Autonomous navigation and mapping in a simulated environment

Unknown Environment Exploration (UEE) with an Unmanned Ground Vehicle (UGV) is extremely challenging. This report investigates a frontier exploration approach, in simulation, that leverages Simultaneous Localization And Mapping (SLAM) to efficiently explore unknown areas by finding navigable routes. The solution utilizes a diverse sensor payload that includes wheel encoders, three-dimensional (3-D) LIDAR, and Red, Green, Blue and Depth (RGBD) cameras. The main goal of this effort is to leverage frontier-based exploration with a UGV to produce a 3-D map (up to 10 cm resolution). The solution provided leverages the Robot Operating System (ROS).

Designing for Exploration and Exploitation in Experimental Search and Rescue Scenarios

Exploration and exploitation are commonly cited in search and rescue scenarios to explain the process by which individuals work in a team and gather information about their environment (exploration) and identify potential solutions and adaptations (exploitation) to pursue successful outcomes. In this paper, we discuss exploration and exploitation as critical design features and highlight the importance of balancing them when designing team-based search and rescue missions. To test the proposed design decisions, we developed a usability study that includes two missions wherein teams consisting of three participants are tasked to rescue victims within a Minecraft-based 3D testbed.

Antiproliferative activity of marine brown algae-derived compounds: A review

Marine environment exploration has increased in the search for new compounds that may be attractive to the industrial field, especially for the development of drugs. Brown marine algae are part of this environment and, because of their production of secondary metabolites, they have become a possible source of bioactive compounds that have important biological actions such as anticoagulant, antioxidant and antiproliferative. However, there are still obstacles to complete knowledge about their structures and activities. This review provides key information about the isolation, composition, and structure and antiproliferative activity in vitro and in vitro of compounds derived from different brown algae.

AFFIX -AW IN THE TOPONYMY OF OSSETIA

Cтатья посвящена анализу осетинских топонимов, образованных с помощью флексии уподобительного падежа -aw. В большинстве случаев эта флексия представлена в своей прямой функции, придавая производным значение подобия или похожести на предмет или явление, выраженное производящей основой. Помимо этого в осетинском языке, а также в топонимии Осетии флексия -aw представлена в роли словообразовательного аффикса, с помощью которого образованы субстантивы (например, bærzondaw ‘возвышенность’, agaw ‘котловина’ и пр.) от прилагательных и других частей речи. В количественном отношении апеллятивов и онимов, образованных путем флексийного словообразования, в десятки раз меньше топонимов, в которых морфема -aw представлена в качестве флексии. В осетинском языке существует и непродуктивный словообразующий суффикс -aw, имеющий иное происхождение (например, в словах arγaw ‘сказка’, fijjaw ‘пастух’ и пр.). Как показывает анализ, в топонимии Осетии данный суффикс не представлен. В этимологически темных топонимах, содержащих компонент -aw, можно видеть флексию -aw, но не суффикс -aw (например, в Biqqwyraw, Ræcaw и пр.). Это свидетельствует как о солидном возрасте соответствующих образований, так и о весьма древнем происхождении уподобительного падежа в системе осетинского склонения. Семантический анализ топонимов на флексию -aw позволяет проследить пути освоения окружающего пространства древними осетинами: географические объекты сравниваются с хорошо известными реалиями: частями тела, предметами быта и т.п. Наиболее древние образовании на -aw позволяют сделать выводы культурно-исторического характера. The article deals with the analysis of Ossetian place names formed by the assimilative case (equative) inflection -aw. In most cases, this inflection is represented in its direct function, giving the derivatives the meaning of resemblance or similarity to the object or phenomenon expressed by the underlying stem. In addition, in the Ossetian language, as well as in the toponymy of Ossetia, the inflection -aw is represented as a word-forming affix, with the help of which substances (for example, bærzondaw ‘hill’, agaw ‘hollow’, etc.) are derived from adjectives and other parts of speech. In quantitative terms, the number of appellatives and onyms, formed by word-formative -aw, is ten times smaller than that of the toponyms, in which the morpheme -aw is represented as an inflection. In the Ossetian language there is also an unproductive word-forming suffix -aw of a different origin (for example, in the words arγaw ‘tale’, fijjaw ‘shepherd’, etc.). The analysis shows that this suffix is not represented in the toponymy of Ossetia. The inflection -aw, but not the suffix -aw can be seen in etymologically obscure place names containing the component -aw (for example, in Biqqwyraw, Ræcaw, etc.). This proves both the considerable age of the corresponding formations and quite ancient origin of the assimilative case in the system of Ossetian declension. Semantic analysis of place names on the inflection -aw enables tracing the ways of the environment exploration by ancient Ossetians: geographical objects are compared with well-known objects of reality: parts of the body, household items, etc. The most ancient forms on -aw allow us to draw conclusions of a cultural and historical nature.