212,401 research outputs found
An Approach to Eliminate Ambiguity of Blind ML Detection for Orthogonal Space-Time Block Codes
No full textVan-Su Pham, Minh-Tuan Le, Mai Linh, S. M. Humayun Kabir, Giwan Yoo
Augerella vriesi Pham, Broad and Lampe 2011
No full textAugerella vriesi Pham, Broad and Lampe, 2011 (Figure 3) Augerella vriesi Pham, Broad and Lampe, 2011. Zootaxa, 2745: 68. Holotype: ♀, Vietnam: Dak Lak, Chu Yang Sin NP (RMNH). Material examined Dak Lak, Chu Yang Sin NP: 1♀ (RMNH, holotype), 800–1000 m a.s.l; 1♀ (IEBR, paratype), 840–940 m a.s.l; 1♂ (RMNH, paratype), 740–900 m a.s.l., 2–10 June 2007, C. v. Achterberg and R. de Vries leg. Diagnosis Clypeus flat, basally slightly convex; ovipositor as long as hind tibia with slanting ridges at the tips of both lower and upper valves. Distribution This species is currently known only from the type locality in Chu Yang Sin NP, Dak Lak Province, Vietnam. Ecological notes Specimens were collected in secondary rainforest between 800 and 1000 m a.s.l.Published as part of Pham, Nhi Thi, Broad, Gavin R. & Wägele, Wolfgang J., 2013, A review of the Theronia genus-group (Hymenoptera: Ichneumonidae: Pimplinae) from Vietnam with descriptions of five new species, pp. 1501-1538 in Journal of Natural History (J. Nat. Hist.) (J. Nat. Hist.) 47 (23 - 24) on pages 1507-1508, DOI: 10.1080/00222933.2012.763105, http://zenodo.org/record/519688
Pomponia backanensis Pham & Yang 2009
No full textPomponia backanensis Pham & Yang, 2009 (Fig. 3) Pomponia backanensis: Pham & Yang, 2009: 9 [TL: Bac Kan, Vietnam]. Material examined. VIETNAM: Ha Giang: 1 ♂, Tonkin, Reg' Ha-Giang, 1916, Siebens-Olivier (MNHN); Bac Kan: 2 ♂♂, Ba Be NP, 200–400 m, 6.vii. 2002, coll. Hoang Vu Tru; 2 ♂♂, Ba Be NP, 16,17. vi. 2007; Vinh Phuc: 2 ♂♂, Tam Dao NP, 900 m, 3.vii. 2003, coll. Hoang Vu Tru; 2 ♂♂, same locality, 25–28.vii. 2011, coll. Pham Hong Thai; 1000–1200 m; 1 ♂, Dai Dinh, 500 m, 8.v. 2004; 1 ♂, Me Linh, ML2236, 4.vi. 2010; Phu Tho: 2 ♂♂, Xuan Son NP, Cic0690, Cic0899, 16,17. x. 2004, light trap; 7 ♂♂, 4 ♀♀, Xuan Son NP, 400–900 m, Cic0602, Cic0604- Cic0606, Cic0617-Cic0622, 12–15.vi. 2004 (VNMN); Lao Cai: 1 ♂, Tonkin, env immediats de LaoKay, 1908, CAPne SAUVEZ; Hoa Binh: 2 ♂♂, Tonkin, Hoabinh, 1919, R. Oberthur; Ninh Binh: 14 ♂♂, 6 ♀♀, Cuc Phuong NP, 200–250 m, 20–22.vii. 2011, coll. Pham Hong Thai; Dak Nong: 1 ♂, Nam Njang, Dak Song, 800–850 m, Ho. 2.0351, 24.iv. 2011, coll. Hoang Vu Tru; Dak Lak: 1 ♂, Buon Ho town, Ho. 2.0463, light trap, 28.iv. 2011, coll. Ta Huy Thinh; 9 ♂♂, 2 ♀♀, Tan Lap, Krong Buk, Ho. 2.0339 –Ho. 2.0343, Ho. 2.0394 –Ho. 2.0399, light trap, 27.iv. 2011, coll. Hoang Vu Tru and Tran Thieu Du; 1 ♀, Pong Drang, Krong Buk, 700–770 m, Ho. 2.0449, light trap, 27.iv. 2011, coll. Ta Huy Thinh; 3 ♂♂, 5 ♀♀, Pong Drang, Krong Buk, 700–770 m, Ho. 2.0327 - Ho. 2.0331, Ho. 2.0388 –Ho. 2.0390, 29.iv. 2011, coll. Hoang Vu Tru and Ta Huy Thinh; 1 ♂, Dak Mar, 600–630 m, Ho. 2.0350, 4.v. 2011, coll. Ta Huy Thinh; Gia Lai: 1 ♂, Chu Se town, 550 m, Ho. 2.0458, 2.v. 2011, Ta Huy Thinh; Kon Tum: 4 ♂♂, 2 ♀♀, Dak Ha town, 634 m, Ho. 2.0362, Ho. 2.0363, Ho. 2.0380 –Ho. 2.0383, light trap, 3.v. 2011, coll. Ta