The discovery of the new species Halbherria daffneri Perreau, n. sp., a troglobitic species with pholeuonid body shape, in the high altitude karst system of Piani Eterni in southern Dolomites (northern Italy) is taken as an opportunity for a morphological investigation of the phylogeny of Bathysciotina with a special emphasis to the Italian genera. The monophyly of the set of Italian genera, (Aphaotus, Halbherria, Lessiniella, Neobathyscia, Sinuicollia) is confidently supported, with Neobathysica as the sister group of the four other genera. However the monophyly of the subtribe Bathysciotina is not significantly supported and the genus Sphaerobathyscia should clearly be excluded from the subtribe. The subgenus Albanella of the genus Speonesiotes is raised to genus rank.

This Working Paper should not be reported as representing the views of the IMF. The views expressed in this Working Paper are those of the author(s) and do not necessarily represent those of the IMF or IMF policy. Working Papers describe research in progress by the author(s) and are published to elicit comments and to further debate. Rapid credit growth in Bulgaria； Romania； and Ukraine has been driven by successful macroeconomic stabilization； robust growth； and capital inflows. While financial deepening is both expected and welcome； the recent expansions appear to have been excessive； as evidenced by widening current account deficits in Bulgaria and Romania； and prudential concerns in Ukraine. Policy responses have included attempts to both moderate credit growth and offset its impact on domestic demand； with mixed success thus far. JEL Classification Numbers: E51； E58； F41

A distributed, modular, heterogeneous architecture is presented that illustrates an approach to solving and integrating common tasks in mobile robotics, such as path planning, localization, sensor fusion, environmental modeling, and motion control. Experimental results are shown for an autonomous navigation task to confirm the applicability of our approach.

A distributed, modular, heterogeneous architecture is presented that illustrates an approach to solving and integrating common tasks in mobile robotics, such as path planning, localization, sensor fusion, environmental modeling, and motion control. Experimental results are shown for an autonomous navigation task to confirm the applicability of our approach

This paper is an overview of the AVENUE project at Columbia University. AVENUE's main goal is to automate the site modeling process in urban environments. The first component of AVENUE is a 3-D modeling system which constructs complete 3-D geometric models with photometric texture mapping acquired from different viewpoints. The second component is a planning system that plans the Next-Best-View for acquiring a model of the site. The third component is a mobile robot we have built that contains an integrated sensor suite for automatically performing the site modeling task. We present results for modeling buildings in New York City

ICx Radiation, Inc. has implemented a novel timing method for use in a Compton telescope that is capable of nanosecond timing resolution. A critical task in Compton telescope design is to minimize the timing variance between detectors in a large array in order to reduce the background. The voxelSPEC has been developed to combine precise timing with pulse processing electronics in a single device, where all timing, communication, and power is transmitted over non-proprietary Ethernet hardware. The IEEE 1588 Precision Timing Protocol (PTP) combined with Synchronous Ethernet (SyncE) performs both phase and frequency locking of the individual detectors clock to a master clock. PTP phase locks each node to the absolute time recorded by the master clock. Hardware assist PTP uses the Ethernet PHY to time stamp the actual receiving and sending times of each PTP packet with sub-nanosecond accuracy, removing the time variance contribution of the CPU and other hardware, which can be on the order of microseconds to milliseconds. PTP-compatible network switches remove the unequal buffering delays in the switch hardware by performing a hardware assisted time correction to the PTP packet arrival and departure times directly (transparent clock mode) or by synchronizing the node to the network switch with hardware assistance (boundary clock mode). In 100MBps SyncE, the transmitters frequency is provided by the master clocks oscillator and propagated through the network switches to each individual node. Each Ethernet PHY connected to this frequency recovers the clock signal for the internal PTP clock. Using the master clock frequency minimizes the frequency drift. Results using both PTP (version 1 without PTP hardware assisted network switch) and SyncE show a node to master drift of about 8ns and a timing resolution of about 25ns between nodes. The implementation of hardware assisted PTP version 2 network switches will further reduce the timing resolution between nodes.