Visual SLAM for flying vehicles

The ability to learn a map of the environment is important for numerous types of robotic vehicles. In this paper, we address the problem of learning a visual map of the ground using flying vehicles. We assume that the vehicles are equipped with one or two low-cost downlooking cameras in combination with an attitude sensor. Our approach is able to construct a visual map that can later on be used for navigation. Key advantages of our approach are that it is comparably easy to implement, can robustly deal with noisy camera images, and can operate either with a monocular camera or a stereo camera system. Our technique uses visual features and estimates the correspondences between features using a variant of the progressive sample consensus (PROSAC) algorithm. This allows our approach to extract spatial constraints between camera poses that can then be used to address the simultaneous localization and mapping (SLAM) problem by applying graph methods. Furthermore, we address the problem of efficiently identifying loop closures. We performed several experiments with flying vehicles that demonstrate that our method is able to construct maps of large outdoor and indoor environments. © 2008 IEEE

The Queen Bees and the Women's Team - A contextual examination of enmity and friendship between military women

In several studies of women in the Norwegian Armed Forces, we have found an assertion that female groups are so riddled with conflicts and enmity that it is preferable to keep women few in number and mixed up with men, even in dormitories (Hellum 2014; Lilleaas and Ellingsen 2014; Rones 2015). Yet, when the Norwegian Special Operations Command (NORSOC) organized an all-female Special Reconnaissance Platoon, the NORSOC leadership would conclude that they had seen “almost disappointingly little of the conflicts that allegedly should occur in groups of females” (Rones and Steder 2017). Accordingly, this article will critically explore the assertion that women are often so quarrelsome that it is preferable to keep them few in number and mixed with men 24/7.It will be argued that women’s alleged tendency towards enmity is a myth that is made ‘true’ by ‘queen bee behavior’. Queen bee behavior is seen as an act of recognition, whereby women comply with existing gender stereotypes, evaluate women negatively, but set themselves apart from the category of ‘women’ as someone who fits better with men, i.e. a performance of complicit masculinity. It is further argued that queen bee behavior is a response to the social-identity threat women experience when they enter a unit in which their gender has a low reputation and status, and where it is expected that a woman should fit seamlessly in as one of the guys, and accordingly have to make a symbolic ‘change of gender’

Evidence of Υ(1S)→J/ψ+χc1\Upsilon(1S) \to J/\psi+\chi_{c1} and search for double-charmonium production in Υ(1S)\Upsilon(1S) and Υ(2S)\Upsilon(2S) decays

Using data samples of $102\times10^6$ $\Upsilon(1S)$ and $158\times10^6$ $\Upsilon(2S)$ events collected with the Belle detector, a first experimental search has been made for double-charmonium production in the exclusive decays $\Upsilon(1S,2S)\rightarrow J/\psi(\psi')+X$, where $X=\eta_c$, $\chi_{cJ} (J=~0,~1,~2)$, $\eta_c(2S)$, $X(3940)$, and $X(4160)$. No significant signal is observed in the spectra of the mass recoiling against the reconstructed $J/\psi$ or $\psi'$ except for the evidence of $\chi_{c1}$ production with a significance of $4.6\sigma$ for $\Upsilon(1S)\rightarrow J/\psi+\chi_{c1}$. The measured branching fraction \BR(\Upsilon(1S)\rightarrow J/\psi+\chi_{c1}) is $(3.90\pm1.21(\rm stat.)\pm0.23 (\rm syst.))\times10^{-6}$. The $90\%$ confidence level upper limits on the branching fractions of the other modes having a significance of less than $3\sigma$ are determined. These results are consistent with theoretical calculations using the nonrelativistic QCD factorization approach.Comment: 12 pages, 4 figures, 1 table. The fit range was extended to include X(4160) signal according to referee's suggestions. Other results unchanged. Paper was accepted for publication as a regular article in Physical Review

Measurements of the Υ(10860)\Upsilon(10860) and Υ(11020)\Upsilon(11020) resonances via σ(e+e−→Υ(nS)π+π−)\sigma(e^+e^-\rightarrow\Upsilon(n{\rm S})\pi^+\pi^-)

We report new measurements of the total cross sections for $e^+e^-\to \Upsilon(n{\rm S})\pi^+\pi^-$ ($n$ = 1, 2, 3) and $e^+e^-\to b\bar b$ from a high-luminosity fine scan of the region $\sqrt{s} = 10.63$-$11.05$ GeV with the Belle detector. We observe that the $\Upsilon(n{\rm S})\pi^+\pi^-$ spectra have little or no non-resonant component and extract from them the masses and widths of $\Upsilon(10860)$ and $\Upsilon(11020)$ and their relative phase. We find $M_{10860}=(10891.1\pm3.2^{+0.6}_{-1.7})$ MeV/$c^2$ and $\Gamma_{10860}=(53.7^{+7.1}_{-5.6}\,^{+1.3}_{-5.4})$ MeV and report first measurements $M_{11020}=(10987.5^{+6.4}_{-2.5}\,^{+9.0}_{-2.1})$ MeV/$c^2$, $\Gamma_{11020}=(61^{+9}_{-19}\,^{+2}_{-20})$ MeV, and $\phi_{\rm 11020}-\phi_{\rm 10860} = (-1.0\pm0.4\,^{+1.4}_{-0.1})$ rad.Comment: University of Cincinnati preprint UCHEP-15-01, submitted to Physical Review D - Rapid Communication