Huy Thinh and Hoang Vu Tru; 1 ♂, same locality, Ho. 2.0442, light trap, 5.v. 2011, Hoang Vu Tru. CAMBODIA: 1 ♂, Angkor Thom, Siem Reap province, 16–23 VII 2005, Daniel Jump (IRSNB). Distribution. Vietnam (Bac Kan, Ha Giang, Hoa Binh, Phu Tho, Vinh Phuc, Dak Nong, Dak Lak, Gia Lai, and Kon Tum) and Cambodia (new record). Remarks. The basal lobes of pygofer are large and paramedian like P. linearis, but the medial spine of clasper is about as long as the lateral spine in this species.Published as part of Pham, Hong-Thai, Lee, Young June & Constant, Jerome, 2015, Cicada genus Pomponia Stål, 1866 (Hemiptera: Cicadidae) from Vietnam and Cambodia, with a new species, a new record, and a key to the species, pp. 562-572 in Zootaxa 3925 (4) on pages 566-567, DOI: 10.11646/zootaxa.3925.4.5, http://zenodo.org/record/23651
Augerella achterbergi Pham, Broad and Lampe 2011
No full textAugerella achterbergi Pham, Broad and Lampe, 2011 (Figure 1) Augerella achterbergi Pham, Broad and Lampe, 2011. Zootaxa, 2745: 68. Holotype: ♀, Vietnam: Dak Lak, Chu Yang Sin NP (RMNH). Material examined Dak Lak, Chu Yang Sin NP: 1♀ (RMNH, holotype), 740–900 m above sea level (a.s.l.), 2–10 June 2007; 1♀ (IEBR, paratype), 500 m a.s.l., 3–9 June 2007, Malaise trap, C. v. Achterberg and R. de Vries leg. Diagnosis Clypeus basally strongly convex, apically deeply concave; ovipositor 0.7 × as long as hind tibia, with slanting ridges at the tip of both lower and upper valves. Distribution This species is currently known only from Chu Yang Sin NP, Dak Lak Province, Central Highlands of Vietnam. Ecological note The specimens were collected in secondary rainforest at elevations between 500 and 900 m a.s.l.Published as part of Pham, Nhi Thi, Broad, Gavin R. & Wägele, Wolfgang J., 2013, A review of the Theronia genus-group (Hymenoptera: Ichneumonidae: Pimplinae) from Vietnam with descriptions of five new species, pp. 1501-1538 in Journal of Natural History (J. Nat. Hist.) (J. Nat. Hist.) 47 (23 - 24) on pages 1505-1506, DOI: 10.1080/00222933.2012.763105, http://zenodo.org/record/519688
Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching
No full textWe consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navigating and localizing itself within an area of approximately 50 x 50 m using reference images collected years earlier by another rover (R0). We propose a visual localizer that exhibits robustness to the relatively barren terrain that we expect to find in relevant areas, and to large lighting and viewpoint differences between R0 and R1. The localizer synthesizes partial renderings of a mesh built from reference R0 images and matches those to R1 images. We evaluate our method on a dataset totaling 2160 images covering the range of expected environmental conditions (terrain, lighting, approach angle). Experimental results show the effectiveness of our approach. This work informs the Mars Sample Return campaign on the choice of a site where Perseverance (R0) will place a set of sample tubes for future retrieval by another rover (R1).A set of 2178 stereo images with calibration parameters and ground-truth pose provided by a motion capture system.
