We consider the problem of calibrating range measurements of a Light Detection and Ranging (lidar) sensor that is dealing with the sensor nonlinearity and heteroskedastic, range-dependent, measurement error. We solved the calibration problem without using additional hardware, but rather exploiting assumptions on the environment surrounding the sensor during the calibration procedure. More specifically we consider the assumption of calibrating the sensor by placing it in an environment so that its measurements lie in a 2D plane that is parallel to the ground. Then, its measurements come from fixed objects that develop orthogonally w.r.t. the ground, so that they may be considered as fixed points in an inertial reference frame. Moreover, we consider the intuition that moving the distance sensor within this environment implies that its measurements should be such that the relative distances and angles among the fixed points above remain the same. We thus exploit this intuition to cast the sensor calibration problem as making its measurements comply with this assumption that “fixed features shall have fixed relative distances and angles”. The resulting calibration procedure does thus not need to use additional (typically expensive) equipment, nor deploy special hardware. As for the proposed estimation strategies, from a mathematical perspective we consider models that lead to analytically solvable equations, so to enable deployment in embedded systems. Besides proposing the estimators we moreover analyze their statistical performance both in simulation and with field tests. We report the dependency of the MSE performance of the calibration procedure as a function of the sensor noise levels, and observe that in field tests the approach can lead to a tenfold improvement in the accuracy of the raw measurements.
Terrorism is an old phenomenon, but awareness of its seriousness talk of where to stretch the impact of the terrorist crime and the magnitude of the results as well as the community's awareness of the newly therefore appeared studies and special laws to deal with this phenomenon, especially that this phenomenon has increased the time being to enter an organization where the scientific methods and modern techniques that cause destruction and horror of mass.That the term terrorism in the modern era did not materialize and actually only in 1793 and that was when he declared Robespierre (Robespierre) the beginning of the reign of terror or Alrhb (Reign of terror) which lasted in France from March 10 1973_27 July 1794 where it was the execution
... Show MoreIn this work a fragile watermarking scheme is presented. This scheme is applied to digital color images in spatial domain. The image is divided into blocks, and each block has its authentication mark embedded in it, we would be able to insure which parts of the image are authentic and which parts have been modified. This authentication carries out without need to exist the original image. The results show the quality of the watermarked image is remaining very good and the watermark survived some type of unintended modification such as familiar compression software like WINRAR and ZIP
Staphylococci are common commensals in human beings, yet certain species are pathogenic. Staphylococcus aureus, particularly, is a very virulent human pathogen. The capacity of staphylococci to sense the density of bacterial cell, i.e., quorum, and thereafter respond via genetic modifications is attributable to one primary mechanism known as accessory gene regulator (Agr). Agr's extracellular signal is a peptide that is posttranslationally modified with a thiolactone molecule. Agr is in charge of the upregulation of numerous exotoxins and hydrolyzing enzymes, as well as the downregulation of many colonization determinants, under circumstances of high cell density. This modulation is critical for the scheduling synthesis of virul
... Show MoreProf.Dr. Yassin Khudair
Baghdad University
Faculty of Islamic Sciences
Department of Fundamentals of Religion
Background: Historically the traditional medical program are divided into preclinical basic sciences course which taught separately (subject based) and clinical course which taught also as subject based, spoon feeding ,few delivery modes , no or few interactive session and the assessment solely based on examination and no weightage is given to the continuous assessment.Curricular reform: In the last few decades, there have been increasing pressures on medical educators for curriculum reform, and many accreditation bodies were established a guidelines for the medical schools. In many countries, the traditional approach has largely been modified towards a more integrated approach. An integrated approach is still subject centered but transc
... Show More1.
Embryonic Origin of Neural Tube Defects.
Insaf Jasim Mahmoud
2.
Etiology of Neural Tube Defectss.
Ali Abdul Razzak Obed
3.
Epidemiology of Neural Tube Defects in Iraq.
Mahmood Dhahir Al-Mendalawi
4.
Surgical Management of Neural Tube Defects.
Laith Thamer Al-Ameri
5.
Prevention of Neural Tube Defects in Iraq.
Mahmood Dhahir Al-Mendalawi
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The first few years of life is the basis for proper human personality and this Made by scientific studies and research need to make all efforts to achieve the early development of children and demonstrated by the efficiency and effectiveness of great success in the educational and developmental programs that have been applied to accelerate the children's growth rate in the various their sides, the current research aims to: identify the most successful international experience in the care and upbringing of children in early childhood has been determined by current research and previous studies manners within the cognitive perspective and dealing with the subject of this research and with respect to the theoretical framework Presented rese
... Show MoreThe title of the research (the occasion in Surat Maryam) highlights the importance of the subject because he is studying Surah from the wall of the Koran, and that the best times of preoccupation with this light shown, study and thoughtful, and the reason for choosing the topic that the occasion of science helps in understanding the Almighty God in his book, and not Falling in confusion or error, or exaggerated interpretations, and be the key to knowing the rule of the Koran and repeating it, but the results of the conclusion that the occasion has many benefits: including making parts of speech taking each other's necks, strengthens that link and the authorship becomes his case in the case of tight construction , And that the occasion of
... Show MoreThe research shows that the visual image plays an important role when Farzdaq in the issue of aesthetic perception, it enables him to feel a sense of artistic and mental perception to raise astonishment and admiration through his ability to link the optics through the suggestive image to carry us to a new vision imagined full of visual images.