BIT-VO: visual odometry at 300 FPS using binary features from the focal plane

Focal-plane Sensor-processor (FPSP) is a next-generation camera technology which enables every pixel on the sensor chip to perform computation in parallel, on the focal plane where the light intensity is captured. SCAMP-5 is a general-purpose FPSP used in this work and it carries out computations in the analog domain before analog to digital conversion. By extracting features from the image on the focal plane, data which is digitised and transferred is reduced. As a consequence, SCAMP-5 offers a high frame rate while maintaining low energy consumption. Here, we present BITVO, which is the first 6-Degrees of Freedom visual odometry algorithm which utilises the FPSP. Our entire system operates at 300 FPS in a natural environment, using binary edges and corner features detected by the SCAMP-5

GB virus C viremia and anti-E2 antibody response among hemodialysis patients in Gorgan, Iran

Background: GB Virus C is a blood-borne virus and a member of Flaviviridae, like hepatitis C that is distributed globally and puts hemodialysis patients at high risk of developing liver disease. The clinical significance of GBV-C in this population remains unclear

Self–organised multi agent system for search and rescue operations

Autonomous multi-agent systems perform inadequately in time critical missions, while they tend to explore exhaustively each location of the field in one phase with out selecting the pertinent strategy. This research aims to solve this problem by introducing a hierarchy of exploration strategies. Agents explore an unknown search terrain with complex topology in multiple predefined stages by performing pertinent strategies depending on their previous observations. Exploration inside unknown, cluttered, and confined environments is one of the main challenges for search and rescue robots inside collapsed buildings. In this regard we introduce our novel exploration algorithm for multi–agent system, that is able to perform a fast, fair, and thorough search as well as solving the multi–agent traffic congestion. Our simulations have been performed on different test environments in which the complexity of the search field has been defined by fractal dimension of Brownian movements. The exploration stages are depicted as defined arenas of National Institute of Standard and Technology (NIST). NIST introduced three scenarios of progressive difficulty: yellow, orange, and red. The main concentration of this research is on the red arena with the least structure and most challenging parts to robot nimbleness

2D Qubit Placement of Quantum Circuits using LONGPATH

In order to achieve speedup over conventional classical computing for finding solution of computationally hard problems, quantum computing was introduced. Quantum algorithms can be simulated in a pseudo quantum environment, but implementation involves realization of quantum circuits through physical synthesis of quantum gates. This requires decomposition of complex quantum gates into a cascade of simple one qubit and two qubit gates. The methodological framework for physical synthesis imposes a constraint regarding placement of operands (qubits) and operators. If physical qubits can be placed on a grid, where each node of the grid represents a qubit then quantum gates can only be operated on adjacent qubits, otherwise SWAP gates must be inserted to convert non-Linear Nearest Neighbor architecture to Linear Nearest Neighbor architecture. Insertion of SWAP gates should be made optimal to reduce cumulative cost of physical implementation. A schedule layout generation is required for placement and routing apriori to actual implementation. In this paper, two algorithms are proposed to optimize the number of SWAP gates in any arbitrary quantum circuit. The first algorithm is intended to start with generation of an interaction graph followed by finding the longest path starting from the node with maximum degree. The second algorithm optimizes the number of SWAP gates between any pair of non-neighbouring qubits. Our proposed approach has a significant reduction in number of SWAP gates in 1D and 2D NTC architecture.Comment: Advanced Computing and Systems for Security, SpringerLink, Volume 1

Deep XMM-Newton observations of the northern disc of M31. I. Source catalogue

We carried out new observations of two fields in the northern ring of M31 with XMM-Newton with two exposures of 100 ks each and obtained a complete list of X-ray sources down to a sensitivity limit of ~7 x 10^34 erg s^-1 (0.5 - 2.0 keV). The major objective of the observing programme was the study of the hot phase of the ISM in M31. The analysis of the diffuse emission and the study of the ISM is presented in a separate paper. We analysed the spectral properties of all detected sources using hardness ratios and spectra if the statistics were high enough. We also checked for variability. We cross-correlated the source list with the source catalogue of a new survey of the northern disc of M31 carried out with Chandra and Hubble (Panchromatic Hubble Andromeda Treasury, PHAT) as well as with other existing catalogues. We detected a total of 389 sources, including 43 foreground stars and candidates and 50 background sources. Based on the comparison to the Chandra/PHAT survey, we classify 24 hard X-ray sources as new candidates for X-ray binaries (XRBs). In total, we identified 34 XRBs and candidates and 18 supernova remnants (SNRs) and candidates. Three of the four brightest SNRs show emission mainly below 2 keV, consistent with shocked ISM. The spectra of two of them also require an additional component with a higher temperature. The SNR [SPH11] 1535 has a harder spectrum and might suggest that there is a pulsar-wind nebula inside the SNR. We find five new sources showing clear time variability. We also studied the spectral properties of the transient source SWIFT J004420.1+413702, which shows significant variation in flux over a period of seven months (June 2015 to January 2016) and associated change in absorption. Based on the likely optical counterpart detected in the Chandra/PHAT survey, the source is classified as a low-mass X-ray binary.Comment: Accepted for publication in A&

Time-Domain and Spectral-Domain Optical Coherence Tomography of Retinal Nerve Fiber Layer in MS Patients and Healthy Controls

Objective. The aim of this study was to compare retinal nerve fiber layer thickness (RNFLT) between spectral-domain (SD-) and time-domain optical coherence tomography (TD-OCT) in MS patients and healthy controls (HC). Furthermore, RNFLT between MS eyes with and without optic neuritis (ON) and HC should be explored. Finally, the relationship between RNFLT, disease duration, EDSS, and disease modifying therapy (DMT) should be established. Design. Prospective, cross-sectional study. Participants. 28 MS patients and 35 HC. Methods. Both groups underwent TD- and SD-OCT measurements. RFNLT was correlated between the two machines and between MS eyes with and without ON and HC. Furthermore, RNFLT was correlated to disease duration, EDSS and DMT. Results. A strong correlation (Pearson's r = 0.921, P < 0.001), but a statistically significant difference of 2 μm (P < 0.001), was found between the two devices. RNFLT was significantly different between MS eyes with history of ON (mean RFNLT (SD) 72.21 μm (15.83 μm)), MS eyes without history of ON 93.03 μm (14.25 μm), and HC 99.07 μm (7.23 μm) (P < 0.001). Conclusions. The measurements between different generation of OCT machines are not interchangeable, which should be taken into account if comparing results between different machines and switching OCT machine in longitudinal studies

Generating reversible circuits from higher-order functional programs

Boolean reversible circuits are boolean circuits made of reversible elementary gates. Despite their constrained form, they can simulate any boolean function. The synthesis and validation of a reversible circuit simulating a given function is a difficult problem. In 1973, Bennett proposed to generate reversible circuits from traces of execution of Turing machines. In this paper, we propose a novel presentation of this approach, adapted to higher-order programs. Starting with a PCF-like language, we use a monadic representation of the trace of execution to turn a regular boolean program into a circuit-generating code. We show that a circuit traced out of a program computes the same boolean function as the original program. This technique has been successfully applied to generate large oracles with the quantum programming language Quipper.Comment: 21 pages. A shorter preprint has been accepted for publication in the Proceedings of Reversible Computation 2016. The final publication is available at http://link.springer.co