See included README.pdf file for file structure.
Cleared for release with URS number URS299897.Related Publication:
Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching
Pham, Tu-Hoa JPL
engContact person: Pham, Tu-Hoa [email protected]
Simulium (Simulium) xuandei Takaoka & Pham 2015
No full textSimulium (Simulium) xuandei Takaoka & Pham, 2015 Simulium (Simulium) xuandei Takaoka & Pham (in Takaoka et al., 2015a): 86–93 (Female, male, pupa and larva). Specimens examined. Three females and two males (all reared from pupae), collected from a stream (width 1.5– 4.0 m, depth 10–20 cm, bottom of pebbles and rocks, water temperature 18.0˚C, exposed to the sun, elevation 107 m, 19˚30’10.540”N/105˚09’17.144”E), moderately flowing near a natural forest, Chau Dinh, Quy Chau, Nghe An Province, northern Vietnam, 11-XII-2015, by H. Takaoka, M. Sofian-Azirun, C.D. Chen & K.W. Lau. Distribution. Vietnam (Lam Dong and Nghe An) Remarks. This species was described from Lam Dong Province, southern Vietnam (Takaoka et al. 2015a), and also recorded from Nghe An Province, northern Vietnam by our surveys. The molecular data show that this species includes two additional cryptic taxa (Low et al. 2016).Published as part of Takaoka, Hiroyuki, Sofian-Azirun, Mohd, Ya'Cob, Zubaidah, Chen, Chee Dhang, Lau, Koon Weng, Low, Van Lun, Pham, Xuan Da & Adler, Peter H., 2017, The black flies (Diptera: Simuliidae) of Vietnam, pp. 1-165 in Zootaxa 4261 (1) on page 153, DOI: 10.5281/zenodo.57160
Enicospilus nigristernalis Pham & Pham & Matsumoto & Shimizu & Broad 2023, sp. nov.
No full text<i>Enicospilus nigristernalis</i> sp. nov. <p>urn:lsid:zoobank.org:act: 272C4DF7-C94F-40D9-9CED-F8AE478DA7EA</p> <p>Fig. 53</p> Diagnosis <p>Interocellar area reddish brown; clypeus weakly convex, ventral margin blunt; mandible twisted ca 40°, outer surface without a diagonal setose groove; fore wing fenestra with proximal, central and distal sclerites, central sclerite small, circular, positioned in anterodistal corner of quadra, both CI and ICI less than 0.5; mesoscutum posteriorly and mesosternum black.</p> Differential diagnosis <p> The new species resembles <i>E. stenophleps</i> Cushman, 1937 in having a small, weak, circular central sclerite. The new species can be recognized from the latter by the narrower fenestra, anterodistal corner antefurcal to RS by about 0.8× length of 2rs-m (vs interstitial to RS in <i>E. stenophleps</i>), with quadra (vs without quadra in <i>E. stenophleps</i>), and colour patterns of mesoscutum, mesosternum and metasomal tergites.</p> Etymology <p> The adjective belonging to the Latin neuter noun ‘ <i>sternum</i> ʼ is ‘ <i>sternalis</i> ʼ, combined with black the specific epithet ‘ <i>nigristernalis</i> ʼ meaning ‘black sternumʼ, referring to the black mesosternum.</p> Material examined <p> <b>Holotype</b></p> <p>VIETNAM • ♂; Dong Nai Province, Vinh Cuu, Phu Ly; 7 Jun. 2021; Pham T.N., Hoang V.T. and Pham V.P. leg.; light trap; IEBR</p> <p> <b>Paratypes</b></p> <p>VIETNAM • 1 ♀; Dong Nai Province, Cat Tien NP; 7 Jul. 2002; Le X.H. leg.; light trap; IEBR • 2 ♀♀, 1 ♂; Dong Nai Province, Vinh Cuu, Phu Ly; 16 May 2007; Hoang V.T. leg.; light trap; IEBR • 1 ♀; Cuc Phuong NP, Ninh Binh Province; 11 Jun. 2022; Pham V.P. leg.; light trap; IEBR.</p> Description <p> <b>Male</b> (holotype)</p> <p>MEASUREMENTS. Body length 14.1 mm, fore wing length 10.5 mm.