Environmental modeling and recognition for an autonomous land vehicle

An architecture for object modeling and recognition for an autonomous land vehicle is presented. Examples of objects of interest include terrain features, fields, roads, horizon features, trees, etc. The architecture is organized around a set of data bases for generic object models and perceptual structures, temporary memory for the instantiation of object and relational hypotheses, and a long term memory for storing stable hypotheses that are affixed to the terrain representation. Multiple inference processes operate over these databases. Researchers describe these particular components: the perceptual structure database, the grouping processes that operate over this, schemas, and the long term terrain database. A processing example that matches predictions from the long term terrain model to imagery, extracts significant perceptual structures for consideration as potential landmarks, and extracts a relational structure to update the long term terrain database is given

A Coordinated Radio Afterglow Program

We describe a ground-based effort to find and study afterglows at centimeter and millimeter wavelengths. We have observed all well-localized gamma-ray bursts in the Northern and Southern sky since BeppoSAX first started providing rapid positions in early 1997. Of the 23 GRBs for which X-ray afterglows have been detected, 10 have optical afterglows and 9 have radio afterglows. A growing number of GRBs have both X-ray and radio afterglows but lack a corresponding optical afterglow.Comment: To appear in Proc. of the 5th Huntsville Gamma-Ray Burst Symposium, 5 pages, LaTe

Soap Froths and Crystal Structures

We propose a physical mechanism to explain the crystal symmetries found in macromolecular and supramolecular micellar materials. We argue that the packing entropy of the hard micellar cores is frustrated by the entropic interaction of their brush-like coronas. The latter interaction is treated as a surface effect between neighboring Voronoi cells. The observed crystal structures correspond to the Kelvin and Weaire-Phelan minimal foams. We show that these structures are stable for reasonable areal entropy densities.Comment: 4 pages, RevTeX, 2 included eps figure

Reversible skew laurent polynomial rings and deformations of poisson automorphisms

A skew Laurent polynomial ring S = R[x(+/- 1); alpha] is reversible if it has a reversing automorphism, that is, an automorphism theta of period 2 that transposes x and x(-1) and restricts to an automorphism gamma of R with gamma = gamma(-1). We study invariants for reversing automorphisms and apply our methods to determine the rings of invariants of reversing automorphisms of the two most familiar examples of simple skew Laurent polynomial rings, namely a localization of the enveloping algebra of the two-dimensional non-abelian solvable Lie algebra and the coordinate ring of the quantum torus, both of which are deformations of Poisson algebras over the base field F. Their reversing automorphisms are deformations of Poisson automorphisms of those Poisson algebras. In each case, the ring of invariants of the Poisson automorphism is the coordinate ring B of a surface in F-3 and the ring of invariants S-theta of the reversing automorphism is a deformation of B and is a factor of a deformation of F[x(1), x(2), x(3)] for a Poisson bracket determined by the appropriate surface

Use of MMG signals for the control of powered orthotic devices: Development of a rectus femoris measurement protocol

Copyright © 2009 Rehabilitation Engineering and Assistive Technology Society (RESNA). This is an Author's Accepted Manuscript of an article published in Assistive Technology, 21(1), 1 - 12, 2009, copyright Taylor & Francis, available online at: http://www.tandfonline.com/10.1080/10400430902945678.A test protocol is defined for the purpose of measuring rectus femoris mechanomyographic (MMG) signals. The protocol is specified in terms of the following: measurement equipment, signal processing requirements, human postural requirements, test rig, sensor placement, sensor dermal fixation, and test procedure. Preliminary tests of the statistical nature of rectus femoris MMG signals were performed, and Gaussianity was evaluated by means of a two-sided Kolmogorov-Smirnov test. For all 100 MMG data sets obtained from the testing of two volunteers, the null hypothesis of Gaussianity was rejected at the 1%, 5%, and 10% significance levels. Most skewness values were found to be greater than 0.0, while all kurtosis values were found to be greater than 3.0. A statistical convergence analysis also performed on the same 100 MMG data sets suggested that 25 MMG acquisitions should prove sufficient to statistically characterize rectus femoris MMG. This conclusion is supported by the qualitative characteristics of the mean rectus femoris MMG power spectral densities obtained using 25 averages

Joint Astrophysics Nascent Universe Satellite:. utilizing GRBs as high redshift probes

The Joint Astrophysics Nascent Universe Satellite (JANUS) is a multiwavelength cosmology mission designed to address fundamental questions about the cosmic dawn. It has three primary science objectives: (1) measure the massive star formation rate over 5 ≤ z ≤ 12 by discovering and observing high-z gamma-ray bursts (GRBs) and their afterglows, (2) enable detailed studies of the history of reionization and metal enrichment in the early Universe, and (3) map the growth of the first supermassive black holes by discovering and observing the brightest quasars at z ≥ 6. A rapidly slewing spacecraft and three science instruments – the X-ray Coded Aperture Telescope (XCAT), the Near InfraRed Telescope (NIRT), and the GAmma-ray Transient Experiment for Students (GATES) – make-up the JANUS observatory and are responsible for realizing the three primary science objectives. The XCAT (0.5–20 keV) is a wide field of view instrument responsible for detecting and localizing ∼60 z ≥ 5 GRBs, including ∼8 z ≥ 8 GRBs, during a 2-year mission. The NIRT (0.7–1.7 µm) refines the GRB positions and provides rapid (≤ 30 min) redshift information to the astronomical community. Concurrently, the NIRT performs a 20, 000 deg2 survey of the extragalactic sky discovering and localizing ∼300 z ≥ 6 quasars, including ∼50 at z ≥ 7, over a two-year period. The GATES provides high-energy (15 keV −1.0 MeV) spectroscopy as well as 60–500 keV polarimetry of bright GRBs. Here we outline the JANUS instrumentation and the mission science motivations

Stability analysis of polarized domains

Polarized ferrofluids, lipid monolayers and magnetic bubbles form domains with deformable boundaries. Stability analysis of these domains depends on a family of nontrivial integrals. We present a closed form evaluation of these integrals as a combination of Legendre functions. This result allows exact and explicit formulae for stability thresholds and growth rates of individual modes. We also evaluate asymptotic behavior in several interesting limits.Comment: 12 pages, 3 figures, Late

Comment on "Local accumulation times for source, diffusion, and degradation models in two and three dimensions" [J. Chem. Phys. 138, 104121 (2013)]

In a recent paper, Gordon, Muratov, and Shvartsman studied a partial differential equation (PDE) model describing radially symmetric diffusion and degradation in two and three dimensions. They paid particular attention to the local accumulation time (LAT), also known in the literature as the mean action time, which is a spatially dependent timescale that can be used to provide an estimate of the time required for the transient solution to effectively reach steady state. They presented exact results for three-dimensional applications and gave approximate results for the two-dimensional analogue. Here we make two generalizations of Gordon, Muratov, and Shvartsman’s work: (i) we present an exact expression for the LAT in any dimension and (ii) we present an exact expression for the variance of the distribution. The variance provides useful information regarding the spread about the mean that is not captured by the LAT. We conclude by describing further extensions of the model that were not considered by Gordon,Muratov, and Shvartsman. We have found that exact expressions for the LAT can also be derived for these important extensions..