Search results for " Navigation"
showing 10 items of 138 documents
Artificial organisms as tools for the development of psychological theory: Tolman's lesson
2007
In the 1930s and 1940s, Edward Tolman developed a psychological theory of spatial orientation in rats and humans. He expressed his theory as an automaton (the ‘‘schematic sowbug’’) or what today we would call an ‘‘artificial organism.’’ With the technology of the day, he could not implement his model. Nonetheless, he used it to develop empirical predictions which tested with animals in the laboratory. This way of proceeding was in line with scientific practice dating back to Galileo. The way psychologists use artificial organisms in their work today breaks with this tradition. Modern ‘‘artificial organisms’’ are constructed a posteriori, working from experimental or ethological observations…
Sequence Learning in a Single Trial: A Spiking Neurons Model Based on Hippocampal Circuitry.
2020
ABSTRACTIn contrast with our everyday experience using brain circuits, it can take a prohibitively long time to train a computational system to produce the correct sequence of outputs in the presence of a series of inputs. This suggests that something important is missing in the way in which models are trying to reproduce basic cognitive functions. In this work, we introduce a new neuronal network architecture that is able to learn, in a single trial, an arbitrary long sequence of any known objects. The key point of the model is the explicit use of mechanisms and circuitry observed in the hippocampus, which allow the model to reach a level of efficiency and accuracy that, to the best of our…
Deep Learning-Based Real-Time Object Detection in Inland Navigation
2019
International audience; Semi-autonomous and fully-autonomous systems must have knowledge about the objects in their environment to ensure a safe navigation. Modern approaches implement deep learning techniques to train a neural network for object detection. This project will study the effectiveness of using several promising algorithms such as Faster R-CNN, SSD, and different versions of YOLO, to detect, classify, and track objects in near real-time fluvial domain. Since no dataset is available for this purpose in literature, we first started by annotating a dataset of 2488 images with almost 35 400 annotations for training the convolutional neural network architectures. We made this data s…
Uncalibrated Reconstruction: An Adaptation to Structured Light Vision
2003
Abstract Euclidean reconstruction from two uncalibrated stereoscopic views is achievable from the knowledge of geometrical constraints about the environment. Unfortunately, these constraints may be quite difficult to obtain. In this paper, we propose an approach based on structured lighting, which has the advantage of providing geometrical constraints independent of the scene geometry. Moreover, the use of structured light provides a unique solution to the tricky correspondence problem present in stereovision. The projection matrices are first computed by using a canonical representation, and a projective reconstruction is performed. Then, several constraints are generated from the image an…
Peer to Peer Equation Augmentation for an Altitude Aided GNSS Receiver
2010
This paper considers the possibility to integrate external altitude measurements with a Kalman based Global Navigation Satellite System (GNSS) receiver in a peer to peer scenario. The performance of such a system is investigated for different characteristics of the aiding measurement and for different degree of trust of the receiver upon the aiding measurement. The aiding measurement is obtained starting from the altitude measurements that the other peers in the network send to the aided user. The experiments highlight the need for a parameter that points out the effectiveness and the consistency of the computed aiding measurement. To this purpose, a reliability index is proposed, on the ba…
A navigation and control algorithm for the position tracking of underwater vehicles
2014
In this paper we consider position control of underwater vehicles through inversion of differential kinematics based on uncalibrated, relative to the water, velocity sensors and unknown marine current. An estimation algorithm, based on the above measurements, estimates calibration parameters and marine current, assuring convergence of the estimated velocities to the true quantities. A kinematic control algorithm assures convergence to zero of the position tracking error. An extension of the basic estimation algorithm has been considered, in which position measurements are considered sampled at low rate and randomly spaced in time. Computer simulations are given of the proposed position trac…
Effects of several degrees of chronic social defeat stress on emotional and spatial memory in CD1 mice
2015
In the present study, the effects of several degrees of CSDS (Chronic Social Defeat Stress) on emotional and spatial memory in mice were evaluated in separate experiments. Male CD1 mice were randomly assigned to four experimental groups (n=10-12) for each experiment: NS (non-stressed), S5, S10 and S20 (5, 10 and 20 sessions of CSDS, respectively). The S groups underwent the corresponding number of agonistic encounters (10min each) over a 20-day period. 24h after the last session of CSDS, mice performed the inhibitory avoidance (Experiment 1) or the Morris water maze test (Experiment 2). In both experiments, animals were also evaluated in the elevated plus maze for 5min to obtain complementa…
Studies on a new potential dopaminergic agent: in vitro BBB permeability, in vivo behavioural effects and molecular docking evaluation.
2015
2-Amino-N-[2-(3,4-dihydroxy-phenyl)-ethyl]-3-phenyl-propionamide (DA-PHEN) has been previously synthesized to obtain a potential prodrug capable of release dopamine (DA) into CNS. However, DA-PHEN could act per se as a dopaminergic drug. In this study, the permeability transport (Pe), obtained by parallel artificial permeability assay (PAMPA), indicated a low passive transcellular transport (Pe = 0.32 ± 0.01 × 10(-6 )cm/s). Using the Caco-2 cell system, the Papp AP-BL in absorptive direction (3.36 ± 0.02 × 10(-5 )cm/s) was significantly higher than the Papp BL-AP in secretive direction (1.75 ± 0.07 × 10(-5 )cm/s), suggesting a polarized transport. The efflux ratio (Papp AP-BL/Papp BL-AP = 0…
Early handling effect on female rat spatial and non-spatial learning and memory
2014
This study aims at providing an insight into early handling procedures on learning and memory performance in adult female rats. Early handling procedures were started on post-natal day 2 until 21, and consisted in 15 min, daily separations of the dams from their litters. Assessment of declarative memory was carried out in the novel-object recognition task; spatial learning, reference- and working memory were evaluated in the Morris water maze (MWM). Our results indicate that early handling induced an enhancement in: (1) declarative memory, in the object recognition task, both at 1h and 24h intervals; (2) reference memory in the probe test and working memory and behavioral flexibility in the…
Low-cost underwater navigation systems by multi-pressure measurements and AHRS data
2017
This paper deals with accurate navigation for underwater remotely operated vehicles. A feasibility study for a multi-pressure device to be mounted on an ROV is presented. The device can provide accurate estimates of a ROV orientation and angular speed. It is based on the well-known total pressure principle, also used in a Pitot tube, and allows reconstruction of static and dynamic pressures, which in turn provide good estimates of the ROV's orientation and rotational speed, respectively. An appealing feature of the proposed device is its ability to provide accurate estimates even for low-speed movements.