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2582. Dealing with sensor errors in scan matching for simultaneous localization and mapping

Creator:
Krejsa, Jiří and Věchet, Stanislav
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
localization, mobile robotics, and SLAM
Language:
English
Description:
The paper presents Potential-Based Scan Matching (PSCM) method used for simultaneous localization and mapping of mobile robot in unknown environment. The method is based on matching two proximity sensor scans from different robot locations. The resistance of the method against errors in sensor readings is investigated using both general sensor error model and error model for LMS 200 laser scanner. The method proved to be highly resistent for the noise levels exceeding the commonly used instruments.
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public

2587. Decade of seismological observations in the northern part of Moravo-Silesian region

Creator:
Zdeněk Kaláb, Jaromír Knejzlík, and Holub, Karel
Format:
print, bez média, and svazek
Type:
article, články, model:article, and TEXT
Subject:
Geologie. Meteorologie. Klimatologie, seizmicita, zemětřesení, seismicity, earthquake, Morava (Česko), Slezsko (Česko), Silesia (Czechia), Moravia (Czechia), seismic network, microearthquake, Moravo-Silesian region, 7, and 551
Language:
English
Description:
The essential point for seismological observation in the northern part of Moravia, Czech Republic, is a permanent seismic station Ostrava - Krásné Pole (OKC) that is a part of the Czech regional seismological network (hereafter CRSN). Institute o f Geonics AS CR, v.v.i., has also operated temporary seismic stations in this region since 1997. Current seismological stations are located in an abandoned mine working located in Zlaté Hory and in cellars in Klokočov and castle Raduň near Opava. The natural seismicity is after the swarm of microearthquakes in the vicinity of Opava in 1993 very low now. In region under discussion, seismic manifestations generated by mining induced seismicity in Upper Silesian Coal Basin (both Karviná an d Polish parts) and in Legnica-Głogów Copper District (LGOM) are also detected. Significant part of observations in this region is made by the Institute of Physics of the Earth (hereafter IPE), Masaryk University Brno, and about 1000 microearthquakes have been detected during the last ten years with maximum local magnitude up to 1.9., Zdeněk Kaláb, Jaromír Knejzlík and Karel Holub., and Obsahuje bibliografické odkazy
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public

2588. Decay kinetics of tyrosine radical (YZ*) in chloride anion-depleted photosystem 2 studied by time-resolved EPR

Creator:
Jajoo, A., Bharti, S., and Kawamori, A.
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
bicarbonate, bromide, EPR, fluoride, iodide, nitrate, phosphate, photosystem 2, spinach, tyrosine radical, and sulphate
Language:
Multiple languages
Description:
The decay of tyrosine cation radical was found to be biphasic at 253 K. The fast phase corresponds to the YZ* component while the slow phase corresponds to the tyrosine D radical (YD*) component. At 253 K, the t1/2 value was ∼28.6 s for the fast phase and ∼190.7 s for the slow phase. The fast phase is attributed to the recombination of charges between YZ* and QA-. The activation energy for the reaction of YZ with QA- between 253 and 293 K was 48 kJ mol-1 in Cl--depleted photosystem 2 (PS2) membranes. Both the decay rate and the amplitude of the PAR-induced signal of YZ* were affected by addition of chloride anion. Change in the decay rate and the amplitude of the PAR-induced signal of YZ* was observed when other anions like Br-, I-, F, HCO3-, NO3-, PO43- were substituted in the Cl--depleted PS2. and A. Jajoo, S. Bharti, A. Kawamori.
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public

