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An important issue in simultaneous localisation and mapping is how to match and merge individual local maps into one global map. This is addressed within the field of robotics and is crucial for multi-robot SLAM. There are a number of different ways to solve this task depending on the representation of the map. To take advantage of matching and merging methods that allow for deformations of the lo

Dickcissel (Spiza americana) males occupying territories in cropland sites produced songs that were less similar on average to other Dickcissel songs in their neighborhood than did Dickcissels living in grasslands, where conformity to the local vocal culture was higher. Further, Dickcissel vocal culture changed more quickly over time in cropland sites relative to grassland sites. These differences

Forests mitigate climate change by storing carbon and reducing emissions via substitution effects of wood products. Additionally, they provide many other important ecosystem services (ESs), but are vulnerable to climate change; therefore, adaptation is necessary. Climate-smart forestry combines mitigation with adaptation, whilst facilitating the provision of many ESs. This is particularly challeng

Positioning using wave signal measurements is used in several applications, such as GPS systems, structure from sound and Wifi based positioning. Mathematically, such problems require the computation of the positions of receivers and/or transmitters as well as time offsets if the devices are unsynchronized. In this paper, we expand the previous state-of-the-art on positioning formulations by intro

Many crucial activities in software development are linked to gaze and can potentially benefit from gaze-assisted developer tools. However, despite the maturity of eye trackers and the potential for such tools, we see very few studies of practitioners. Here, we present a systematic mapping study to examine recent developments in the field with a focus on the experimental setup of eye-tracking stud

Various mechanisms of secondary ice production (SIP) cause multiplication of numbers of ice particle, after the onset of primary ice. A measure of SIP is the ice enhancement ratio (“IE ratio”) defined here as the ratio between number concentrations of total ice (excluding homogeneously nucleated ice) and active ice-nucleating particles (INPs). A convective line observed on 11 May 2011 over the Sou

Tropical forests contribute a major sink for anthropogenic carbon emissions essential to slowing down the buildup of atmospheric CO2 and buffering climate change impacts. However, the response of tropical forests to more frequent weather extremes and long-recovery disturbances like fires remains uncertain. Analyses of field data and ecological theory raise concerns about the possibility of the Ama

Recently, research on the edge states of 2D lead halide perovskites (LHPs) has been attracting much attention. The lower-energy edge state (LES) is believed to provide an efficient pathway for the dissociation of photoexcited excitons. However, the mechanism of the LES formation remains controversial, and studies that establish precisely the local electronic properties are lacking. Herein, the fir

BACKGROUNDThe accuracy of estimation of kidney function with the use of routine metabolic tests, such as measurement of the serum creatinine level, has been controversial. The European Kidney Function Consortium (EKFC) developed a creatinine-based equation (EKFC eGFRcr) to estimate the glomerular filtration rate (GFR) with a rescaled serum creatinine level (i.e., the serum creatinine level is divi

Migratory routes and remote wintering quarters in birds are often species and even population specific. It has been known for decades that songbirds mainly migrate solitarily, and that the migration direction is genetically controlled. Yet, the underlying genetic mechanisms remain unknown. To investigate the genetic basis of migration direction, we track genotyped willow warblers Phylloscopus troc

BACKGROUND: Many children with juvenile idiopathic arthritis (JIA) have autoantibodies, targeting nuclear components (anti-nuclear antibodies, ANA). ANA in JIA is associated with uveitis, an eye inflammation which may cause permanent vision impairment if not detected and treated. However, ANA-testing is neither specific nor sensitive enough to be a clinically reliable predictor of uveitis risk, an

Purpose – This study aims to enable robotic friction stir welding (FSW) in practice. The use of robots has hitherto been limited, because of the large contact forces necessary for FSW. These forces are detrimental for the position accuracy of the robot. In this context, it is not sufficient to rely on the robot’s internal sensors for positioning. This paper describes and evaluates a new method for

Three-dimensional city models are increasingly being used for analyses and simulations. To enable such applications, it is necessary to standardise semantically richer city models and, in some cases, to connect the models with external data sources. In this study, we describe the development of a new Swedish specification for 3D city models, denoted as 3CIM, which is a joint effort between the thr

Purpose: Consistent assessment of bone metastases is crucial for patient management and clinical trials in prostate cancer (PCa). We aimed to develop a fully automated convolutional neural network (CNN)-based model for calculating PET/CT skeletal tumor burden in patients with PCa. Methods: A total of 168 patients from three centers were divided into training, validation, and test groups. Manual an

PurposeWe describe the design and implementation of the Malmö Breast ImaginG (M-BIG) database, which will support research projects investigating various aspects of current and future breast cancer screening programs. Specifically, M-BIG will provide clinical data to: 1. investigate the effect of breast cancer screening on breast cancer prognosis and mortality; 2. develop and validate the us

Due to the substantial gross exchange fluxes with the atmosphere, the terrestrial carbon cycle plays a significant role in the global carbon budget. Drought commonly affects terrestrial carbon absorption negatively. Terrestrial biosphere models exhibit significant uncertainties in capturing the carbon flux response to drought, which have an impact on estimates of the global carbon budget. Through

Agricultural soils are the most important anthropogenic source of nitrous oxide (N2O) emissions. This occurs via two main pathways: (1) from microbial-mediated oxidation of ammonium to nitrite and nitrate; and (2) denitrification. Most agro-ecological models explicitly deal with these two pathways albeit with different degrees of process understanding and empiricism. Models that integrate the impa