Ensuring safe and continuous autonomous navigation in long-term mobile robot applications is still challenging. To ensure a reliable representation of the current environment without the need for periodic re-mapping, updating the map is recommended. However, in case of incorrect estimation of robot pose, updating the map can lead to errors that prevent the robot localisation and jeopardize map accuracy. In this paper, we propose a safe LIDAR-based occupancy grid map updating algorithm for dynamic environments taking into account the uncertainties in the estimation of the robot’s pose. The proposed approach allows robust long-term operations as it can recover the robot’s pose, even when it gets lost, to continue the map update process providing a coherent map. Moreover, the approach is robust also to temporary changes in the map due to the presence of dynamic obstacles such as humans and other robots. Results highlighting map quality, localisation performance, and pose recovery, both in simulation and experiments, are reported.

This paper proposes the localisation of room occupants in home environments using Unobtrusive Sensing Solutions (USSs). The ability to localise room occupants in home environments can help in the objective monitoring of sedentary behaviour. While wearable sensors can provide tangible information on health and wellness, they have battery life issues and the inability to perform prolonged monitoring. This work uses heterogeneous USSs in the form of an Infrared Thermopile Array (ITA-64) thermal sensor and a Multi-Chirp Frequency Modulated Continuous Wave Mono-pulse (MC-FMCW-M) Radar sensor to monitor room occupants. Digital filters and background subtraction algorithms were used to process the thermal images gleaned from the ITA-64 thermal sensors. The MC-FMCW-M Radar sensor used multi-chirp and Doppler shift principles to estimate the exact location of the targeted room occupants. The estimated distances from the Radar Sensor were compared with ground truth values. Experimental results demonstrated the ability to identify thermal blobs of occupants present in the room at any particular time. Data analyses indicated no significant difference (p = 0.975) and a very strong positive correlation (r = 0.998) between the ground truth distance values and those obtained from the Radar Sensor.

Gwosch et al. (2020) and Balzarotti et al. (2017) purport MINFLUX as the next revolutionary fluorescence microscopy technique claiming a spatial resolution in the range of 1-3 nm in fixed and living cells. Though the claim of molecular resolution is attractive, I am concerned whether true 1 nm resolution has been attained. Here, I compare the performance with other super-resolution methods focussing particularly on spatial resolution claims, atypical image rendering, visualisation enhancement, subjective filtering of localizations, detection vs labelling efficiency and the possible limitations when imaging biological samples containing densely labelled structures. I hope the analysis and evaluation parameters presented here are not only useful for future research directions but also microscope users, developers and core facility managers when deciding on an investment for the next 'state-of-the-art' instrument.

Hepatocellular carcinoma (HCC) is a heterogeneous malignancy with complex carcinogenesis. Although there has been significant progress in the treatment of HCC over the past decades, drug resistance to chemotherapy remains a major obstacle in its successful management. In this study we were able to reduce chemoresistance in cisplatin-resistant HepG2 cells by either silencing the expression of transglutaminase type 2 (TG2) using siRNA or by pre-treatment of cells with the TG2 enzyme inhibitor cystamine. Further analysis revealed that, whereas the full-length TG2 isoform (TG2-L) was almost completely cytoplasmic in its distribution, the majority of the short TG2 isoform (TG2-S) was membrane-associated in both parental and chemoresistant HepG2 cells. Following induction of cisplatin toxicity in non-chemoresistant parental cells, TG2-S together with cisplatin quickly relocated to the cytosolic fraction. Conversely, no cytosolic relocalisation of TG2-S or nuclear accumulation cisplatin was observed following identical treatment of chemoresistant cells, where TG2-S remained predominantly membrane-associated. This suggests that deficient subcellular relocalisation of TG2-S from membranous structures into the cytoplasm may limit the apoptic response to cisplatin toxicity in chemoresistant cells. Structural analysis of TG2 revealed the presence of binding motifs for interaction of TG-S with the membrane scaffold protein LC3/LC3 homologue that could contribute to a novel mechanism of chemotherapeutic resistance in HepG2 cells.

In our recently proposed theory of quantum gravity, a black hole arises from the spontaneous localisation of an entangled state of a large number of atoms of space-time-matter [STM]. Prior to localisation, the non-commutative curvature of an STM atom is described by the spectral action of non-commutative geometry. By using the techniques of statistical thermodynamics from trace dynamics, we show that the gravitational entropy of a Schwarzschild black hole results from the microstates of the entangled STM atoms and is given (subject to certain assumptions) by the classical Euclidean gravitational action. This action, in turn, equals the Bekenstein-Hawking entropy (Area/$4{L_P}^2$) of the black hole. We argue that spontaneous localisation is related to black-hole evaporation through the fluctuation-dissipation theorem.

Some traditional robots are based on offline programming reciprocal motion, and with the continuous upgrading of vision technology, more and more tasks are replaced by machine vision. For the current problem of insufficient accuracy of robot target localization based on binocular vision, and an improved random sampling consistency algorithm is proposed to complete parallel robot target localization and grasping under the guidance For the current problem of insufficient accuracy of robot target localization based on binocular vision, an improved random sampling consistency algorithm is proposed to complete parallel robot target localization and grasping under the guidance of multi Firstly, the RANSAC algorithm is improved based on the SURF algorithm; then the parallax gradient method is applied to iterate the matched point pairs several times to further optimize the data; then the 3D reconstruction is completed by the program technique; finally the obtained data is finally the obtained data is input into the robot arm and the camera internal and external parameters are obtained by the calibration method so that the robot can accurately locate and The experiments show that the improved algorithm has advantages in recognition accuracy and grasping success rate under multi- The experiments show that the improved algorithm has advantages in recognition accuracy and grasping success rate under multi-vision system.