2589. Declaratio brevis Corone immaculate virginis: A source for Late Medieval popular piety

Creator:
Kalous, Antonín
Format:
bez média and svazek
Type:
model:article and TEXT
Language:
Czech
Description:
V olomoucké vědecké knihovně je uchováván konvolut čtyř prvotisků, z nichž jeden obsahuje rukopisnou stránku s textem Declaratio brevis Corone immaculate Virginis. Jde o text, který obsahem zapadá do obecných trendů zbožnosti 15. století ve střední Evropě. Pozdní středověk se vyznačoval zvýšenou spiritualitou a důrazem na tradiční objekty lidové zbožnosti – především Pannu Marii a život Krista. Tyto tendence nemalou měrou podpořily i žebravé řády. Byli to dominikáni i minorité (a později především františkáni-observanti), díky jejichž vlivu se rozšířila mariánská zbožnost, a především její vyjádření v podobě růžence. Nejrozšířenější byl růženec dominikánský, který obsahoval sto padesát Zdrávas Maria, ale rozšířily se i jiné verze. Mezi františkány v 15. století byla populární především verze, kterou prosazovali především sv. Bernardin Sienský a sv. Jan Kapistrán, a to verze odvolávající se počtem andělských pozdravení na dobu života Panny Marie na zemi: tento růženec obsahoval šedesát tři (nebo 70, 72, 73) Zdrávas Maria. Františkáni také přinášeli nejnovější evropské trendy do českých zemí po ukončení husitské revoluce; ovšem především na Moravu a do Slezska, kteréžto země byly méně utrakvistické než Čechy. Morava, Slezsko a Lužice se vymanily z mezinárodní izolace mnohem dříve než Čechy. K postupu evropských vlivů došlo nejen díky katolickým městům, ale také v důsledku záboru Matyáše Korvína a spojení těchto zemí s jeho uherským královstvím. Korvín navštívil v roce 1468 Olomouc a při té příležitosti byl vysvěcen kostel Neposkvrněného Početí Panny Marie u františkánského konventu. Nástěnná malba z roku 1500 v tomto kostele zobrazuje Korunování Panny Marie spolu se dvěma řadami vyobrazení, jejichž tematikou je sedm radostí Panny Marie a sedm vylití Krve Kristovy. Podobný obraz se zachoval ve františkánském kostele ve Vratislavi, který ovšem dodává dalších pět řad s dalšími vyobrazeními. Přesto jsou tyto obrazy typologicky podobné a jejich rozšíření připomíná právě obecné trendy zbožnosti na konci středověku, i když můžeme nalézt zcela konkrétní styčné body mezi františkány v Olomouci a ve Vratislavi (biskup a františkán Jan Filipec). Text, vydaný v příloze, popisuje obraz, jenž téměř do detailu odpovídá olomouckému zobrazení (jen na obrazu je sedmdesát tři korálků, kdežto v textu je zaznamenáno třiašedesát let Panny Marie). Tento text vysvětluje, jak se má obraz vnímat a vykládat z hlediska lidové zbožnosti. Dokládá, že takové obrazy byly zřejmě ještě více rozšířeny, a dokonce využívány, jak je vidět i z přiloženého seznamu odpustků poskytovaných věřícím modlícím se modlitbu „koruny Panny Marie“. and A set of four incunabula is deposited in the Research Library of Olomouc. One of them contains a handwritten page with the text Declaratio brevis Corone immaculate Virginis. In terms of its content, this text conforms to general religious trends in the 15th century in Central Europe. The late Middle Ages were characterised by a heightened spirituality and an emphasis on traditional objects of popular piety—first and foremost the Virgin Mary and the life of Christ. To a considerable degree, these trends were also supported by the mendicant orders. Marian piety and its expression in the rosary were spread through the influence of the Dominicans and the Minorites (and later the Franciscan-Observants). The Dominican rosary, which included 150 ‘Hail Marys’, was the most widespread, but other versions were also popular. Among the Franciscans of the 15th century, the most popular version was the one that was allegedly promoted by St Bernardino of Siena and St Giovanni of Capistrano. In this version, the number of angelic salutations referred to the lifespan of the Virgin Mary on earth: this rosary included 63 (or 70, 72, 73) ‘Hail Marys’. After the end of the Hussite revolution, the Franciscans also introduced the latest European trends to the Czech lands, in particular Moravia and Silesia. In these lands, the Utraquist influence was less pronounced than in Bohemia. Moravia, Silesia and Lusatia extricated themselves from international isolation much sooner than did Bohemia. European influences increased on account of the Catholic cities, as well as the conquest of Matthias Corvinus and the joining of these lands to his Hungarian Kingdom. In 1468, Corvinus visited Olomouc and on that occasion the Church of the Immaculate Conception of the Virgin Mary at the Franciscan monastery was consecrated. The wall painting from 1500 in this church depicts the Coronation of the Virgin Mary, along with two rows of depictions on the theme of the seven joys of the Virgin Mary and the seven effusions of the blood of Christ. A similar painting has been preserved in the Franciscan church in Wrocław, which includes a further five rows with other depictions. Nonetheless, these paintings are typologically similar. The fact that the paintings were widespread recalls the general trends of piety at the end of the Middle Ages, although one can find specific points in common between the Franciscans in Olomouc and in Wrocław (the Bishop and Franciscan Jan Filipec). The text, which is published as an addendum, describes a painting, which corresponds in detail to the depiction in Olomouc (except that in the painting there are 73 beads, whereas in the text there is mention of the 63 years of the Virgin Mary). This text explains how the painting should be perceived and interpreted from the perspective of popular piety. It demonstrates that such paintings were clearly even more widespread and in use, as one can see from the attached list of indulgences offered to the faithful who prayed the prayer of ‘the crown of the Virgin Mary’.
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public

2590. Decline in photosynthesis as related to alterations in chloroplast ultrastructure of a cotton leaf during ontogeny

Creator:
Bondada, Bhaskar Rao and Oosterhuis, D. M.
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
Gossypium hirsutum, grana, plastoglobuli, and stroma lamellae
Language:
Multiple languages
Description:
Field studies were conducted to investigate ontogenic changes in leaf photosynthesis and chloroplast ultrastructure of a single cotton (Gossypium hirsutum L.) leaf subtending the fruit. A 20-d old leaf was the most physiologically active with net photosynthetic rate (PN) of 16.5 μmol m-2 s-1 and nitrogen (N) concentration of 168 mmol m-2. These values declined with leaf age and a close relationship existed between them. Concurrent with declines in PN, ultrastructural alterations occurred in the chloroplast: the 20-d old leaf had increased grana number and thylakoids per granum and a few plastoglobuli. Afterwards, the grana number and thylakoids per granum declined with leaf age indicating disintegrated grana and stroma lamellae. Concomitant with disintegrated membrane system was the presence of numerous large plastoglobuli. The PN was closely related to grana number and thylakoids per granum suggesting that the decline in PN with leaf age was associated with ultrastructural changes in the chloroplast. and Bhaskar Rao Bondada, D. M. Oosterhuis.
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public

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