we next developed a sub-lethal transplantation protocol enablingchimerism induction of both non-hematopoeitic cells in the lung, and hematopoietic cells in the blood, liver, spleen and thymus ofmis-matched recipients. The protocol used was based on recent work in haploidenticalhematopoietic stem cell transplantation (HSCT), and comprised transient T cell debulkingof host CD4 and CD8 T cells, megadoseT cell depleted HSCT, and post-transplant cyclophosphamide (CY). This conditioning was coupled with NA, and 6GY TBI to vacate lung progenitor niches (Fig.1). T cells, already present at E16 lungs, were removed from the donor lung preparation by magnetic beads. Similar to our results in haploidenticalBMT we found that chimerisminduction required the use of a 'megadose' of stem cells (5x106 compared to 1x106 in the syngeneic model). When tested at 2 months post-transplant, 4 out of 5 mice exhibited substantial hematopoieticchimerism in the BM, liver, thymus, spleen and blood with multi lineage expression, including B cells (B220), T cells (CD4/CD8) and myeloid cells (CD11b) (Fig. 2). Furthermore, 3 months post-transplant, donor-derived lung "patches" were present, exhibiting marked lungchimerism within both functional epithelial lineages (AEC1/2, marked by AQP5/SPC markers) and mesenchymal/endothelial lineages (marked byNestin/CD31 markers) (Fig. 3 a-d), confirming that the hematopoieticchimerisminduced tolerance towards donor non-hematopoietic lung cell lineages. The high level of hematopoietic progenitors with capacity for self-renewal in thefetallung, alongside non-hematopoietic progenitors, offers a novel approach for allogeneic stem cell transplantation without any need for chronic immune suppression. Further fine tuning is needed to replace NA with clinically approved agents and to define the minimal TBI dose required for effective conditioning. *C.H.K and C.R. contributed equally Disclosures Hillel Karniel: Yeda LTD: Patents & Royalties. Rosen:Yeda LTD: Patents & Royalties. Bachar Lustig:Yeda LTD: Patents & Royalties. Shezen:Yeda LTD: Patents & Royalties. Reisner:Cell Source LTD: Consultancy, Equity Ownership, Patents & Royalties, Research Funding.

Rapid urbanisation and growth of infrastructure in the present days resulted in dramatic increase in demand for land space. Presence of soft clay deposits in construction sites poses major problems to the structure resting on it during or after construction. A different approach for stabilization has been obtained by incorporation of steel slag columns, which is a by-product of steel manufacturing industry. Straight shafted granulated steel slag column group was adopted for which the ultimate load carrying capacity was derived from the lateral resistance offered by the surrounding soil. Floating type steel slag columns resting on soft clay layer was arranged in equilateral triangular pattern. This pattern of arrangement was preferred as it was known to provide a more uniform consolidation between columns as per IS 15284 (part 1).Well graded granulated steel slag of size range 2mm-10mm with specific gravity 3.57 and moisture content 2.76% was used. It also had an abrasion value, impact value and crushing strength of 5.47%, 27.75 % and 39.38% respectively. A comparison was made between unreinforced and reinforced soil and variations in bearing capacity and settlement was determined for different L/D ratios. L/D ratios of 3, 5, 6, 8, 10 for steel slag columns has been adopted .Settlement reduction factors for reinforced clay bed was found to be 1.75, 1.85, 2.53, 4.1, 6.1 times of unreinforced clay soil for the L/D ratios of 3, 5, 6, 8, 10 respectively. The bearing capacity factor Nc was obtained as 5.51, 9.09, 12.670, 15.71, 20.26, 24.83 for different L/D ratios of 3, 5, 6, 8, 10.

A new unburned brick was prepared from the Ti-bearing blast furnace slag as an aggregate and PVA modified by epikote as cementitious materials. The effects of modified PVA and auxiliaries on compressive strength of unburned brick were studied by the orthogonal test method. The results show that samples have better properties and low cost when the samples have a composition of slag dosage 72 %, modified PVA dosage 6%, auxiliary 1 dosage 6%, auxiliary 2 dosage 10%, water 6% and the process conditions of preparing the brick sample were mixing time 1 h, forming time 10 min, forming pressure 40 MPa, and curing time 7 d. The study reveals that the samples properties can meet the standard requirements of excellent grade products (MU20) in GB11945-1999.

