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Reducing the cumulative error is a crucial task in simultaneous localization and mapping (SLAM). Usually, Loop Closure Detection (LCD) is exploited to accomplish this work for SLAM and robot navigation. With a fast and accurate loop detection, it can significantly improve global localization stability and reduce mapping errors. However, the LCD task based on point cloud still has some problems, such as over-reliance on high-resolution sensors, and poor detection efficiency and accuracy. Therefore, in this paper, we propose a novel and fast global LCD method using a low-cost 16 beam Lidar based on “Simplified Structure”. Firstly, we extract the “Simplified Structure” from the indoor point cloud, classify them into two levels, and manage the “Simplified Structure” hierarchically according to its structure salience. The “Simplified Structure” has simple feature geometry and can be exploited to capture the indoor stable structures. Secondly, we analyze the point cloud registration suitability with a pre-match, and present a hierarchical matching strategy with multiple geometric constraints in Euclidean Space to match two scans. Finally, we construct a multi-state loop evaluation model for a multi-level structure to determine whether the two candidate scans are a loop. In fact, our method also provides a transformation for point cloud registration with “Simplified Structure” when a loop is detected successfully. Experiments are carried out on three types of indoor environment. A 16 beam Lidar is used to collect data. The experimental results demonstrate that our method can detect global loop closures efficiently and accurately. The average global LCD precision, accuracy and negative are approximately 0.90, 0.96, and 0.97, respectively.

The performing of the electricity distribution networks as well as their financing from public and private f inds was a condition and contractual clause at the moment of the privatization of the electricity distribution system in Romania. Compliance with these conditions has been poorly monitored and regulated by the state, favoring the performing of investments by the commercial operators held to perform, from the financing sources of the final consumers - abusing the monopoly position they enjoy.

The ELSIPS (Evaluation of Lay Support in Pregnant Women with Social Risk) RCT showed that lay support for women with social risk had a positive effect on maternal mental health and mother-infant bonding. This exploratory study examined whether these observed benefits would impact infant development at 1 year. A sub-sample of women whose infants were under one year who had participated in the ELSIPS RCT which randomised women to receive either standard care or the services of a Pregnancy Outreach Worker (POW), and who were contactable, were eligible to participate in the follow up. At home visits, the Bayley Scales of Infant Development (3rd Edition) and standardised measures of depression, self efficacy, mind-mindedness and bonding were completed. 486 women were eligible for follow up, of whom 154 agreed to participate. 61/273 were successfully followed up in the standard maternity care arm and 51/213 in the POW arm. Women who completed follow up were less depressed and had higher selfefficacy scores at 8-12 weeks postpartum than those who did not complete follow up. There were no significant differences in maternal outcomes, infant cognitive development, receptive communication, expressive communication, fine motor development or social/emotional functioning between groups at 12 month follow up. Infants of mothers who received the POW intervention had significantly better gross motor development than infants whose mothers received standard care (p<0.03). The provision of lay support to women with social risk may facilitate infant gross motor skill development at one year but there were no other demonstrable benefits. The effects of the intervention may be underestimated given that those women who completed follow up had better mental health than the original study sample. Controlled-Trials.com ISRCTN35027323.

Artificial intelligence (AI) has been recently applied to different mental health illnesses and healthcare domains. This systematic review presents the application of AI in mental health in the domains of diagnosis, monitoring, and intervention. A database search (CCTR, CINAHL, PsycINFO, PubMed, and Scopus) was conducted from inception to February 2024, and a total of 85 relevant studies were included according to preestablished inclusion criteria. The AI methods most frequently used were support vector machine and random forest for diagnosis, machine learning for monitoring, and AI chatbot for intervention. AI tools appeared to be accurate in detecting, classifying, and predicting the risk of mental health conditions as well as predicting treatment response and monitoring the ongoing prognosis of mental health disorders. Future directions should focus on developing more diverse and robust datasets and on enhancing the transparency and interpretability of AI models to improve clinical practice.

The performing of the electricity distribution networks as well as their financing from public and private f inds was a condition and contractual clause at the moment of the privatization of the electricity distribution system in Romania. Compliance with these conditions has been poorly monitored and regulated by the state, favoring the performing of investments by the commercial operators held to perform, from the financing sources of the final consumers - abusing the monopoly position they enjoy.

We report the first record of Bronzed Cowbird (Molothrus aeneus) brood parasitism on the year-round resident Golden-crowned Warbler (Basileuterus culicivorus). Our observations represent the 105th known host species for this cowbird species and the ninth known host species from the Family Parulidae. Our assignment of these records to the true host list are based on observations of a pair of Golden-crowned Warblers feeding caterpillars to a Bronzed Cowbird fledgling in a shade coffee plantation in Zentla, Veracruz, Mexico.

Pneumatic transmission lines play a critical role in the dynamic performance of soft robotic actuation systems, yet their behaviour is difficult to capture using conventional integer-order (IO) models. In long, slender pipelines, compressibility, viscothermal losses, and wave propagation give rise to distributed damping and non-exponential relaxation dynamics that are not well represented by finite-dimensional models. This paper presents a control-oriented, experimentally validated fractional-order (FO) modelling framework for pneumatic pipeline dynamics under closed-end boundary conditions. Models are calibrated using measured step-response data from a 13.2 m pipeline, with all parameters—including the fractional order—identified through a unified optimisation procedure. In addition to global fitting accuracy, model performance is evaluated using control-relevant metrics, including effective delay, initial slope and early transient behaviour, and early-time error. The results show that FO models provide a more compact and structurally consistent representation of long-memory dynamics while improving the accuracy of control-relevant features compared to their IO counterparts. These findings demonstrate that fractional dynamics offer a physically meaningful and practically useful framework for modelling pneumatic transmission lines, with direct implications for high-performance control design in soft robotic systems.

The purpose of this study was to analyze and determine the effect of marketing capabilities, relational marketing, and company capabilities in influencing customer retention of bank bjb sharia consumer financing products in the city of Bandung. The research method used is the verification method. The population of this research is customers who have reused consumer financing products of bank bjb sharia in Bandung City, the sample of this research uses simple random sampling method. The results of the study indicate that the analysis of the influence of marketing capabilities on the capabilities of bank bjb sharia companies has a positive or direct influence on the company's capabilities. The results of the analysis of the influence of relational marketing on the capabilities of bank bjb sharia companies have a positive or direct influence on the company's capabilities. The results of the analysis of the influence of marketing ability on customer retention of bank bjb sharia have a positive or direct influence on customer retention.

A documentary exploring Popo Romano's musical life, including interviews and stories, featuring musicians, friends, and family at the most significant moments of his career.