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.
Harold Pinter was one of the most important dramatists in the modern and the
contemporary age. Pinter presented his own dramatic realm in which he turns the theatre into
a moral institution. He employed the elements of several schools of drama and manipulated
them in order to deliver his ethical messages emphasizing the necessity to regain and renew
the world's morality in order to face the political and social injustices committed against
humanity. His writings developed over more than fifty years in style, techniques and his
interests. However, his main concern was his social and political satire.
Acute toxoplasmosis (AT) which is caused by Toxoplasma gondii (T. gondii) leads to induction of pro-inflammatory and/or oxidative stress changes through activation of host immune response. Therefore, the endeavor of the present study was to assess endothelial dysfunction(ED) and oxidative stress in patients with acute toxoplasmosis.
Melatonin, a hormone synthesized mainly by the pineal gland, has been found in extra-pineal organs as well. It’s known as an organizer of circadian rhythms and more recently as an anti-oxidant. In addition to its role in maintaining immunity, pathophysiology of cardiovascular and neurological diseases, and as an anti-cancer agent, evidence has demonstrated that melatonin exerts a positive impact on male and female fertility primarily through oxygen scavenging effects. In In Vitro Fertilization (IVF) programs, supplementation of melatonin may be associated with better outcomes in terms of sperm quality, oocyte quality, embryo quality and pregnancy rates. This review summarizes various actions of melatonin on the body focusing on male an
... Show MoreThe aesthetic expression and its orders are important for steel structures forming. Steel structures are a compilation of structural elements, where its shapes have standard dimensions and pre-fabricated. As the steel construction systems not only aim to achieve the functional requirements for users, but must also have the symbolic aesthetics which provides visually and cognitive expression for viewers. In this sense the research interested in expressional aesthetics in these systems and highlights the importance of attention as structural items. Therefore the visual items which related with steel structures contain some of the most powerful forms of modern architecture, steel structures with a glass cladding, agility an
... Show MoreIn this paper, some basic notions and facts in the b-modular space similar to those in the modular spaces as a type of generalization are given. For example, concepts of convergence, best approximate, uniformly convexity etc. And then, two results about relation between semi compactness and approximation are proved which are used to prove a theorem on the existence of best approximation for a semi-compact subset of b-modular space.
The principle in the language is that each word has one meaning. This is because the purpose of language development is for understanding, understanding, and communication between people. The language is sounds with which each people expresses their Arabic language did not stop at this point, but rather needed another next stage or to convey additional features or characteristics that would qualify it. To be the language of the Qur’an and revelation, and capable of carrying this heavy burden.
This is a research in which I studied the opinions of Arab scholars, in their studies
For (what) and (whatever) the two conditionals and their indication of time, and its name
B (time in (what) and (whatever) the two conditions), and I mentioned their opinions in it
This issue was discussed and discussed, and in this study it relied on the sources of the Arabic language.
Especially the books of grammar, interpretation, and the opinions of the scholars of the principles of jurisprudence are mentioned,
I also mentioned the opinion of the scholars of jurisprudence, and how they likened (whatever) to (everything).
In its indication of repetition, and as long as it indicates repetition, it indicates
time Because repetitio
Background: Respiratory distress is one of the
commonest disorders within the firs 48 - 72 hours of live
and any sign of postnatal respiratory distress is an
indication for roentgenogram of the chest.
Objectives: Is to show the range of chest radiographic
findings in full term newborn babies suffering from
respiratory distress, at or soon after birth.
Method: This is a prospective study that was conducted
in the special care baby units in Baghdad teaching
hospital and Children welfare teaching hospital during
2002. Anteroposterior chest radiograph in supine
position of (129) full term newborn babies, presented
with a chief complaint of respiratory distress were
examined.
Results: The commonest ca
It is the dynamic tension between the relatively fixed built environment and the constantly changing in social life that determines the nature of urban spaces belonging to different historical periods, and considered as a tool for diagnosing transformations in urban spaces, that’s why, the characteristics of urban space became unclear between positive spaces and negative spaces, so emerged the need to study contemporary urban space belonging to the current period of time and show the most important transformations that have occurred in contemporary urban space to reach urban spaces that meet the current life requirements. Therefore, the research dealt with a study of the characteristics of contemporary urban space and the most pr
... Show MoreThe childhood of the important stages in which the adopted child's personality, mental and physical, motor and configure , as well as gain experience , it is the basis on which the future life of the child , studies have unanimously competent in the fields of childhood verily the first five years of a child of the most important stages of life and the most fertile life . Because the stage Childhood its an active role as the foundation upon which to build human personality , it was necessary to create all leads to raise the level of intelligence of children , because intelligence is the first element in the organization of thinking makes the child able to do the activities characterized by mental qualities .
Indicated most of the scien