</p> <p>HEAD with FI = 0.6, GOI = 4.0 (Fig. 53d). Lower face 0.7 × as wide as high, smooth and shiny (Fig. 53b). Clypeus 1.4× as wide as high, similar sculpture as face, weakly convex in profile, ventral margin blunt (Fig. 53b). Malar space 0.3× as long as basal mandibular width (Fig. 53b). Mandible moderately short, twisted by ca 40°, evenly narrowed, outer surface without diagonal setose groove (Fig. 53b). Upper tooth of mandible depressed, about 1.2 × as long as lower tooth (Fig. 53b). Frons and vertex smooth and shiny, gena shiny with fine setae (Fig. 53c–d). Posterior ocellus close to eye (Fig. 53c). Occipital carina complete, ventral end meeting hypostomal carina at about 0.5 × basal mandible width from base of mandible. Antenna broken, with 46 remaining flagellomeres; F1 1.5× as long as F2; F20 2.5× as long as wide.</p> <p>MESOSOMA. Moderately shiny (Fig. 53e). Pronotum coriaceous (Fig. 53e). Mesoscutum 1.4× as long as maximum width, evenly rounded in profile. Notaulus absent. Scutellum moderately convex, anteriorly with transverse wrinkles, posteriorly with irregular rugae, lateral longitudinal carinae present on anterior 0.9. Epicnemium coriaceous ventrally, dorsally with transverse wrinkles (Fig. 53e). Epicnemial carina moderately strong, dorsal end bent to reach anterior margin of mesopleuron (Fig. 53e). Mesopleuron finely punctate dorsally, ventrally transversely striate (Fig. 53e). Submetapleural carina slightly broadened anteriorly (Fig. 53e). Metapleuron coriaceous (Fig. 53e). Propodeum evenly rounded in profile; anterior transverse carina complete; anterior area longitudinally striate; spiracular area smooth; posterior area irregularly rugose; propodeal spiracle elliptical, joining pleural carina by ridge (Fig. 53e).</p> <p>WINGS (Fig. 53f). Fore wing with AI = 0.57, CI = 0.33, DI = 0.28, ICI = 0.43, SDI = 1.19, SI = 0.16, SRI = 0.22; vein 1m-cu&M evenly arcuate; vein 2r&RS relatively straight; vein RS strongly curved; fenestra and sclerites of discosubmarginal cell as in Fig. 53f; proximal sclerite strong, connected to weakly pigmented distal sclerite; central sclerite small, more or less round in shape, pigmented, positioned in anterodistal corner of moderately large quadra; proximal corner of marginal cell evenly setose; posterodistal corner of second discal cell and that of subbasal cell ca 90°; vein 1cu-a antefurcal to M&RS by 0.15× length of 1cu-a. Hind wing with NI = 2.8; vein RS arcuate; vein RA with 7 uniform hamuli on right wing and with 6 uniform hamuli on left wing.</p> <p>LEGS. Hind leg with coxa in profile 1.7× as long as high; basitarsus 1.6× as long as second tarsomere; fourth tarsomere 2.4× as long as wide; tarsal claw simply pectinate.</p> <p>METASOMA. With DMI = 1.6, PI = 2.3, THI = 3.1; thyridium oval.</p> <p>COLOUR (Fig. 53a). Reddish brown except for apex of mandible, posterior 0.4 of mesoscutum, mesosternum, and posterior half of T3 onwards black. Wings hyaline; sclerites pigmented and amber; veins and pterostigma dark brown.</p> <p> <b>Variation in male</b></p> <p>Paratype male has fore wing length 11.2 mm, ICI = 0.42, SDI = 1.24. Metasoma with DMI = 1.4, PI = 2.5.</p> <p> <b>Females</b></p> <p>Similar to male, except head with FI = 0.6; antenna with 50–53 flagellomeres; fore wing length 10.5– 15.0 mm, AI = 0.61–0.83, CI = 0.33–0.44, ICI = 0.42–0.49; SDI = 1.24–1.26; metasoma with DMI = 1.4–1.5, PI = 2.6–2.7, THI = 3.8, ovipositor sheath not longer than posterior height of metasoma.</p> Distribution <p>Currently known from Ninh Binh Province, North Vietnam and Dong Nai Province, South Vietnam.</p>Published as part of <i>Pham, Nhi Thi, Pham, Phu Van, Matsumoto, Rikio, Shimizu, So & Broad, Gavin R., 2023, A review of the genus Enicospilus Stephens (Ichneumonidae: Ophioninae) from Vietnam, with descriptions of ten new species, pp. 1-151 in European Journal of Taxonomy 873 (1)</i> on pages 96-98, DOI: 10.5852/ejt.2023.873.2133, <a href="http://zenodo.org/record/8038022">http://zenodo.org/record/8038022</a>
Augerella vriesi Pham, Broad & Lampe, 2011, sp. nov.