Abstract. Subduction modelling in regional model domains, in 2-D or 3-D, is commonly done using closed, vertical boundaries. In this paper we investigate the merits of using open boundaries for 2-D modelling of lithosphere subduction but with implication for 3-D modelling. Open sidewalls allow for lateral in- and outflow consistent with the internal dynamics of the model and may simulate the real-mantle environment of subduction much better than closed boundaries, which induce return flows. Our experiments are focused on using open and closed (free-slip) sidewalls while comparing results for two model aspect ratios of 3:1 and 6:1. Slab buoyancy driven subduction with open boundaries immediately develops into strong rollback with high trench retreat velocities. Mantle asthenosphere flow forced by rollback is predominantly laminar and facilitated by the open boundaries. In contrast, free-slip sidewalls proof restrictive on subduction rollback evolution unless the lithosphere plates are allowed to move away from the sidewalls. This, however, initiates return flows pushing both plates toward the subduction zone speeding up subduction. Increasing the aspect ratio to 6:1 does not change the overall flow pattern when using open sidewalls. Again, in contrast, for free-slip boundaries, the slab evolution does change with respect to the 3:1 aspect ratio and does not resemble the 6:1 evolution obtained with open boundaries. We notice a general drop in the amplitude of mantle flow when changing to the 6:1 aspect ratio, which is caused by the increasing shear friction between mantle and lithosphere while the driving slab buoyancy is the same. Based on energy-dissipation arguments we applied a flow speed scaling to convert between flow fields of different model aspect ratios. This proved succesful for the open boundary model. We have also investigated the effect of far-field stress conditions in our open boundary models. Applying realistic normal stress conditions to the strong part of the overriding plate we show that "intra-plate" stresses control subduction dynamics resulting in slab roll-back, stationary or advancing subduction. We conclude that open boundaries are to be preferred for modelling subduction evolution (rollback, stationary or advancing). The relative independence of model aspect ratio avoids the need to place sidewalls at large distance and allows to focus all computational resources on a smaller modelling domain. Open boundaries simulate the natural subduction environment better and avoid the adverse effects (e.g. forced return flows) of free-slip boundaries.

Abstract. Subduction modelling in regional model domains, in 2-D or 3-D, is commonly performed using closed (impermeable) vertical boundaries. Here we investigate the merits of using open boundaries for 2-D modelling of lithosphere subduction. Our experiments are focused on using open and closed (free slip) sidewalls while comparing results for two model aspect ratios of 3:1 and 6:1. Slab buoyancy driven subduction with open boundaries and free plates immediately develops into strong rollback with high trench retreat velocities and predominantly laminar asthenospheric flow. In contrast, free-slip sidewalls prove highly restrictive on subduction rollback evolution, unless the lithosphere plates are allowed to move away from the sidewalls. This initiates return flows pushing both plates toward the subduction zone speeding up subduction. Increasing the aspect ratio to 6:1 does not change the overall flow pattern when using open sidewalls but only the flow magnitude. In contrast, for free-slip boundaries, the slab evolution does change with respect to the 3:1 aspect ratio model and slab evolution does not resemble the evolution obtained with open boundaries using 6:1 aspect ratio. For models with open side boundaries, we could develop a flow-speed scaling based on energy dissipation arguments to convert between flow fields of different model aspect ratios. We have also investigated incorporating the effect of far-field generated lithosphere stress in our open boundary models. By applying realistic normal stress conditions to the strong part of the overriding plate at the sidewalls, we can transfer intraplate stress to influence subduction dynamics varying from slab roll-back, stationary subduction, to advancing subduction. The relative independence of the flow field on model aspect ratio allows for a smaller modelling domain. Open boundaries allow for subduction to evolve freely and avoid the adverse effects (e.g. forced return flows) of free-slip boundaries. We conclude that open boundaries in combination with intraplate stress conditions are to be preferred for modelling subduction evolution (rollback, stationary or advancing) using regional model domains.

