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.
In this paper, we introduce and study new classes of soft open sets in soft bitopological spaces called soft (1,2)*-omega open sets and weak forms of soft (1,2)*-omega open sets such as soft (1,2)*-α-ω-open sets, soft (1,2)*-pre-ω-opensets, soft (1,2)*-b-ω-open sets, and soft (1,2)*-β-ω-open sets. Moreover; some basic properties and the relation among these concepts and other concepts also have been studied.
Background: Earlier reports related the presence of Mouse Mammary Tumor Virus -like gene sequences to human breast carcinoma. Mouse Mammary Tumor Virus -like gene is a retrovirus, namely, a virus containing reverse transcriptase which transcript its RNA to DNA in a process that enables genetic material from the retrovirus to become a part of the genes of an infected cell permanently. The virus that found in women was designated as Human Mammary Tumor Virus by the authors, who have investigated the presence of Human Mammary Tumor Virus sequences in a many human breast tissues and in many countries.
Objectives: Detect HMTV genome in Iraqi women of breast cancer.
Patients and Methods
... Show MoreAs human societies grow, the problem of waste management becomes one of the pressing issues that need to be addressed. Recycling and reuse of waste are effective waste management measures that prevent pollution and conserve natural resources. In this study, the possibility of using glass waste as an alternative was used as a partial weight substitute for fine aggregates with replacement ratios of 10, 20, 30, and 40% by the weight, and formed into test models (15 cm * 15 cm ) cube and (15 cm * 30 cm) cylinder, then matured and tested their strength compression and tensile strength at the age of 7 and 28 days and compared with a reference or conventional concrete with a mixing ratio (1: 1.5: 3) as well as testing its worka
... Show MoreThree groups of subjects have been divided (25/group): healthy normotensive non-pregnant women (Group A), normal normotensive pregnant women (Group B), and women with preeclampsia (Group C).The levels of serum alanine aminotransferase (ALT), aspartate aminotransferase (AST), total bilirubin , creatinine , blood urea nitrogen, triglyceride , total cholesterol and glucose have been estimated in all subjects. All measured parameters were determined by spectrophotometric analysis. The results showed a significant(P<0.05) increase in serum ALT, AST, blood urea nitrogen, triglyceride and total cholesterol levels in group B as compared to group A. However creatinine, total bilirubin and glucose levels did not show any statistical significant alt
... Show MoreThe glycated haemoglobin A1c(HbA1c) and Fasting blood glucose(FBG) effect on type1 diabetic pateints as a screening tests and as a gold standard for assessing glycemic control in subjects with diabetes were studied . Ninety one blood samples were collected in a peroid between June and the end of November 2012 at AL- Kindy Diabetic Center and Central Child Hospital,48 Females and 43 Males , aging between (11 month- 18 year), are divided into three groups, newly diagnosed , ongoing and healthy control group, with duration of disease between(1 day-3months) and (from birth-8 years) for newly diag
... Show MoreThis study aimed to evaluate serum levels of steroid hormones and human chorionic gonadotropin (hCG) hormone in preeclamptic Iraqi pregnancies compared to those of healthy pregnancies.This study enrolled 120 pregnant women, divided into four groups:1. 30 healthy pregnant women.2. 37 pregnant women with mild preeclampsia3. 53 pregnant women with severe preeclampsia4. 90 pregnant women with preeclampsia Preeclamptic women and their severe cases but not mild cases had significantly (P<0.01) increased levels of serum hCG as compared with healthy pregnancies. By contrast, sera levels of estradiol were significantly (P<0.01) decreased in total preeclamptic groups and their severe cases but not in mild group as compared to healthy pregnant wome
... Show MoreThis work included external morphological study of horse fly Tabanus nemoralis Meig. 1820, which belongs to family Tabanidae order: Diptera. The study involved the most important taxonomic external characters of the: head, thorax, abdomen and their appendages which are: antenna, maxillary palp, wings, legs, spotting in coloring pattern of abdomen
Background:
The asialoglycoprotein receptor (ASGP-R)
Used in the study especially calibrated Erwa to determine the number of neighborhood or the Alayoshi number of bacteria in the count modeling and casting method dishes in addition to using the drop method yielded significant results for a match between the methods used ..
The researchers have tried to focus on how to determine the number of pipes that are present in one obtained hyperbola in radargram profile. Ground Penetration Radar (GPR) survey was performed to distinguish between two zero-spaced iron pipes in radargram. The field work was carried out by constructing artificial rectangular models with dimensions of length, width, and depth equal to 10.0, 1.0, 0.65 meter respectively that filled with dry clastic mixture deposit, three twin sets of air filled iron pipes of 15.24 cm (6 inch) diameter were buried horizontally and vertically inside the mixture at different distances together. Visual and Numerical interpretation were chosen to get the best results. In the visual interpretation, the amplitude
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