Scalable Estimation of Precision Maps in a MapReduce Framework

This paper presents a large-scale strip adjustment method for LiDAR mobile mapping data, yielding highly precise maps. It uses several concepts to achieve scalability. First, an efficient graph-based pre-segmentation is used, which directly operates on LiDAR scan strip data, rather than on point clouds. Second, observation equations are obtained from a dense matching, which is formulated in terms of an estimation of a latent map. As a result of this formulation, the number of observation equations is not quadratic, but rather linear in the number of scan strips. Third, the dynamic Bayes network, which results from all observation and condition equations, is partitioned into two sub-networks. Consequently, the estimation matrices for all position and orientation corrections are linear instead of quadratic in the number of unknowns and can be solved very efficiently using an alternating least squares approach. It is shown how this approach can be mapped to a standard key/value MapReduce implementation, where each of the processing nodes operates independently on small chunks of data, leading to essentially linear scalability. Results are demonstrated for a dataset of one billion measured LiDAR points and 278,000 unknowns, leading to maps with a precision of a few millimeters.Comment: ACM SIGSPATIAL'16, October 31-November 03, 2016, Burlingame, CA, US

Using film cutting in interface design

It has been suggested that computer interfaces could be made more usable if their designers utilized cinematography techniques, which have evolved to guide the viewer through a narrative despite frequent discontinuities in the presented scene (i.e., cuts between shots). Because of differences between the domains of film and interface design, it is not straightforward to understand how such techniques can be transferred. May and Barnard (1995) argued that a psychological model of watching film could support such a transference. This article presents an extended account of this model, which allows identification of the practice of collocation of objects of interest in the same screen position before and after a cut. To verify that filmmakers do, in fact, use such techniques successfully, eye movements were measured while participants watched the entirety of a commerciall

Decorrelation control by the cerebellum achieves oculomotor plant compensation in simulated vestibulo-ocular reflex

We introduce decorrelation control as a candidate algorithm for the cerebellar microcircuit and demonstrate its utility for oculomotor plant compensation in a linear model of the vestibulo-ocular reflex (VOR). Using an adaptive-filter representation of cerebellar cortex and an anti-Hebbian learning rule, the algorithm learnt to compensate for the oculomotor plant by minimizing correlations between a predictor variable (eye-movement command) and a target variable (retinal slip), without requiring a motor-error signal. Because it also provides an estimate of the unpredicted component of the target variable, decorrelation control can simplify both motor coordination and sensory acquisition. It thus unifies motor and sensory cerebellar functions

Carbocations and the Complex Flavor and Bouquet of Wine: Mechanistic Aspects of Terpene Biosynthesis in Wine Grapes.

Computational chemistry approaches for studying the formation of terpenes/terpenoids in wines are presented, using five particular terpenes/terpenoids (1,8-cineole, α-ylangene, botrydial, rotundone, and the wine lactone), volatile compounds (or their precursors) found in wine and/or wine grapes, as representative examples. Through these examples, we show how modern computational quantum chemistry can be employed as an effective tool for assessing the validity of proposed mechanisms for terpene/terpenoid formation

Modulation of inherent dynamical tendencies of the bisabolyl cation via preorganization in epi-isozizaene synthase.

The relative importance of preorganization, selective transition state stabilization and inherent reactivity are assessed through quantum chemical and docking calculations for a sesquiterpene synthase (epi-isozizaene synthase, EIZS). Inherent reactivity of the bisabolyl cation, both static and dynamic, appears to determine the pathway to product, although preorganization and selective binding of the final transition state structure in the multi-step carbocation cascade that forms epi-isozizaene appear to play important roles

Origin of the anomalous long lifetime of 14C

We report the microscopic origins of the anomalously suppressed beta decay of 14C to 14N using the ab initio no-core shell model (NCSM) with the Hamiltonian from chiral effective field theory (EFT) including three-nucleon force (3NF) terms. The 3NF induces unexpectedly large cancellations within the p-shell between contributions to beta decay, which reduce the traditionally large contributions from the NN interactions by an order of magnitude, leading to the long lifetime of 14C.Comment: 4 pages, 2 figures and 2 table

Renormalization of Drift and Diffusivity in Random Gradient Flows

We investigate the relationship between the effective diffusivity and effective drift of a particle moving in a random medium. The velocity of the particle combines a white noise diffusion process with a local drift term that depends linearly on the gradient of a gaussian random field with homogeneous statistics. The theoretical analysis is confirmed by numerical simulation. For the purely isotropic case the simulation, which measures the effective drift directly in a constant gradient background field, confirms the result previously obtained theoretically, that the effective diffusivity and effective drift are renormalized by the same factor from their local values. For this isotropic case we provide an intuitive explanation, based on a {\it spatial} average of local drift, for the renormalization of the effective drift parameter relative to its local value. We also investigate situations in which the isotropy is broken by the tensorial relationship of the local drift to the gradient of the random field. We find that the numerical simulation confirms a relatively simple renormalization group calculation for the effective diffusivity and drift tensors.Comment: Latex 16 pages, 5 figures ep

Development of GaAs and GaAs sub /1-x/ P sub x thin-film bipolar transistors Final report

Fabrication and electrical properties of GaAs type thin film bipolar transistor