Abstract In order to solve the problem that it is difficult to obtain the accurate trigger signal moment when using the time difference of UAV flight acoustic signals collected by acoustic sensors arranged in advance to locate the position of UAVs when they cannot be tracked by radar and are difficult to be observed by the human eye, an acoustic source localisation method with improved empirical modal decomposition (REMD) under an adaptive frequency window is proposed. Firstly, the collected UAV flight signals are smoothed and filtered, then the robust empirical modal decomposition (REMD) is used for IMF modal decomposition and spectral analysis of the collected signals, and a panning frequency window with variable bandwidth is introduced for corresponding frequency locking and extracting the IMFs; the GWO optimisation is used and the sliding metrics are set to determine the position of the panning frequency window automatically; finally, the extracted Finally, the extracted IMF components are reconstructed according to the criterion, and the trigger signal moments in the reconstructed IMF components are resolved and recorded, and the algorithm is used to calculate the difference between the reception moments of different sensors; for the traditional sound source localisation algorithms with a small detection range, which are prone to fall into the no-solution or false-solution, i.e., unable to achieve the localisation, a weighted least-squares-based Chan-Taylor algorithm is proposed for the localisation computation, and a weighted least-squares algorithm is proposed for the localisation computation, through the Inputting the sensor delay parameter and solving the linear equation system to get the target position information; finally, this paper verifies the robustness and performance of the design method with simulated and actual signals. The results show that the maximum positioning error is no more than 5% in an area with a side length of 15m in the measurement area. With the improved accuracy of time delay estimation, the positioning simulation results meet the positioning requirements even though the positioning error is further expanded when the measurement area is further expanded.

The latest developments in digital humanities have increasingly enabled the construction of large data sets which can easily be accessed and used. These data sets often contain indirect localisation information, such as historical addresses. Historical geocoding is the process of transforming the indirect localisation information to direct localisation that can be placed on a map, which enables spatial analysis and cross-referencing. Many efficient geocoders exist for current addresses, but they do not deal with temporal information and are usually based on a strict hierarchy (country, city, street, house number, etc.) that is hard, if not impossible, to use with historical data. Indeed, historical data are full of uncertainties (temporal, textual, positional accuracy, confidence in historical sources) that can not be ignored or entirely resolved. We propose an open source, open data, extensible solution for geocoding that is based on gazetteers composed of geohistorical objects extracted from historical topographical maps. Once the gazetteers are available, geocoding an historical address is a matter of finding the geohistorical object in the gazetteers that is the best match to the historical address searched by the user. The matching criteria are customisable and include several dimensions (fuzzy string, fuzzy temporal, level of detail, positional accuracy). As the goal is to facilitate historical work, we also propose web-based user interfaces that help geocode (one address or batch mode) and display over current or historical topographical maps, so that geocoding results can be checked and collaboratively edited. The system has been tested on the city of Paris, France, for the 19th and the 20th centuries. It shows high response rates and is fast enough to be used interactively.

When gravity is quantum, the point structure of space-time should be replaced by a non-commutative geometry. This is true even for quantum gravity in the infra-red. Using the octonions as space-time coordinates, we construct a pre-spacetime, pre-quantum Lagrangian dynamics. We show that the symmetries of this non-commutative space unify the standard model of particle physics with $SU(2)_R$ chiral gravity. The algebra of the octonionic space yields spinor states which can be identified with three generations of quarks and leptons. The geometry of the space implies quantisation of electric charge, and leads to a theoretical derivation of the mysterious mass ratios of quarks and the charged leptons. Quantum gravity is quantisation not only of the gravitational field, but also of the point structure of space-time.

The electronic structure and the participation of the simplest azomethine imine (AI) in [3+2] cycloaddition (32CA) reactions have been analysed within the Molecular Electron Density Theory (MEDT) using DFT calculations at the MPWB1K/6-311G(d) level. Electron localisation function (ELF) topological analysis reveals that AI has a pseudoradical structure, while the conceptual DFT reactivity indices characterise this TAC as a moderate electrophile and a good nucleophile. The non-polar 32CA reaction of AI with ethylene takes place through a one-step mechanism with low activation energy, 5.3 kcal/mol-1. A bonding evolution theory (BET) study indicates that this reaction takes place through a non-concerted [2n+2τ] mechanism in which the C–C bond formation is clearly anticipated prior to the C–N one. On the other hand, the polar 32CA reaction of AI with dicyanoethylene takes place through a two-stage one-step mechanism. Now, the more favourable regioisomeric transition state structure (TS) is located 8.5 kcal•mol⁻¹ below the reagents, in complete agreement with the high polar character of the TS. The current MEDT study makes it possible to extend Domingo’s classification of 32CA reactions to a new pra-type of reactivity.