Underwater Localization and Mapping Based on Multi-Beam Forward Looking Sonar

SLAM (Simultaneous Localization And Mapping) plays a vital role in navigation tasks of AUV (Autonomous Underwater Vehicle). However, due to a vast amount of image sonar data and some acoustic equipment's inherent high latency, it is a considerable challenge to implement real-time underwater SLAM on a small AUV. This paper presents a filter based methodology for SLAM algorithms in underwater environments. First, a multi-beam forward looking sonar (MFLS) is utilized to extract environmental features. The acquired sonar image is then converted to sparse point cloud format through threshold segmentation and distance-constrained filtering to solve the calculation explosion issue caused by a large amount of original data. Second, based on the proposed method, the DVL, IMU, and sonar data are fused, the Rao-Blackwellized particle filter (RBPF)-based SLAM method is used to estimate AUV pose and generate an occupancy grid map. To verify the proposed algorithm, the underwater vehicle is equipped as an experimental platform to conduct field tasks in both the experimental pool and wild lake, respectively. Experiments illustrate that the proposed approach achieves better performance in both state estimation and suppressing divergence.

AWE-Inspiring Electrically Small Antennas

Anytime-wireless-everywhere (AWE) aspirations for Internet-of-Things (IoT) applications to be enabled through current 5G and evolving 6G and beyond ecosystems necessitate the development of innovative electrically small antennas (ESAs). While a variety of ESA systems are reviewed, those realized from the near-field resonant parasitic (NFRP) antenna paradigm are emphasized. Efficiency, bandwidth and directivity issues are highlighted. Multifunctional, reconfigurable, passive and active systems that have been achieved are discussed and illustrated; their performance characteristics and advantages described. This overview finalizes by going back to the future and considers enterprising research areas of current and forward-looking interest.

Comparative Review of the Regulatory Framework of Cryptocurrency in Selected Jurisdictions

This chapter compares the current legal and regulatory landscape of cryptocurrency regulations of selected countries. Countries have adopted distinct and disparate regulatory approaches in regulating cryptocurrency. Countries such as Gibraltar, Malta, Switzerland, Singapore, and certain states in the United States have enacted proactive, enabling, and industry-specific laws to regulate cryptocurrency. The Philippines and Denmark are relatively forward-looking in their endeavour to regulate cryptocurrency by allowing its utilization and/or trade but with a restrictive and cautious approach. Certain countries have imposed rigorous restrictions or banned the usage or trade of cryptocurrency. With the rapid evolution and emergence of cryptocurrency markets, policymakers are adopting different trajectories to develop a suitable regulatory framework to regulate cryptocurrency. Countries around the world should harness the capabilities of cryptocurrency by devising favourable regulations rather than inhibit the application of cryptocurrency.

Catch-Up Development VS. Forward-Looking Development: from Theoretical Models to Developmental State Practices

The presented article was carried out within the framework of scientific project dedicated to Russia's participation in the export and import of institutions. The solid question arose that the conditions and specificity of Russia's place in these processes are related to its position in the global world economy. These problems are considered within the framework of competing concepts of catch-up and forward-looking development in the economic literature. Comparative characteristics of methodological foundations, provisions and normative recommendations of these concepts are highlighted in the article. The analysis shows that there is no ground to justify the absolutization of their differences. Representatives of competing approaches came to the conclusion that it was necessary to search for the optimal configuration of imported and genuine institutions at the level of specific problems of development of countries that were largely on the periphery of the modern global economy. This configuration provides productive orientation of economic actors and creation of favorable conditions for the development of Schumpeterian type innovations. The solution of these tasks is linked with the formation and activities of developmental state. The functions of such a state are fundamentally different from compensating market failures that is characteristic of developed market economy. Such a state acts as a subject that forms the basic institutions of the economic system. Fundamental importance is its ability to ensure the combination of selective imports of institutions with the modification of genuine institutions that have historical and cultural specificity. Characteristics of the reasons and conditions for the successful solution of these tasks by countries such as Japan, Taiwan and South Korea, are highlighted in the article. The success stories are compared to the experience of partial failure of developmental state in Brazil. The fulfilled study is of interest not only for positive analysis, but also for the elaboration of normative recommendations for the formation of optimal configuration of imported and genuine institutions in contemporary Russia.

The Future of Roots, Tubers and Bananas

This paper provides a focused, forward-looking perspective on Roots, Tubers, and Bananas to support discussion on food, land, and water systems transformation.

Exploring the Future of Food, Land, and Water Systems

This document is one of a collection of three working papers and a synthesis brief edited by Steven Prager and Keith Wiebe and prepared as part of foresight-related research supported by the CGIAR Research Program on Policies, Institutions, and Markets (PIM). This synthesis brief and the three working papers, along with other related materials, are intended to provide a forward-looking perspective on key issues to support discussion on food, land, and water systems transformation.

The future of climate-smart dryland cereals and legumes in South Asia and Sub-Saharan Africa

This document is part of a series of short papers on “The Future of X”, produced as part of foresight-related research supported by the CGIAR Research Program on Policies, Institutions, and Markets, and edited by Keith Wiebe (IFPRI) and Steven Prager (Alliance of Bioversity and CIAT). This short paper is intended to provide a focused, forward-looking perspective on the future of grain legumes and dryland cereals in the drylands of sub-Saharan Africa and South Asia.