No full textAugerella vriesi sp. nov. Diagnosis. Clypeus flat, basally slightly convex; ovipositor 1.00 times as long as hind tibia with slanting ridges at the tips of both lower and upper valves. Description. A full description can be found in Pham et al. (2010). Etymology. The specific name is given in honor of Mr. Rob de Vries, Collection manager of Hymenoptera and Diptera, the National Museum of Natural History, Leiden, Netherlands, who collected the type specimens and for his support for our research. Material examined. Three specimens: Holotype 1 Ƥ (RMNH), Dak Lak, Chu Yang Sin NP, near dam, 800−1000 m a.s.l, 02− 10.VI. 2007, Malaise trap, C. v. Achterberg & R. de Vries leg. Paratypes: Dak Lak, Chu Yang Sin NP, Krong K’Mar, 02− 10.VI. 2007, Malaise trap, C. v. Achterberg & R. de Vries leg.: 1 Ƥ (IEBR), at 840−940 m a.s.l.; 13 (RMNH), at 740− 900 m. a.s.l.Published as part of Pham, Nhi Thi, Broad, Gavin R. & Lampe, Karl-Heinz, 2011, Descriptions of two new species of Augerella Gupta (Hymenoptera: Ichneumonidae: Pimplinae) from Vietnam in Zootaxa 2745, DOI: 10.5281/zenodo.20334
Enicospilus circuliscleritalis Pham & Pham & Matsumoto & Shimizu & Broad 2023, sp. nov.
No full textEnicospilus circuliscleritalis sp. nov. urn:lsid:zoobank.org:act: D21A2F3C-3395-4F62-8DE4-6B61F62453EB Fig. 17 Diagnosis Interocellar area black; clypeus convex, ventral margin blunt; mandible twisted ca 20°, outer surface without a diagonal setose groove; fore wing marginal cell darkened proximally, fenestra with proximal and distal sclerites present, proximal sclerite moderately large, strongly pigmented, nearly round, separated from vein 2r&RS by less than its maximum width, SDI = 0.7; hind tarsal claws with distal pecten projecting beyond apical tooth. Differential diagnosis The new species can be distinguished from E. bakerielli Gauld & Mitchell, 1981 by its black interocellar area (usually testaceous in E. bakerielli but variable), and mandible outer surface without a diagonal setose groove or tuft of long setae. The fore wing of E. circuliscleritalis sp. nov. lacks darkened patches between the proximal and distal sclerites, differing from Vietnamese specimens identified as E. bakerielli (see above, under E. bakerielli). The new species can be recognized from E. trui sp. nov. by its larger proximal sclerite and the distance from the proximal sclerite to vein 2r&RS less than its maximum diameter, as mentioned in the key. Etymology The specific epithet ‘ circuliscleritalis ʼ means ‘circle-shaped scleriteʼ, referring to the nearly round shape of the proximal sclerite. Material examined Holotype VIETNAM • ♂; Cao Bang Province, Trung Khanh, Tra Linh; 22°45′29.89″ N, 106°17′47.10″ E; 640 m a.s.l.; 17 Oct. 2018; Pham V.P. leg.; light trap; IEBR. Description Male (holotype) MEASUREMENTS. Body length 14.6 mm and fore wing length 9.3 mm. HEAD with FI = 0.5, GOI = 4.2 (Fig. 17d). Lower face 0.7× as wide as high, moderately shiny, densely and finely punctate (Fig. 17b). Clypeus 1.4 × as wide as high, convex in profile, finely punctate, except ventral 0.2 smooth, impunctate, ventral margin blunt (Fig. 17b). Malar space 0.2 × as long as basal mandibular width (Fig. 17b). Mandible twisted by ca 20°, moderately long, evenly narrowed, outer surface without diagonal setose groove (Fig. 17b). Upper tooth of mandible about 1.4× as