RMPD - A Recursive Mid-Point Displacement Algorithm for Path Planning

Motivated by what is required for real-time path planning, the paper starts out by presenting sRMPD, a new recursive "local" planner founded on the key notion that, unless made necessary by an obstacle, there must be no deviation from the shortest path between any two points, which would normally be a straight line path in the configuration space. Subsequently, we increase the power of sRMPD by using it as a "connect" subroutine call in a higher-level sampling-based algorithm mRMPD that is inspired by multi-RRT. As a consequence, mRMPD spawns a larger number of space exploring trees in regions of the configuration space that are characterized by a higher density of obstacles. The overall effect is a hybrid tree growing strategy with a trade-off between random exploration as made possible by multi-RRT based logic and immediate exploitation of opportunities to connect two states as made possible by sRMPD. The mRMPD planner can be biased with regard to this trade-off for solving different kinds of planning problems efficiently. Based on the test cases we have run, our experiments show that mRMPD can reduce planning time by up to 80% compared to basic RRT

Momentum space tomographic imaging of photoelectrons

We apply tomography, a general method for reconstructing 3-D distributions from multiple projections, to reconstruct the momentum distribution of electrons produced via strong field photoionization. The projections are obtained by rotating the electron distribution via the polarization of the ionizing laser beam and recording a momentum spectrum at each angle with a 2-D velocity map imaging spectrometer. For linearly polarized light the tomographic reconstruction agrees with the distribution obtained using an Abel inversion. Electron tomography, which can be applied to any polarization, will simplify the technology of electron imaging. The method can be directly generalized to other charged particles.Comment: Accepted by J. Phys.

Can coarse-graining introduce long-range correlations in a symbolic sequence?

We present an exactly solvable mean-field-like theory of correlated ternary sequences which are actually systems with two independent parameters. Depending on the values of these parameters, the variance on the average number of any given symbol shows a linear or a superlinear dependence on the length of the sequence. We have shown that the available phase space of the system is made up a diffusive region surrounded by a superdiffusive region. Motivated by the fact that the diffusive portion of the phase space is larger than that for the binary, we have studied the mapping between these two. We have identified the region of the ternary phase space, particularly the diffusive part, that gets mapped into the superdiffusive regime of the binary. This exact mapping implies that long-range correlation found in a lower dimensional representative sequence may not, in general, correspond to the correlation properties of the original system.Comment: 10 pages including 1 figur

Thermoacoustic tomography with detectors on an open curve: an efficient reconstruction algorithm

Practical applications of thermoacoustic tomography require numerical inversion of the spherical mean Radon transform with the centers of integration spheres occupying an open surface. Solution of this problem is needed (both in 2-D and 3-D) because frequently the region of interest cannot be completely surrounded by the detectors, as it happens, for example, in breast imaging. We present an efficient numerical algorithm for solving this problem in 2-D (similar methods are applicable in the 3-D case). Our method is based on the numerical approximation of plane waves by certain single layer potentials related to the acquisition geometry. After the densities of these potentials have been precomputed, each subsequent image reconstruction has the complexity of the regular filtration backprojection algorithm for the classical Radon transform. The peformance of the method is demonstrated in several numerical examples: one can see that the algorithm produces very accurate reconstructions if the data are accurate and sufficiently well sampled, on the other hand, it is sufficiently stable with respect to noise in the data

Computerized tomography using video recorded fluoroscopic images

A computerized tomographic imaging system is examined which employs video-recorded fluoroscopic images as input data. By hooking the video recorder to a digital computer through a suitable interface, such a system permits very rapid construction of tomograms

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

Microscopic Optical Projection Tomography In Vivo

We describe a versatile optical projection tomography system for rapid three-dimensional imaging of microscopic specimens in vivo. Our tomographic setup eliminates the in xy and z strongly asymmetric resolution, resulting from optical sectioning in conventional confocal microscopy. It allows for robust, high resolution fluorescence as well as absorption imaging of live transparent invertebrate animals such as C. elegans. This system offers considerable advantages over currently available methods when imaging dynamic developmental processes and animal ageing; it permits monitoring of spatio-temporal gene expression and anatomical alterations with single-cell resolution, it utilizes both fluorescence and absorption as a source of contrast, and is easily adaptable for a range of small model organisms

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