1,720,958 research outputs found
Navigation sémantique pour robot terrestre autonome en environnement non structuré
No full textThe content of this PhD thesis deals with the autonomous navigation of ground robots in telecommunication-denied unstructured environments. In order to employ mobile robots to perform complex tasks such as planetary exploration or search-and-rescue operations, they must be trusted with complete autonomy, notably for their map-less navigation. Thanks to recent advances in the domain of deep-learning, the efficient extraction of semantic information from a robot sensor data is now possible. The exploitation of this information, relating to the nature of the robot surroundings elements, is a promising lead toward the improvement of the safety and autonomy of navigation systems. The integration of semantic labelling into an online mapping process and the exploitation of the resulting environment representation for informative path planning are tackled via the notion of terrain traversability. Computational complexity and robustness to noisy inputs are crucial aspects to be considered. New methods are therefore proposed for the online construction of such representations and their exploitation for path planning. They have been integrated in a complete robot navigation system and successfully employed in a real-world scenario.Cette thèse porte sur la navigation autonome de robots terrestres dans des environnements non structurés et dépourvus de télécommunications. Afin d'employer des robots mobiles pour effectuer des tâches complexes telles que l'exploration planétaire ou des opérations de sauvetage, ils doivent bénéficier d'une autonomie complète, notamment pour leur navigation sans carte préalable. Les dernières avancées dans le domaine de l'apprentissage profond permettent l'extraction d'informations sémantiques à partir des données capteurs d'un robot. L'exploitation de ces informations, relatives à la nature des éléments de l'environnement du robot, est une piste prometteuse pour l'amélioration de la sécurité et de l'autonomie des systèmes de navigation. Leur intégration dans un processus de cartographie en ligne et l'exploitation de la représentation produite pour la planification de chemins sont abordées via la notion de traversabilité du terrain. La complexité de calcul et la robustesse aux données bruitées sont des aspects cruciaux à prendre en compte. De nouvelles méthodes sont proposées pour la construction de telles représentations et leur exploitation pour la planification de trajectoires. Elles ont été intégrées dans un système complet de navigation robotique et utilisées avec succès dans un scénario réel
Navigation sémantique pour robot terrestre autonome en environnement non structuré
No full textCette thèse porte sur la navigation autonome de robots terrestres dans des environnements non structurés et dépourvus de télécommunications. Afin d'employer des robots mobiles pour effectuer des tâches complexes telles que l'exploration planétaire ou des opérations de sauvetage, ils doivent bénéficier d'une autonomie complète, notamment pour leur navigation sans carte préalable. Les dernières avancées dans le domaine de l'apprentissage profond permettent l'extraction d'informations sémantiques à partir des données capteurs d'un robot. L'exploitation de ces informations, relatives à la nature des éléments de l'environnement du robot, est une piste prometteuse pour l'amélioration de la sécurité et de l'autonomie des systèmes de navigation. Leur intégration dans un processus de cartographie en ligne et l'exploitation de la représentation produite pour la planification de chemins sont abordées via la notion de traversabilité du terrain. La complexité de calcul et la robustesse aux données bruitées sont des aspects cruciaux à prendre en compte. De nouvelles méthodes sont proposées pour la construction de telles représentations et leur exploitation pour la planification de trajectoires. Elles ont été intégrées dans un système complet de navigation robotique et utilisées avec succès dans un scénario réel.The content of this PhD thesis deals with the autonomous navigation of ground robots in telecommunication-denied unstructured environments. In order to employ mobile robots to perform complex tasks such as planetary exploration or search-and-rescue operations, they must be trusted with complete autonomy, notably for their map-less navigation. Thanks to recent advances in the domain of deep-learning, the efficient extraction of semantic information from a robot sensor data is now possible. The exploitation of this information, relating to the nature of the robot surroundings elements, is a promising lead toward the improvement of the safety and autonomy of navigation systems. The integration of semantic labelling into an online mapping process and the exploitation of the resulting environment representation for informative path planning are tackled via the notion of terrain traversability. Computational complexity and robustness to noisy inputs are crucial aspects to be considered. New methods are therefore proposed for the online construction of such representations and their exploitation for path planning. They have been integrated in a complete robot navigation system and successfully employed in a real-world scenario
Going Beyond Counting First Authors in Author Co-citation Analysis
Get PDFThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
Variations on the Author
Get PDF“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
Appropriate Similarity Measures for Author Cocitation Analysis
Get PDFWe provide a number of new insights into the methodological discussion about author cocitation analysis. We first argue that the use of the Pearson correlation for measuring the similarity between authors’ cocitation profiles is not very satisfactory. We then discuss what kind of similarity measures may be used as an alternative to the Pearson correlation. We consider three similarity measures in particular. One is the well-known cosine. The other two similarity measures have not been used before in the bibliometric literature. Finally, we show by means of an example that our findings have a high practical relevance.information science;Pearson correlation;cosine;similarity measure;author cocitation analysis
Dispelling the Myths Behind First-author Citation Counts
Get PDFWe conducted a full-scale evaluative citation analysis study of scholars in the XML research field to explore just how different from each other author rankings resulting from different citation counting methods actually are, and to demonstrate the capability of emerging data and tools on the Web in supporting more realistic citation counting methods. Our results contest some common arguments for the continued
use of first-author citation counts in the evaluation of scholars, such as high correlations between author rankings by first-author citation counts and other citation
counting methods, and high costs of using more realistic citation counting methods that are not well-supported by the ISI databases. It is argued that increasingly available digital full text research papers make it possible for citation analysis studies to go beyond what the ISI databases have directly supported and to employ more
sophisticated methods
koamabayili/VECTRON-author-checklist: VECTRON author checklist
No full textWe have done our best to complete the author checklist relating to the use of animals in the hut study. Note that the objective for the hut study was to evaluate the IRS treatment applications for residual efficacy against Anopheles mosquitoes, including the local An. coluzzii mosquito population. Cows were only used to attract mosquitoes into the huts and no tests were carried out directly on the cows. The author checklist is intended for use with studies where experiments are carried out on animals, which is why we have had such difficulty in completing this for the hut study, as many of the questions do not relate to how the cows were used
Author-wise bibliometric analysis based on entropy.
No full textAuthor-wise bibliometric analysis based on entropy.</p
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