long as lower tooth (Fig. 17b). Frons coriaceous, vertex shiny, with sparse setae (Fig. 17c). Gena moderately shiny, with dense fine setae (Fig. 17d). Posterior ocellus close to eye (Fig. 17c). Occipital carina complete, ventral end meeting hypostomal carina at about 0.7 × basal mandible width from base of mandible. Antenna with 52 flagellomeres; F1 1.72 × as long as F2; F20 2.5× as long as wide. MESOSOMA. Moderately shiny (Fig. 17e). Pronotum finely striate (Fig. 17e). Mesoscutum 1.4× as long as maximum width, evenly rounded in profile. Notaulus absent. Scutellum moderately convex, punctate anteriorly, with rugae posteriorly, lateral longitudinal carinae present along entire length of scutellum. Epicnemium densely punctate (Fig. 17e). Epicnemial carina moderately strong, present on ventral half of mesopleuron, dorsal end bent towards anterior margin of mesopleuron (Fig. 17e). Mesopleuron densely punctate dorsally, ventrally puncto-striate (Fig. 17e). Submetapleural carina slightly broadened anteriorly (Fig. 17e). Metapleuron matt, densely rugose (Fig. 17e). Propodeum evenly rounded in profile; anterior transverse carina complete; anterior area punctate; spiracular area smooth; posterior area rugose; propodeal spiracle elliptical and not joined to pleural carina by ridge (Fig. 17e). WINGS (Fig. 17f). Fore wing with AI = 1.0, CI = 0.25, DI = 0.47, ICI = 0.21, SDI = 0.7, SI = 0.19, SRI = 0.49; vein 1m-cu&M evenly arcuate; proximal 0.7 of vein 2r&RS strongly sinuate and thickened, abruptly narrowed and straight distally; vein RS strongly curved; fenestra and sclerites of discosubmarginal cell as in Fig. 17f; proximal sclerite extremely strong, nearly round in shape; distal sclerite strongly pigmented, not connecting to proximal sclerite; proximal corner of marginal cell evenly setose; posterodistal corner of second discal cell ca 90° and of subbasal cell ca 60°; vein 1cu-a antefurcal to M&RS by 0.3 × length of 1cu-a. Hind wing with NI = 3.1; vein RS relatively straight; vein RA with 5 uniform hamuli. LEGS. Hind leg with coxa in profile 1.6× as long as high; basitarsus 1.9× as long as second tarsomere; fourth tarsomere 2.6× as long as wide; tarsal claws with distal pecten projecting beyond apical tooth. METASOMA. With DMI = 1.2, PI = 3.1, THI = 5.0; thyridium oval; S4–8 with dense tuft of long setae on posterior margins. COLOUR (Fig. 17a). Reddish brown with many black markings as follows: apex of mandible, median line of face extending ventrally to entire clypeus and dorsally to frons, interocellar area, ventral half of gena and occiput, mesosoma (except prothorax), metasoma from T4 onwards (except a yellow spot on T4 dorsally). Wings hyaline with darkened area at proximal corner of marginal cell, sclerites dark brown, veins reddish brown to dark brown, pterostigma black. Female Unknown. Distribution Currently known only from the holotype collected in Cao Bang Province, Northeast Vietnam.Published as part of Pham, Nhi Thi, Pham, Phu Van, Matsumoto, Rikio, Shimizu, So & Broad, Gavin R., 2023, A review of the genus Enicospilus Stephens (Ichneumonidae: Ophioninae) from Vietnam, with descriptions of ten new species, pp. 1-151 in European Journal of Taxonomy 873 (1) on pages 39-41, DOI: 10.5852/ejt.2023.873.2133, http://zenodo.org/record/803802
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