220 research outputs found
16-741: Mechanics of Manipulation – Paper Review Randomized Kinodynamic Planning
No full textLaValle & Kuffner [12] present an application of a randomized technique to the problem of kinodynamic planning. Their algorithm constructs Rapidly-exploring Random Trees (RRTs) in a high dimensional state space that encompasses both first order constraints resulting from the physically-based system dynamics as well as global kinematic constraints due to obstacles in the environment. By coupling and simultaneously addressing the problems of finding a basic path in configuration space and finding a controller satisfying the system dynamics while exploiting the benefits of randomized techniques, trajectories for a broad range of systems operating in cluttered environments can be computed in an efficient manner.
16-741: Paper review “Navigation Among Movable Obstacles: Real-time Reasoning in Complex Environments”
No full textIn this paper, we review the recent publication by Stilman and Kuffner titled “Navigation Among Movable Obstacles: Realtime Reasoning in Complex Environments”. They propose a solution to the problem of navigation in cluttered environments where the robot has the ability to move obstacles to clear previously blocked paths. This problem is particularly challenging because the planner must include both manipulation and navigation constraints in the same framework, which causes the problem to rapidly become intractable. They present a resolution-complete planner that takes advantage of the navigational structure of the problem to reduce the solution space dimensions to a manageable size. They also present real-time simulation results on problems of varying size and complexity. In addition to reviewing the paper, we also explore some issues left unanswered that might be the subject of interesting future work. I
Identification of specific interactions between bacteria and heavy metals accumulating plants
No full textInteractions between accumulation of trace elements and macronutrients in Salix caprea after inoculation with rhizosphere microorganisms.
No full textAlthough the beneficial effects on growth and trace element accumulation in Salix spp. inoculated with
microbes are well known, little information is available on the interactions among trace elements and
macronutrients. The main purpose of this study was to assess the effect of phytoaugmentation with
the rhizobacteria Agromyces sp., Streptomyces sp., and the combination of each of them with the fungus
Cadophora finlandica on biomass production and the accumulation of selected trace elements (Zn, Cd, Fe)
and macronutrients (Ca, K, P and Mg) in Salix caprea grown on a moderately polluted soil. Dry matter production
was significantly enhanced only upon inoculation with Agromyces sp. Regarding the phytoextraction
of Cd and Zn, shoot concentrations were mostly increased after inoculation with Streptomyces sp. and
Agromyces sp. + C. finlandica. These two treatments also showed higher translocation factors from roots to
the leaves for both Cd and Zn. The accumulation of Cd and Zn in shoots was related to increased concentrations
of K. This suggests that microorganisms that contribute to enhanced phytoextraction of Cd and
Zn affect also the solubility and thus phytoavailability of K. This study suggests that the phytoextraction
of Zn and Cd can be improved by inoculation with selected microbial strains
Culturable bacteria from Zn- and Cd-accumulating Salix caprea with differential effects on plant growth and heavy metal availability.
No full textAims: To characterize bacteria associated with Zn ⁄ Cd-accumulating Salix
caprea regarding their potential to support heavy metal phytoextraction.
Methods and Results: Three different media allowed the isolation of 44 rhizosphere
strains and 44 endophytes, resistant to Zn ⁄Cd and mostly affiliated with
Proteobacteria, Actinobacteria and Bacteroidetes ⁄ Chlorobi. 1-Aminocyclopropane-
1-carboxylic acid deaminase (ACCD), indole acetic acid and siderophore
production were detected in 41, 23 and 50% of the rhizosphere isolates and in
9, 55 and 2% of the endophytes, respectively. Fifteen rhizosphere bacteria and
five endophytes were further tested for the production of metal-mobilizing
metabolites by extracting contaminated soil with filtrates from liquid cultures.
Four Actinobacteria mobilized Zn and ⁄ or Cd. The other strains immobilized
Cd or both metals. An ACCD- and siderophore-producing, Zn ⁄ Cd-immobilizing
rhizosphere isolate (Burkholderia sp.) and a Zn ⁄ Cd-mobilizing Actinobacterium
endophyte were inoculated onto S. caprea. The rhizosphere isolate
reduced metal uptake in roots, whereas the endophyte enhanced metal accumulation
in leaves. Plant growth was not promoted.
