This article present results for building accurate 3-D maps of urban environments with amobile SegwayRMP. The goal of this project is to use robotic systems to rapidly acquire 3-D maps, which seamlessly integrate indoor and outdoor structures. Our approach is based on an information-solution of the SLAM problem, which enables us to seamlessly integrate GPS, IMU, and scan data. 3-D models acquir...

One of the most important issues in the post-genomic molecular biology is the analysis of protein three-dimensional (3-D) structures, and searching over the 3-D structure databases of them is becoming more and more important. The root mean square deviation (RMSD) is the most popular similarity measure for comparing two molecular structures. In this article, we propose new theoretically and prac...

In this paper we present a new method for estimating confidence and curvature of 3-D curvilinear structures. The gradient structure tensor (GST) models shift-invariance. The eigenstructure of the tensor allows estimation of local dimensionality, orientation, and the corresponding confidence value. Local rotational invariance, which occurs often in images, causes a lower confidence estimate. Thi...

Searching for similar structures from a 3-D structure database of proteins is one of the most important problems in post-genomic computational biology. To compare two structures, we ordinarily use a measure called the RMSD (root mean square deviation) as the similarity measure. We consider a very fundamental problem of finding all the substructures whose RMSDs to the query are within some given...

The problem of interpreting images in terms of their shading and reflectance components has traditionally been addressed as an early vision task in a simple 2D Mondrian domain. Recently it has been appreciated that in a 3D world, such conventional approaches are inadequate; more sophisticated strategies are required. One such strategy has been proposed by Sinha [22, 25], who has addressed the p...

In this paper we present a new method for estimating confidence and curvature of 3-D curvilinear structures. The gradient structure tensor (GST) models shift-invariance. The eigenstructure of the tensor allows estimation of local dimensionality, orientation, and the corresponding confidence value. Local rotational invariance, which occurs often in images, causes a lower confidence estimate. Thi...

The techniques used in the fabrication of micro-electro-mechanical systems (MEMS) were adopted from the integrated circuits (IC) industry and are mostly limited to patterning thin films on a flat substrate. As a consequence, micro-machined devices mostly comprise sets of flat two-dimensional (2D) membranes with etched patterns and undercuts that enable them to serve their intended functions. Ho...

This research was conducted to find a reliable technique to shape an abrupt contraction for minimizing the energy loss. The method may find broader applications in design of variety of transitional cross-sections in hydraulic structures. The streamlines in a 2-D contraction were calculated through solving the potential flow equations in rectangular and curvilinear coordinates. The natural cubic...

This study aims to determine the effects of appropriate experimental parameters on the thermophysical properties of molten micro droplets, Sn-3Ag-0.5Cu solder balls with an average droplet diameter of 50 μm were prepared. The inkjet printing parameters of the molten micro droplets, such as the dot spacing, stage velocity and sample temperature, were optimized in the 1D and 2D printing of metall...