Our research efforts focus on the deployment of 3D sensing capabilities to a multi-modal under vehicle inspection robot. In this paper, we outline the various design challenges towards the automation of the 3D scene modeling task. We employ laser-based range imaging techniques to extract the geometry of a vehicle’s undercarriage and present our results after range integration. We perform shape ...

We present a streaming model for large-scale classification (in the context of l2-SVM) by leveraging connections between learning and computational geometry. The streaming model imposes the constraint that only a single pass over the data is allowed. The l2-SVM is known to have an equivalent formulation in terms of the minimum enclosing ball (MEB) problem, and an efficient algorithm based on th...

The Lane-Curvature Method (LCM) presented in this paper is a new local obstacle avoidance method for indoor mobile robots. The method combines the Curvature-Velocity Method (CVM) with a new directional method called the Lane Method. The lane method divides the environment into lanes, and then chooses the best lane to follow to optimize travel along a desired heading. A local heading is then cal...

Chronolog is an extension of logic programming based on temporal logic. The paper presents a framework which can be used to exploit multiple levels of parallelism found in Chronolog programs, context parallelism, AND-and OR-parallelism. Based on an analysis of these modes of parallelism in Chronolog programs, a parallel execution mechanism of the language is discussed and a formal execution mod...

This paper describes a new local avoidance method for indoor mobile robots. The method uses a directional method named the Beam Method to improve the performance of a local obstacle avoidance approach called Curvature Velocity Method (CVM). The proposed Beam Method employs radial distances provided by the robot sensors to calculate the best one-step headings. The CVM uses this information to ca...

The paper reviews the controversy on the shape of the fcc-based phase diagram near the triple point among the disordered (A1), L1z and L1o phases. The discrepancy was originally between the cluster variation method (CVM) results and Monte Carlo (MC) simulation results, but the controversy developed into how to interpret MC results. The paper examines historically how the controversy started, ho...

We show that a precise assessment of free energy estimates in Monte Carlo simulations of lattice models is possible by using cluster variation approximations in conjunction with the local states approximations proposed by Meirovitch. The local states method (LSM) utilizes entropy expressions which recently have been shown to correspond to a converging sequence of upper bounds on the thermodynam...

BACKGROUND/OBJECTIVES To select predictors related to cervical vertebrae maturation (CVM), dentoalveolar adaptation, head posture, and respiration on outcome of face-mask treatment. MATERIALS/METHODS Forty-six patients (24 boys and 22 girls) with skeletal Class III pattern whose CVM stages ranged from I to IV at pretreatment were selected. The observation period was 2.87 ± 1.77 years from the...

During embryonic development, there are numerous cases where organ or tissue formation depends upon the migration of primordial cells. In the Drosophila embryo, the visceral mesoderm (vm) acts as a substrate for the migration of several cell populations of epithelial origin, including the endoderm, the trachea and the salivary glands. These migratory processes require both integrins and laminin...

In a cross-validation of results from L. O. Graue et al. (2007), standard psychological assessment instruments, as well as tests of neurocognitive and psychiatric feigning, were administered under standard instructions to 24 participants diagnosed with mild mental retardation (MR) and 10 demographically matched community volunteers (CVH). A 2nd group of 25 community volunteers was instructed to...