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VIA-SLAM:An Underwater Visual–Inertial–Acoustic SLAM With Integrated DVL
Full text linkArticle proposes a visual-inertial–acoustic SLAM (VIA-SLAM) for the localization of unmanned underwater vehicles (UUVs). The initialization of SLAM is a difficult task because of the slow-motion characteristics of UUVs and the challenging underwater environment with weak textures and low light conditions. The SLAM system integrates a Doppler velocity log (DVL), and we propose a DVL-assisted initialization method to enhance the accuracy of system initialization. The velocity measurements from the DVL are used to construct the DVL residuals, which is jointly optimized with the reprojection residuals and the inertial residuals to enhance the localization accuracy of the system. In addition, the reliability of visual information is affected by the complex underwater environment. To address the problem of decreased localization accuracy due to poor image quality, we propose an adaptive dynamic weight factor to assess the impact of image quality on localization performance and accordingly adjust the weight of visual information. Finally, we evaluate the proposed VIA-SLAM using the open underwater datasets and the data collected from actual lake trials. The experimental results show that our SLAM system significantly improves localization accuracy compared with the state-of-the-art methods
How Death Reflection Shapes Psychological Well-Being: The Impact of Deep vs Subtle Mortality Awareness
Full text linkAn exploration of potential magma propagation pathways within Santorini volcano, Greece
Full text linkA generative AI-based legal advice tool for small businesses in distress
Full text linkWe developed and tested the performance of a retrieval augmented generation (RAG) system for answering legal queries related to corporate insolvency in England and Wales. The Insolvency Bot relies on open-source legal information and HMRC forms to provide sound responses to a user’s query focusing on insolvency matters regulated by English law. We evaluated our bot head-to-head on an unseen test set against the unmodified versions of large language models (LLMs) gpt-3.5-turbo, gpt-4, or gpt-4o with a mark scheme similar to those used in examinations in law schools. The Insolvency Bot outperformed each unmodified LLM (p = 0.05%). An additional user experience survey suggested the need for creating two versions of the bot, one for lay people who expect practical and actionable advice and another for professionals with the relevant legal authorities. Our legal chatbot demonstrates the benefits of combining a generative AI system with a trusted knowledge base and shows future promise to cover cross-jurisdictional and insolvency-related queries and could be further improved in its technical architecture
Machinic Ontology:Review: Mehdi Parsa, ‘Machinic Ontology’
No full textThe book Machinic Ontology draws parallels between books and brains and indeed models itself on a brain conceived of as a network of problems. A book is also regarded as a little machine, and in echoing Deleuze and Guattari in making this observation, Parsa’s objective in writing the book becomes apparent: it is a detailed evaluation of the becoming-concept of the machine-metaphor, one that applies a universal ‘machinism’ as a metaphysical foundation. This is a hugely important and timely undertaking, though not without various tensions, which will be examined in this review
Workshop outputs - October 29 2025 (Sheerwater rediscovered event)
No full textInfographic with compilation of discussion about how to preserve memories of Sheerwater and continue developing a sense of hope for the futur
Partition Problems for Directed and Undirected Graphs
Full text linkThis thesis introduces and explores several partition problems in both directed and undirected graphs. One of the most well-known partition problems in graph theory is the maximum cut problem. In a weighted graph (digraph, respectively) , a cut (directed cut, respectively) is a bipartition (an ordered bipartition, respectively) of its vertex set. The weight of a cut is defined as the sum of the weights of the edges (arcs, respectively) between and (from to , respectively). A maximum weight cut (maximum weight directed cut, respectively) is a cut whose weight is at least as large as that of any other cut. In Chapters 3, 4 and 5, we investigate the maximum weight cut and one of its variants, the maximum weight bisection problem, where a bisection is a cut satisfying . In particular, the most technical part in Chapter 3 is devoted to the maximum weight directed cut problem for acyclic digraphs (i.e., directed graphs without directed cycles). In Chapters 4 and 5, we examine the maximum weight bisection problem for graphs with bounded degrees and specific forbidden subgraphs, respectively. A well-known class of partition problems involves decomposing graphs into vertex-disjoint subgraphs while maintaining certain degree constraints. Several results have shown that graphs with high minimum degree can be partitioned into vertex-disjoint subgraphs with relatively large minimum degree. However, proving analogous results for digraphs is significantly more challenging. One prominent open problem in this area is the Bermond–Thomassen conjecture, which states that every digraph with minimum out-degree at least can be partitioned into vertex-disjoint subgraphs, each having a minimum out-degree of at least 1. In Chapter 6, we make progress on this conjecture by proving it for a new class of digraphs. Another fundamental problem in graph theory is the minimum feedback arc set problem, which has numerous applications. In Chapter 7, we seek improved bounds for the minimum feedback arc sets of sparse weighted oriented graphs. To this end, we initiate the study of partitioning the arc set of a digraph into the maximum possible number of feedback arc sets, providing new insights into this problem
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