This paper presents a navigation method for a mobile robot in urban environments. The navigation method employs a socalled Polar Traversability Index (PTI) to evaluate terrain traversal property along a specific direction and guide the robot’s motion. In the navigation system, a 2-D Laser Rangefinder (LRF) is used to produce terrain maps in various formats, such as 3-D point-cloud map, 2.5 D el...

UNLABELLED Most efficacy studies of cardiac PET in demonstrating myocardial ischemia and viability have been performed using one or more transversal static images of the heart. In contrast, in this paper we describe a method of functional imaging of the complete left ventricular myocardium for perfusion with nitrogen-13-ammonia, both at rest and during a dipyridamol stress test, and of glucose ...

The behavior of chromosomal inversions in Escherichia coli depends upon the region they affect. Regions flanking the replication terminus have been termed nondivisible zones (NDZ) because inversions ending in the region were either deleterious or not feasible. This regional phenomenon is further analyzed here. Thirty segments distributed between 23 and 29 min on the chromosome map have been sub...

We consider the localization problem for a robot, which has only a range sensor and a polygonal map of its environment. An idealized version of this problem, where the robot additionally has a compass, was solved by Guibas, Motwani, and Raghavan. Unfortunately, their method is restricted to scenarios where all the sensors and the map are exact, that is, without any noise. Our approach for adapt...

The spatiotemporal oscillations of the Min proteins in the bacterium Escherichia coli play an important role in cell division. A number of different models have been proposed to explain the dynamics from the underlying biochemistry. Here, we extend a previously described discrete polymer model from a deterministic to a stochastic formulation. We express the stochastic evolution of the oscillato...

A complete and accurate set of experimental crystallographic phases to a resolution of 1.8 angstroms was obtained for a 230-residue dimeric fragment of rat mannose-binding protein A with the use of multiwavelength anomalous dispersion (MAD) phasing. An accurate image of the crystal structure could thus be obtained without resort to phases calculated from a model. Partially reduced disulfide bon...

We derive a family of high-order, structure-preserving approximations of the Riemannian exponential map on several matrix manifolds, including the group of unitary matrices, the Grassmannian manifold, and the Stiefel manifold. Our derivation is inspired by the observation that if Ω is a skew-Hermitian matrix and t is a sufficiently small scalar, then there exists a polynomial of degree n in tΩ ...

Let g be a complex semisimple Lie algebra, and f : g → G\\g the adjoint quotient map. Springer theory of Weyl group representations can be seen as the study of the singularities of f . In this paper, we give a generalization of Springer theory to visible, polar representations. It is a class of rational representations of reductive groups over C, for which the invariant theory works by analogy ...

In this paper, we have developed a new surface signature-based representation that is orientation-independent and can be used to match surfaces under rigid transformation including uniform scaling. In addition to surface matching, the proposed representation can be used to estimate the scaling factor between the surfaces. The proposed scheme represents the surface signatures as Extended Polar M...

Fast (>700 km s(-1)) and slow (~400 km s(-1)) winds stream from the Sun, permeate the heliosphere and influence the near-Earth environment. While the fast wind is known to emanate primarily from polar coronal holes, the source of the slow wind remains unknown. Here we identify possible sites of origin using a slow solar wind source map of the entire Sun, which we construct from specially design...