Avoiding negative depth in inverse depth bearing-only SLAM

In this paper we consider ways to alleviate negative estimated depth for the inverse depth parameterisation of bearing-only SLAM. This problem, which can arise even if the beacons are far from the platform, can cause catastrophic failure of the filter.We consider three strategies to overcome this difficulty: applying inequality constraints, the use of truncated second order filters, and a reparameterisation using the negative logarithm of depth. We show that both a simple inequality method and the use of truncated second order filters are succesful. However, the most robust peformance is achieved using the negative log parameterisation. ©2008 IEEE

A Probabilistic Perspective on Gaussian Filtering and Smoothing

We present a general probabilistic perspective on Gaussian filtering and smoothing. This allows us to show that common approaches to Gaussian filtering/smoothing can be distinguished solely by their methods of computing/approximating the means and covariances of joint probabilities. This implies that novel filters and smoothers can be derived straightforwardly by providing methods for computing these moments. Based on this insight, we derive the cubature Kalman smoother and propose a novel robust filtering and smoothing algorithm based on Gibbs sampling

The common state filter for SLAM

This paper presents the Common State Filter (CSF), a novel and efficient suboptimal Multiple Hypothesis SLAM (MHSLAM) method for Kalman Filter-based SLAM algorithms. Conventional MHSLAM algorithms require the entire vehicle and map state to be copied for each hypothesis. The CSF, by contrast, maintains a single, common instance of the vast majority of the map and only copies the map portion that varies substantially across different hypotheses. We demonstrate the performance of the algorithm on the Victoria Park data set. ©2008 IEEE

PILCO: A Model-Based and Data-Efficient Approach to Policy Search

In this paper, we introduce PILCO, a practical, data-efficient model-based policy search method. PILCO reduces model bias, one of the key problems of model-based reinforcement learning, in a principled way. By learning a probabilistic dynamics model and explicitly incorporating model uncertainty into long-term planning, PILCO can cope with very little data and facilitates learning from scratch in only a few trials. Policy evaluation is performed in closed form using state-of-the-art approximate inference. Furthermore, policy gradients are computed analytically for policy improvement. We report unprecedented learning efficiency on challenging and high-dimensional control tasks. Copyright 2011 by the author(s)/owner(s)

The importance of screening in children who snore

It is important to screen for OSAS in children who snore, as early treatment of OSAS can prevent neurocognitive, behavioural, cardiovascular and metabolic consequences. Paediatricians should always investigate sleep habits and the possible presence of snoring, respiratory efforts or pauses during routine examination of children. These instruments may be effectively used to identify patients with OSAS, and the specificity and positive predictive value may be increased by adding other screening instruments such as nocturnal pulse oximetry [10]. The sleep questionnaires are instruments that can be used to screen patient candidates for a PSG study for suspected OSAS, and to identify those with a mild form of SDB, enabling early treatment

Effect of nitrogen on safflower physiology and productivity

Safflower (Carthamus tinctorius L.) is an oil-crop suitable for semi-arid agriculture, but its physiological response to agronomic inputs has yet to be fully evaluated. The effect of fertiliser on the physiology and production of safflower grown in pots filled with standard grade perlite inside a semi-controlled glass house was studied. Plants were initially irrigated with 20-100 ml standard hydroponic solution and then one month after germination plants were irrigated using 50-200 ml complete Hoagland’s solution, supplemented with one of eight levels of nitrogen (0, 25, 50, 75, 100, 125, 150, 175 kg N ha-1) in the form of ammonium nitrate. Elevating nitrogen to 100 kg N ha-1 significantly increased the assimilation rate by about 42 %, transpiration rate by 32%, stomatal conductance by 52% and LAI by 42% compared with the control. The above ground dry weight, seed yield and Water Use Efficiency (WUE) increased incrementally with increases in nitrogen rate. Above ground dry weight increased by an average of 42%, seed yield by 76% and WUE by 41% at harvest compared with the control. This study clearly demonstrates how nitrogen fertilisation can affect physiology of safflower leading to improvement in seed yield

Genetic profile of total body energy content of Holstein cows in the first three lactations

Weekly total body energy content (TBEC) was calculated for 444 Holstein cows in their first 3 lactations. These calculations were based on body lipid and protein changes predicted from weekly changes in body condition score and live weight of each cow. In first lactation, cows lost TBEC during the initial 8 wk, regained it by wk 22, and continued to build up their reserves until wk 37. Cows started lactations 2 and 3 with considerable reserves from the dry period that they used during the first 13 wk of lactation. Variance components for TBEC were estimated using random regression analysis allowing for heterogeneous residual variance. The genetic variance increased within each lactation, suggesting that the genetic component becomes more important as lactation progresses. The genetic correlations between very early ( wk 1 to 4) and later stages of first lactation were near zero but they increased considerably between later lactation stages. Genetic correlations between TBEC on wk 5 of first lactation and the remainder of this lactation ranged from 0.64 for the more distant weeks to 0.99 for the immediately subsequent weeks. Genetic correlations with TBEC in second lactation were moderately high (0.68 to 0.70) for the early weeks ( 1 to 8) and decreased gradually to 0.56 for weeks at the end of lactation. For third lactation, these estimates ranged from 0.53 to 0.63. Genetic correlation estimates of TBEC in wk 12 of first lactation with subsequent first-lactation weeks varied from 0.79 to 0.99, whereas they ranged from 0.65 to 0.77 and from 0.57 to 0.68 in second and third lactations, respectively. The genetic correlation between TBEC in later weeks of first lactation and the rest of productive life increased as first lactation progressed, but the improvement diminished. Weekly genetic evaluations for first-lactation TBEC were used to predict second- and third-lactation energy content. The accuracy of these predictions increased with progressing weeks in first lactation, but about three-fourths of the improvement occurred by wk 5. Our results suggest that TBEC calculated after a month from the first calving may give useful information about the future energy content of a cow.</p

Agglomeration, regional grants and firm location

We examine whether discretionary government grants influence the location ofnew plants, and how effective these incentives are in the presence of agglomeration andurbanisation externalities. We find evidence that regional industrial structure affects thelocation of new entrants. Firms in more agglomerated industries locate new plants near toothers in the same industry. Firms are also attracted to industrially diversified locations.Foreign multinationals locate new plants near to other foreign-owned plants in the sameindustry. Fiscal incentives in the form of grants are found to have some effect in attractingplants to specific geographic areas eligible for such aid. We examine whether discretionary government grants influence the location ofnew plants, and how effective these incentives are in the presence of agglomeration andurbanisation externalities. We find evidence that regional industrial structure affects thelocation of new entrants. Firms in more agglomerated industries locate new plants near toothers in the same industry. Firms are also attracted to industrially diversified locations.Foreign multinationals locate new plants near to other foreign-owned plants in the sameindustry. Fiscal incentives in the form of grants are found to have some effect in attractingplants to specific geographic areas eligible for such aid