Abstract Although two-dimensional (2-D) gel electrophoresis is one of the most powerful techniques for analyzing protein mixtures, its application in routine clinical laboratories is currently limited, because it is time-consuming, complex, and relatively expensive. Here we describe a method for automatically running and staining "high-resolution" mini 2-D electrophoresis gels in less than 6 h, by using "ready-to-use" slab gels and a PhastSystem electrophoresis apparatus. We present 2-D gel electrophoretograms of 25 nL of plasma, as well as their automatic computer analysis. For comparison, a conventional 2-D gel electrophoresis profile of 200 nL of a plasma sample is shown. The technique is easy to perform, highly sensitive, rapid, and potentially useful in semi-routine clinical chemistry laboratories.

AbstractThis work aimed to evaluate the role of the addition of blast furnace slag for the formation of reaction products and the strength development of volcanic ash-based phosphate geopolymer. Volcanic ash was replaced by 4 and 6 wt% of ground granulated blast furnace slag to accelerate the reaction kinetics. Then, the influence of boric acid for controlling the setting and kinetics reactions was also evaluated. The results demonstrated that the competition between the dissolution of boric acid and volcanic ash-slag particles is the main process controlling the setting and kinetics reaction. The addition of slag has significantly accelerated the initial and final setting times, whereas the addition of boric acid was beneficial for delaying the setting times. Consequently, it also enhanced the flowability of the paste. The compressive strength increased significantly with the addition of slag, and the optimum replaced rate was 4 wt% which resulted in 28 d strength of 27 MPa. Beyond that percentage, the strength was reduced because of the flash setting of the binder which does not allow a subsequent dissolution of the particles and their precipitation. The binders formed with the addition of slag and/or boric acid are beneficial for the improvement of the water stability of the volcanic ash-based phosphate geopolymer.

Abstract The scope of work included the launch of the process of refining slag suspension in a gas oven using a variety of technological additives. After the refining process (in the context of copper recovery), an assessment of the effect of selected reagents at the level of the slag refining suspension (in terms of copper recovery). Method sieve separated from the slag waste fraction of metallic, iron - silicate and powdery waste. Comparison of these photographs macroscopic allowed us to evaluate the most advantageous method of separating metallic fraction from the slag. After applying the sample A (with KF2 + NaCl) we note that in some parts of the slag are still large amounts of metallic fraction. The fraction of slag in a large majority of the elements has the same size of 1 mm, and a larger portion of the slag, the size of which is from 2 to 6 mm. Definitely the best way is to remove the copper by means of the component B (with NaCl) and D (with KF2). However, as a result of removing the copper by means of component C (with CaO) were also obtained a relatively large number of tiny droplets of copper, which was problematic during segregation. In both cases we were able to separate the two fractions in a fast and simple manner.

AbstractBy laboratory slag/steel reaction equilibrim experiments, the viriation of oxygen content, inclusion compositions and inclusion sizes were studied. The effect of acid slag treatment on the transition mechanisms of D-type inclusions and the precipitation of TiN inclusions in GCr15 bearing steel were explored. The obtained results showed that the dominant inclusions in steel were plastic and smaller Al2O3-SiO2-MnO. The melting point were lower than 1400°C treated by the acid refining slag of 35.1%CaO-15%Al2O3-43.9%SiO2-6%MgO and there was no TiN found. The evolution of MgO·Al2O3 inclusions is: MgO·Al2O3→ MgO·Al2O3·SiO2·MnO→ Al2O3·SiO2·MnO. Mg and Al from MgO·Al2O3 inclusions were displaced by [Si] and [Mn] in steel liquid , and formation of plastic Al2O3-SiO2-MnO inclusions finally, whose compositions distribution were uniform. Mg and Si, Mn were complementary in inclusions as to the spatial distribution.

