Moving Observers in an Isotropic Universe

We show how the anisotropy resulting from the motion of an observer in an isotropic universe may be determined by measurements. This provides a means to identify inertial frames, yielding a simple resolution to the twins paradox of relativity theory. We propose that isotropy is a requirement for a frame to be inertial; this makes it possible to relate motion to the large scale structure of the universe.Comment: 8 pages, 1 figure, with minor typographical correctio

Rule-Based Approach to Binocular Stereopsis

This research is motivated by a desire to integrate some of the diverse, yet complimentary, developments that have taken place during the past few years in the area of passive stereo vision. On the one hand, we have approaches based on matching zero-crossings along epipolar lines, and, on the other, people have proposed techniques that match directly higher level percepts, such as line elements and other geometrical forms. Our rule-based program is a modest attempt at integrating these different approaches into a single program. Such integration was made necessary by the fact that no single method by itself appears capable of generating usable range maps of a scene

AMP-CAD: Automatic Assembly Motion Planning Using C AD Models of Parts

Assembly with robots involves two kinds of motions, those that are point-to-point and those that are force/torque guided, the former kind of motions being faster and more amenable to automatic planning and the latter kind being necessary for dealing with tight clearances. In this paper, we describe an assembly motion planning system that uses descriptions of assemblies and CAD models of parts to automatically figure out which motions should be point-to-point and which motions should be force/torque guided. Our planner uses graph search over a potential field representation of parts to calculate candidate assembly paths. Given the tolerances of the parts and other uncertainties, these paths are then analyzed for the likelihood of collisions. Those path segments that are prone to collisions are then marked for execution under force/torque control. The calculation of the various motions is facilitated by an object-oriented and feature-based assembly representation. A highlight of this representation is the manner in which tolerance information is taken into account: Representation of, say, a part contains a pointer to the boundary representation of the part in its most material condition form. As first defined by Requicha, the most material condition form of a geometric entity is obtained by expanding all the convexities and shrinking all the concavities by relevant tolerances. An integral part of the assembly motion planner is the execution unit. Residing in this unit is knowledge of the different types of automatic EDR (error detection and recovery) strategies. Therefore, during the execution of the force/torque guided motion, this unit invokes the EDR strategies appropriate to the geometric constraints relevant to the motion. This system, called AMP-CAD, has been experimentally verified using a Cincinnati Milacron T3-726 robot and a Puma 762 robot on a variety of assemblies

Task Planner for Simultaneous Fulfillment of Operational, Geometric and Uncertainty-Reduction Goals

Our ultimate goal in robot planning is to develop a planner which can create complete assembly plans given as input a high level description of assembly goals, geometric models of the components of the assembly, and a description of the capabilities of the work cell (including the robot and the sensory system). In this paper, we introduce SPAR, a planning system which reasons about high level operational goals, geometric goals and uncertainty-reduction goals in order to create assembly plans which consist of manipulations as well as sensory operations when appropriate. Operational planning is done using a nonlinear, constraint posting planner. Geometric planning is accomplished by constraining the execution of operations in the plan so that geometric goals are satisfied, or, if the geometric configuration of the world prevents this, by introducing new operations into the plan with the appropriate constraints. When the uncertainty in the world description exceeds that specified by the uncertainty-reduction goals, SPAR introduces either sensing operations or manipulations to reduce that uncertainty to acceptable levels. If SPAR cannot find a way to sufficiently reduce uncertainties, it does not abandon the plan. Instead, it augments the plan with sensing operations to be used to verify the execution of the action, and, when possible, posts possible error recovery plans, although at this point, the verification operations and recovery plans are predefined

An expert system for LD steel making

LD process of steelmaking accounts for 70% of steel production throughout the world. Due to various constraints like the complexity of LD process; variation in quantity, quality and grade of input materials; varying operating conditions, random parameters and their values; the interventions of an expert and skilled operator is necessary to tackle the complex situation. To overcome this, there exists, a need of a system, which does not only possess the process control capabilities, but also emulates operator's expertise in terms of his knowledge and skill. Such a system has been developed named "Expert Steelmaker". The paper discusses the "Expert Steelmaker" which can presently be used in an advisory mode by the LD steelmaking operator

Reconstruction from Radon projections and orthogonal expansion on a ball

The relation between Radon transform and orthogonal expansions of a function on the unit ball in \RR^d is exploited. A compact formula for the partial sums of the expansion is given in terms of the Radon transform, which leads to algorithms for image reconstruction from Radon data. The relation between orthogonal expansion and the singular value decomposition of the Radon transform is also exploited.Comment: 15 page

Diffraction microtomography with sample rotation: influence of a missing apple core in the recorded frequency space

