Global localization algorithms involve a search over all possible poses of the robot that can be ... more Global localization algorithms involve a search over all possible poses of the robot that can be typically over a large space in huge maps. Essentially it involves computing a posterior by seeing how probable are the obtained sensor readings at each of the discretized states in a map. Instead in this paper by reverse projecting the sensor readings from the obstacle boundaries onto the surroundings, a solution is obtained by searching over the space of obstacle boundaries than by a search in the discretized pose space. That this search over obstacle boundaries is considerably less if the ratio of free space to boundary space in a map is high is straightforward. However we also show theoretically that even when the boundary space exceeds the free space the computations due to the current method does not exceed those due to the popular Markov and Correlation based approaches to global localization. The comparative advantages are well documented in simulation section of the paper. The approach is able to consistently localize a laser equipped robot in our lab.
ABSTRACT Web search has emerged as one of the most important applications on the internet, with s... more ABSTRACT Web search has emerged as one of the most important applications on the internet, with several search engines available to the users. There is a common practice among these search engines to log and analyse the user queries, which leads to serious privacy ...
Compared to the intravenous route, subcutaneous administration of epoetin requires lower dose and... more Compared to the intravenous route, subcutaneous administration of epoetin requires lower dose and will be an attractive option for cost containment when bundling for dialysis is implemented. Hemoglobin variability defined as fluctuation of hemoglobin over time has not been well studied with respect to the route of administration. 157 prevalent-hemodialysis subjects were analyzed from an open-label, randomized study that compared the intravenous to the subcutaneous route of epoetin with identical weight-based dosing algorithm. Hemoglobin variability was defined as the number of weeks hemoglobin is outside the target range of 10-11 g/dl. Sensitivity analysis was performed. 78 subjects in the intravenous and 79 in the subcutaneous group entered the 24-week dose maintenance phase. Baseline covariates were similar in both groups except for the dose of epoetin (lower in subcutaneous) and dialysis vintage (longer in intravenous). Patients on subcutaneous epoetin were outside the target range more weeks (p = 0.04) and had higher standard deviation of hemoglobin (p = 0.01) compared to the intravenous group. The subcutaneous route of epoetin was associated with modestly higher hemoglobin variability, probably reflecting greater sensitivity of the subcutaneous route and/or identical epoetin-dosing algorithm employed in both the arms. This study could serve as an important guide when bundling for dialysis services is implemented as switching from intravenous to subcutaneous administration is likely to occur.
Global localization algorithms involve a search over all possible poses of the robot that can be ... more Global localization algorithms involve a search over all possible poses of the robot that can be typically over a large space in huge maps. Essentially it involves computing a posterior by seeing how probable are the obtained sensor readings at each of the discretized states in a map. Instead in this paper by reverse projecting the sensor readings from the obstacle boundaries onto the surroundings, a solution is obtained by searching over the space of obstacle boundaries than by a search in the discretized pose space. That this search over obstacle boundaries is considerably less if the ratio of free space to boundary space in a map is high is straightforward. However we also show theoretically that even when the boundary space exceeds the free space the computations due to the current method does not exceed those due to the popular Markov and Correlation based approaches to global localization. The comparative advantages are well documented in simulation section of the paper. The approach is able to consistently localize a laser equipped robot in our lab.
ABSTRACT Web search has emerged as one of the most important applications on the internet, with s... more ABSTRACT Web search has emerged as one of the most important applications on the internet, with several search engines available to the users. There is a common practice among these search engines to log and analyse the user queries, which leads to serious privacy ...
Compared to the intravenous route, subcutaneous administration of epoetin requires lower dose and... more Compared to the intravenous route, subcutaneous administration of epoetin requires lower dose and will be an attractive option for cost containment when bundling for dialysis is implemented. Hemoglobin variability defined as fluctuation of hemoglobin over time has not been well studied with respect to the route of administration. 157 prevalent-hemodialysis subjects were analyzed from an open-label, randomized study that compared the intravenous to the subcutaneous route of epoetin with identical weight-based dosing algorithm. Hemoglobin variability was defined as the number of weeks hemoglobin is outside the target range of 10-11 g/dl. Sensitivity analysis was performed. 78 subjects in the intravenous and 79 in the subcutaneous group entered the 24-week dose maintenance phase. Baseline covariates were similar in both groups except for the dose of epoetin (lower in subcutaneous) and dialysis vintage (longer in intravenous). Patients on subcutaneous epoetin were outside the target range more weeks (p = 0.04) and had higher standard deviation of hemoglobin (p = 0.01) compared to the intravenous group. The subcutaneous route of epoetin was associated with modestly higher hemoglobin variability, probably reflecting greater sensitivity of the subcutaneous route and/or identical epoetin-dosing algorithm employed in both the arms. This study could serve as an important guide when bundling for dialysis services is implemented as switching from intravenous to subcutaneous administration is likely to occur.
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