Search for B+ -> l+ nu gamma decays with hadronic tagging using the full Belle data sample

We search for the decay B+ -> l+ nu gamma with l+ = e+ or mu+ using the full Belle data set of 772 x 10^6 BBbar pairs, collected at the Y(4S) resonance with the Belle detector at the KEKB asymmetric-energy e+e- collider. We reconstruct one B meson in a hadronic decay mode and search for the B+ -> l+ nu gamma decay in the remainder of the event. We observe no significant signal within the phase space of E_gamma^sig > 1 GeV and obtain upper limits of BR(B+ -> e+ nu gamma) mu+ nu gamma) l+ nu gamma) < 3.5 x 10^-6 at 90 % credibility level.Comment: Submitted to Phys. Rev.

Study of B^0 -> rho^0 rho^0 decays, implications for the CKM angle phi_2 and search for other B^0 decay modes with a four-pion final state

We present a study of the branching fraction of the decay B^0->rho0rho0 and the fraction of longitudinally polarized rho0 mesons in this decay. The results are obtained from the final data sample containing 772 million BBbar pairs collected at the Y(4S) resonance with the Belle detector at the KEKB asymmetric-energy e+e- collider. We find 166 +- 59 B^0 -> rho0 rho0 events (including systematic uncertainties), corresponding to a branching fraction of B(B^0->rho0rho0) = (1.02 +- 0.30 (stat) +- 0.15 (syst)) x 10^{-6} with a significance of 3.4 standard deviations and a longitudinal polarization fraction fL = 0.21^{+0.18}_{-0.22} (stat) +- 0.15 (syst). We use the longitudinal polarization fraction to determine the Cabibbo-Kobayashi-Maskawa matrix angle phi_2 = (84.9 +- 13.5) degrees through an isospin analysis in the B->rhorho system. We furthermore find 149 +- 49 B^0->f0rho0 events, corresponding to B(B^0->f0rho0) x B(f0->pi+pi-) = (0.78 +- 0.22 (stat) +- 0.11 (syst)) x 10^{-6}, with a significance of 3.1 standard deviations. We find no other significant contribution with the same final state, and set upper limits at 90% confidence level on the (product) branching fractions, B(B^0->pi+pi-pi+pi-)rho0pi+pi-)<12.0 x 10^{-6}, B(B^0->f0pi+pi-) x B(f0->pi+pi-) f0f0) x B(f0->pi+pi-)^{2} < 0.2 x 10^{-6}.Comment: 21 pages, 20 figures, conference paper for the 2012th CKM workshop, submitted to PR

Observation of a new charged charmoniumlike state in B -> J/psi K pi decays

We present the results of an amplitude analysis of anti-B0 -> J/psi K- pi+ decays. A new charged charmoniumlike state Zc(4200)+ decaying to J/psi pi+ is observed with a significance of 6.2 sigma. The mass and width of the Zc(4200)+ are 4196 +31-29 +17-13 MeV/c^2 and 370 +70-70 +70-132 MeV, respectively; the preferred assignment of the quantum numbers is J^P = 1^+. In addition, we find evidence for Zc(4430)+ -> J/psi pi+. The analysis is based on a 711 fb^-1 data sample collected by the Belle detector at the asymmetric-energy e+ e- collider KEKB.Comment: 14 pages, 13 figure

Measurement of the branching ratio of Bˉ→D(∗)τ−νˉτ\bar{B} \to D^{(\ast)} \tau^- \bar{\nu}_\tau relative to Bˉ→D(∗)ℓ−νˉℓ\bar{B} \to D^{(\ast)} \ell^- \bar{\nu}_\ell decays with hadronic tagging at Belle

We report a measurement of the branching fraction ratios R(D(*)) of Bbar -> D(*) tau- nubar_tau relative to Bbar -> D()* l- nubar_l (where l = e or mu) using the full Belle data sample of 772 x 10^6 BBbar pairs collected at the Y(4S) resonance with the Belle detector at the KEKB asymmetric-energy e+e- collider. The measured values are R(D)= 0.375 +- 0.064(stat.) +- 0.026(syst.) and R(D*) = 0.293 +- 0.038(stat.) +- 0.015(syst.). The analysis uses hadronic reconstruction of the tag-side B meson and purely leptonic tau decays. The results are consistent with earlier measurements and do not show a significant deviation from the standard model prediction.Comment: Accepted for publication in Phys.Rev.