In this paper, we study a new scheme for map building and describe localization techniques for a mobile robot equipped with a 2D laser rangefinder. We propose to use line segments as the basic element for the purpose of localization and to build the map. Line segments do provide considerable geometric information about the scene that can also be used for accurate and fast localization. We introduce a new Closed Line Segment (CLS) map, which consists of only line segments and defines a closed and connected region. Virtual line segments are drawn, for the spots that do not adequately describe a line segment on the range data. These are further explored via navigation and we argue that the CLS map provides an efficient mobile robot exploration scheme. All these techniques have been implemented on our Nomad XR4000 mobile robot and results are described in this paper.

Although chronobiology is of growing interest to scientists, physicians, and the general public, access to recent discoveries and historical perspectives is limited. Wikipedia is an online, user-written encyclopedia that could enhance public access to current understanding in chronobiology. However, Wikipedia is lacking important information and is not universally trusted. Here, 46 students in a university course edited Wikipedia to enhance public access to important discoveries in chronobiology. Students worked for an average of 9 h each to evaluate the primary literature and available Wikipedia information, nominated sites for editing, and, after voting, edited the 15 Wikipedia pages they determined to be highest priorities. This assignment (http://www.nslc.wustl.edu/courses/Bio4030/wikipedia_project.html) was easy to implement, required relatively short time commitments from the professor and students, and had measurable impacts on Wikipedia and the students. Students created 3 new Wikipedia sites, edited 12 additional sites, and cited 347 peer-reviewed articles. The targeted sites all became top hits in online search engines. Because their writing was and will be read by a worldwide audience, students found the experience rewarding. Students reported significantly increased comfort with reading, critiquing, and summarizing primary literature and benefited from seeing their work edited by other scientists and editors of Wikipedia. We conclude that, in a short project, students can assist in making chronobiology widely accessible and learn from the editorial process.

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