The field of 3-D-environment reconstruction has been subject to various research activities in recent years. The applications for mobile robots are manifold. First, for navigation tasks (especially SLAM), the perception of 3-D-obstacles has many advantages over navigation in 2-D-maps, as it is commonly done. Objects that are located hanging above the ground can be recognized and furthermore, the robots gain a lot more information about its operation area what makes localization easier. Second, in the field of tele-operation of robots, a visualization of the environment in three dimensions helps the tele-operator performing tasks. Therefore, a consistent, dynamically updated environment model is crucial. Third, for mobile manipulation in a dynamic environment, an on-line obstacle detection and collision avoidance can be realized, if the environment is known. In recent research activities, various approaches to 3-D-environment reconstruction have evolved. Two of the most promising methods are FastSLAM and 6-D-SLAM. Both are capable of building dense 3D environment maps on-line. The first one uses a Particle Filter applied on extracted features in combination with a robot system model and a measurement model to reconstruct a map. The second one works on 3-D point cloud data and reconstructs an environment using the ICP algorithm. Both of these methods are implemented in GNU C++. Firstly, FastSLAM is implemented. The object-oriented programming technique is used to build up the Particle and Extended Kalman Filters. Secondly, 6-D SLAM is implemented. The concept of inheritance in C++ is used to make the implementation of ICP algorithm as much generic as possible. To test our implementation a mobile robot called Care-O-bot 3 is used. The mobile robot is equipped with a color and a time-of-fight camera. Data sets are taken as the robot moves in different environments and our implementation of FastSLAM and 6-D SLAM is used to reconstruct the maps.
Fältet av 3-D-miljö återuppbyggnaden har varit föremål för olika forskningsinsatser under senare år. De ansökningar om mobila robotar är många. Först för navigering uppgifter (särskilt Slam), uppfattningen av 3-D-hinder har många fördelar jämfört navigering i 2-D-kartor, som det vanligtvis görs. Objekt som finns hänger över marken kan erkännas och dessutom robotarna vinna mycket mer information om dess verksamhet området vad som gör lokalisering lättare. För det andra, när det gäller tele-drift av robotar, hjälper en visualisering av miljön i tre dimensioner tele-aktör som utför uppgifter. Därför är en konsekvent, dynamiskt uppdaterade miljö modell avgörande. Tredje kan för mobila manipulation i en dynamisk miljö, en on-line hinder upptäcka och undvika kollisioner förverkligas, om miljön är känd. Under senare forskning, till 3-D-miljö återuppbyggnaden olika strategier har utvecklats. Två av de mest lovande metoderna är FastSLAM och 6-D-Slam. Båda kan bygga täta 3D-miljö kartor on-line. Det första man använder ett partikelfilter som tillämpas på extraherade funktioner i kombination med ett robotsystem modell och en mätning modell för att rekonstruera en karta. Den andra verk på 3-D data punktmoln och rekonstruerar en miljö med hjälp av ICP algoritm. Båda dessa metoder implementeras i GNU C. För det första är FastSLAM genomföras. Det objektorienterade programmering Tekniken används för att bygga upp Partikel-och Extended Kalman filter. För det andra är 6-D SLAM genomförs. Begreppet arv i C används för att göra genomförandet av ICP algoritm så mycket generisk som möjligt. För att testa vårt genomförande en mobil robot som heter Care-O-bot 3 används. Den mobila roboten är utrustad med en färg och en time-of-kamp kamera. Dataset tas som roboten rör sig i olika miljöer och vårt genomförande av FastSLAM och 6-D SLAM används för att rekonstruera kartorna.
farzadhusain@gmail.com Contact in Sweden 0046-762-409910

Beside appropriate turbulence and combustion modeling, the problem of an accurate prediction of turbulent diffusion flames usually requires accurate radiative heat transfer predictions as well. In this paper it is shown that the inclusion of radiation modeling into the overall numerical simulation is important if accurate temperature profiles are needed. Two different jet diffusion flame configurations are simulated in this work — a diluted hydrogen jet flame (80% H2 and 20% He by volume) [1–4], and a piloted methane jet diffusion flame (flame D) [5, 6]. The predictions are compared to experimental data. Radiation is modeled by a conservative discrete transfer radiation method (DTRM) [7, 8]. Turbulence is modeled by a classical k-ε and by a hybrid procedure, as proposed in [9]. Combustion modeling is based on the stationary laminar flamelet model (SLFM) [10], where the combustion/turbulence interaction is accomplished via the presumed β probability density function (β-PDF).