Conclusions: Metal mobilization experiments predicted bacterial effects on
S. caprea more reliably than standard tests for plant growth-promoting activities.
Significance and Impact of the Study: Bacteria, particularly Actinobacteria,
associated with heavy metal-accumulating Salix have the potential to increase
metal uptake, which can be predicted by mobilization experiments and may be
applicable in phytoremediation
Notes d'un voyage en Auvergne : extrait d'un rapport à M. le ministre de l'intérieur
No full textpar Prosper MeriméeGeschenkexlibris-Etikette: "Dieses Geschenk verdankt die Bibliothek der Eidgenössischen Technischen Hochschule der Freigebigkeit von S. von Kuffner Zürich 11.9.1967" 004080231_0001 Exemplar der ETH-BIBExlibrisstempel : "Hiltbrunner + Co. Aarau" Exemplar der ETH-BI
Objective Bayes, conditional inference and the signed root likelihood ratio statistic
No full textBayesian properties of the signed root likelihood ratio statistic are analysed. Conditions for first-order probability matching are derived by the examination of the Bayesian posterior and frequentist means of this statistic. Second-order matching conditions are shown to arise from matching of the Bayesian posterior and frequentist variances of a mean-adjusted version of the signed root statistic. Conditions for conditional probability matching in ancillary statistic models are derived and discussed. © 2012 Biometrika Trust.BARNDORFFNIELSEN OE, 1986, BIOMETRIKA, V73, P307; Barndorff-Nielsen O.E., 1994, INFERENCE ASYMPTOTIC; Datta G S, 2004, PROBABILITY MATCHING; DICICCIO TJ, 1993, J ROY STAT SOC B MET, V55, P305; DICICCIO TJ, 1993, BIOMETRIKA, V80, P731, DOI 10.1093-biomet-80.4.731; DICICCIO TJ, 1994, J ROY STAT SOC B MET, V56, P397; DICICCIO TJ, 1994, SCAND J STAT, V21, P447; Diciccio TJ, 2010, BIOMETRIKA, V97, P497, DOI 10.1093-biomet-asq002; Hall P., 1992, BOOTSTRAP EDGEWORTH; Lawless JF, 1982, STAT MODELS METHODS; MUKERJEE R, 1993, BIOMETRIKA, V80, P499, DOI 10.1093-biomet-80.3.499; Mukerjee R, 1997, BIOMETRIKA, V84, P970, DOI 10.1093-biomet-84.4.970; NICOLAOU A, 1993, J ROY STAT SOC B MET, V55, P377; PEERS HW, 1965, J ROY STAT SOC B, V27, P9; TIBSHIRANI R, 1989, BIOMETRIKA, V76, P604, DOI 10.1093-biomet-76.3.604; TIERNEY L, 1986, J AM STAT ASSOC, V81, P82, DOI 10.2307-2287970; WELCH B. L., 1963, J R STAT SOC B, V62, P1590
Notes d'un voyage dans l'ouest de la France : extrait d'un rapport adressé à M. le ministre de l'intérieur
No full textMerimée, ProsperGeschenkexlibris-Etikette: Dieses Geschenk verdankt die Bibliothek der Eidgenössischen Technischen Hochschule der Freigebigkeit von S. von Kuffner Zürich 11.9.1967" 004080231_0001 Exemplar der ETH-BIBExlibrisstempel : "Hiltbrunner + Co. Aarau" Exemplar der ETH-BI
Kuffner, Conrad (Birth, 1895-05-02)
No full textAddress: 24 McMicken2742/Pg 70/1895/M W/Germany/Germany/Mrs. H. SieberOriginal record filed in drawer labeled 'KRUME-KUHN, G'
M-Club Announces $1.5 Million Gift to Forward Together Campaign
No full textAlumni chapter\u27s donation will benefit baseball and football initiative
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