Robot Active Touch Exploration: Constraints and Strategies

We investigate the problem of using active touch ("haptic") exploration to recognize a 3D object taken from a known set of models. "That is new is that we combine two approaches: (1) using geometric constraints between components to eliminate interpretations, and interpretation tree methods for choosing the best active sensing move; (2) exploratory moves made by tracing continually along the surface of the object (and not through free space). We restrict ourselves to polyhedral, and give a set of geometric constraints tailored for matching components acquired from haptic exploration against components in the models. We present a new constraint using pairs of line segments. We then give a set of active sensing moves, each with an associated cost measure, and our strategies for choosing the next move

Business Associations -- 1961 Tennessee Survey

I. CASES A. Disregard of Corporate Entity B. Action in Corporate Name After Revocation of Charter C. Effect of Merger 1. Privilege Tax 2. Statute of Limitations D. Judicial Intervention in Internal Corporate Affairs E. Disregard of Fictitious Corporate Records F. Criminal Liability of Corporation for Acts of Agents G. Corporate Venue Under Federal Anti-Trust Laws II. STATUTES A. Unincorporated Associations Treated as Corporations B. Amendments to Securities Law C. Massachusetts Trust Act D. Industrial Development Corporation Projects E. Amendments Relating to General Welfare Corporations F. Miscellan

Bioanalytical applications of fluorescence line-narrowing and non-line-narrowing spectroscopy interfaced with capillary electrophoresis and high-performance liquid chromatography

Capillary electrophoresis (CE) and high-performance liquid chromatography (HPLC) are now routinely used for analysis of complex biomolecular samples. Difficulties with detection and identification of the targeted analytes, e.g., biomarkers for disease, often arise because of the limited sensitivity and/or selectivity of the detection modality. Identification of an analyte based on its migration time is not definitive because of the possibility of interferences from structurally similar molecules. To circumvent these problems we have developed new methodologies that interface CE and HPLC with fluorescence line-narrowing (FLN) and non-line-narrowing (NLN) spectroscopy for on-line detection and characterization. With these detection methods, one achieves the high sensitivity afforded by laser-induced fluorescence (LIF) (≈attomole) and high selectivity provided by FLN spectra, whose rich and sharp (≈5 cm-1) vibrational structure serves as fingerprints. Fluorescence line-narrowing is operative at temperatures close to 4 K. Thus, a major challenge was the design of compact cryostats that are compatible with the above separation techniques and allow for rapid cooldown (≈1 minute). After cooldown the stationary analyte plugs can be interrogated indefinitely, which leads to significantly lower detection limits. Photodegradation of the analytes is also markedly reduced relative to laser excitation at room temperature. Automated translation of the cryostat/capillary relative to the spatially fixed laser excitation beam allows for sequential analysis of the separated analytes. Lower resolution but still informative analyses can be performed at 77 K.;Results are presented for depurinating polycyclic aromatic hydrocarbons adducted to DNA isolated from the urine of humans exposed to coal smoke, and from the skin of mice treated with the most potent chemical carcinogen, dibenzo[a,l]pyrene. We anticipate that combining FLN and NLN detection with CE and HPLC will be useful in many more bioanalytical applications