Diffraction microtomography in coherent light is foreseen as a promising technique to image transparent living samples in three dimensions without staining. Contrary to conventional microscopy with incoherent light, which gives morphological information only, diffraction microtomography makes it possible to obtain the complex optical refractive index of the observed sample by mapping a three-dimensional support in the spatial frequency domain. The technique can be implemented in two configurations, namely, by varying the sample illumination with a fixed sample or by rotating the sample using a fixed illumination. In the literature, only the former method was described in detail. In this report, we precisely derive the three-dimensional frequency support that can be mapped by the sample rotation configuration. We found that, within the first-order Born approximation, the volume of the frequency domain that can be mapped exhibits a missing part, the shape of which resembles that of an apple core. The projection of the diffracted waves in the frequency space onto the set of sphere caps covered by the sample rotation does not allow for a complete mapping of the frequency along the axis of rotation due to the finite radius of the sphere caps. We present simulations of the effects of this missing information on the reconstruction of ideal objects.Comment: 7 pages, 11 figures, presented at Focus On Microscopy 200

Characterization of heterogeneity and spatial distribution of phases in complex solid dispersions by thermal analysis by structural characterization and X-ray micro computed tomography

Purpose: This study investigated the effect of drug-excipient miscibility on the heterogeneity and spatial distribution of phase separation in pharmaceutical solid dispersions at a micron-scale using two novel and complementary characterization techniques, thermal analysis by structural characterization (TASC) and X-ray micro-computed tomography (XCT) in conjunction with conventional characterization methods. Method: Complex dispersions containing felodipine, TPGS, PEG and PEO were prepared using hot melt extrusion-injection moulding. The phase separation behavior of the samples was characterized using TASC and XCT in conjunction with conventional thermal, microscopic and spectroscopic techniques. The in vitro drug release study was performed to demonstrate the impact of phase separation on dissolution of the dispersions. Results: The conventional characterization results indicated the phase separating nature of the carrier materials in the patches and the presence of crystalline drug in the patches with the highest drug loading (30% w/w). TASC and XCT where used to provide insight into the spatial configuration of the separate phases. TASC enabled assessment of the increased heterogeneity of the dispersions with increasing the drug loading. XCT allowed the visualization of the accumulation of phase separated (crystalline) drug clusters at the interface of air pockets in the patches with highest drug loading which led to poor dissolution performance. Semi-quantitative assessment of the phase separated drug clusters in the patches were attempted using XCT. Conclusion: TASC and XμCT can provide unique information regarding the phase separation behavior of solid dispersions which can be closely associated with important product quality indicators such as heterogeneity and microstructure

Implementation of an Optimal First-Order Method for Strongly Convex Total Variation Regularization

We present a practical implementation of an optimal first-order method, due to Nesterov, for large-scale total variation regularization in tomographic reconstruction, image deblurring, etc. The algorithm applies to $\mu$-strongly convex objective functions with $L$-Lipschitz continuous gradient. In the framework of Nesterov both $\mu$ and $L$ are assumed known -- an assumption that is seldom satisfied in practice. We propose to incorporate mechanisms to estimate locally sufficient $\mu$ and $L$ during the iterations. The mechanisms also allow for the application to non-strongly convex functions. We discuss the iteration complexity of several first-order methods, including the proposed algorithm, and we use a 3D tomography problem to compare the performance of these methods. The results show that for ill-conditioned problems solved to high accuracy, the proposed method significantly outperforms state-of-the-art first-order methods, as also suggested by theoretical results.Comment: 23 pages, 4 figure

Adapting “MOVE” to accelerate VMMC coverage for HIV prevention in priority populations:Implementation experiences from Uganda’s military settings

This paper describes the WHO’s Model of Optimizing Volumes and Efficiencies (MOVE), adapted by the University Research Council (URC) - Department of Defense HIV/AIDS Prevention Program (DHAPP) to rapidly scale up Voluntary Medical Male Circumcision (VMMC) within Uganda’s military health facilities. First, we examine the MOVE model and then present the URC-DHAPP adapted intervention package comprising of: a) a Command-driven approach, b) Mobile theatres c) Quality assurance d) Data strengthening and reflection. To expand VMMC, URC-DHAPP worked with army commanders to create awareness, mobilize their troops and surgeons were assigned daily targets. The mobile theatre involved regular visits to hard-to-reach outposts and placing several mobile camps at health facilities close to deployment sites. All stakeholders were briefed on performance trends of previous medical camps and the program was monitored through VMMC camp reports. URC-DHAPP registered an exponential increase in VMMC coverage from 13% performance at Q2 to over 140% in Q4. The integrated approach led to circumcision of over 22,000 men (15-49 years) in a record four months. Our approach also contributed to health system strengthening and national HIV preventiontargets. We conclude that the MOVE is cost-effective and can be successfully scaled up in resource-limited settings with a high HIV burden when implemented with cognizance of contextual specificities