Pushbroom Stereo for High-Speed Navigation in Cluttered Environments

We present a novel stereo vision algorithm that is capable of obstacle detection on a mobile-CPU processor at 120 frames per second. Our system performs a subset of standard block-matching stereo processing, searching only for obstacles at a single depth. By using an onboard IMU and state-estimator, we can recover the position of obstacles at all other depths, building and updating a full depth-map at framerate. Here, we describe both the algorithm and our implementation on a high-speed, small UAV, flying at over 20 MPH (9 m/s) close to obstacles. The system requires no external sensing or computation and is, to the best of our knowledge, the first high-framerate stereo detection system running onboard a small UAV

A Sketch-based Language for Representing Uncertainty in the Locations of Origin of Herbarium Specimens

Uncertainty fields have been suggested as an appropriate model for retrospective georeferencing of herbarium specimens. Previous work has focused only on automated data capture methods, but techniques for manual data specification may be able to harness human spatial cognition skills to quickly interpret complex spatial propositions. This paper develops a formal modeling language by which location uncertainty fields can be derived from manually sketched features. The language consists of low-level specification of critical probability isolines from which a surface can be uniquely derived, and high-level specification of features and predicates from which low-level isolines can be derived. In a case study, five specimens of Kolsteletzkya pentacarpos housed in the Ted Bradley Herbarium at George Mason University are retrospectively georeferenced, and locational uncertainties of error distance, possibility region and uncertainty field representations are compared

A Sketch-based Language for Representing Uncertainty in the Locations of Origin of Herbarium Specimens

Uncertainty fields have been suggested as an appropriate model for retrospective georeferencing of herbarium specimens. Previous work has focused only on automated data capture methods, but techniques for manual data specification may be able to harness human spatial cognition skills to quickly interpret complex spatial propositions. This paper develops a formal modeling language by which location uncertainty fields can be derived from manually sketched features. The language consists of low-level specification of critical probability isolines from which a surface can be uniquely derived, and high-level specification of features and predicates from which low-level isolines can be derived. In a case study, five specimens of Kolsteletzkya pentacarpos housed in the Ted Bradley Herbarium at George Mason University are retrospectively georeferenced, and locational uncertainties of error distance, possibility region and uncertainty field representations are compared

3D Virtual Worlds: Business and Learning Opportunities

Virtual worlds (VWs) are rampant and easily accessible to common internet users nowadays. Millions of users are already living their virtual lives in these worlds. Moreover, the number of users is increasing continuously. The purpose of this paper is to review all the business opportunities on these virtual worlds along with the learning opportunities for the real world companies and business students. This paper clearly and precisely defines the virtual worlds in the context of social networking sites and also aims at discussing the past, present and future of VWs. All the possible business opportunities for the real world companies including advertisement & communication, retailing opportunities, application for human resource management, marketing research and organizations' internal process management through virtual worlds are critically reviewed here. In addition to the discussion current learning and training opportunities for the real world companies and business students are also reviewed. The paper aims at proving that the VWs are full of business and marketing applications and they could be widely used by the real world companies for effective and efficient business operations

3D Virtual Worlds: Business and Learning Opportunities

Virtual worlds (VWs) are rampant and easily accessible to common internet users nowadays. Millions of users are already living their virtual lives in these worlds. Moreover, the number of users is increasing continuously. The purpose of this paper is to review all the business opportunities on these virtual worlds along with the learning opportunities for the real world companies and business students. This paper clearly and precisely defines the virtual worlds in the context of social networking sites and also aims at discussing the past, present and future of VWs. All the possible business opportunities for the real world companies including advertisement & communication, retailing opportunities, application for human resource management, marketing research and organizations' internal process management through virtual worlds are critically reviewed here. In addition to the discussion current learning and training opportunities for the real world companies and business students are also reviewed. The paper aims at proving that the VWs are full of business and marketing applications and they could be widely used by the real world companies for effective and efficient business operations

Analysis of the Cost of Emergency Managers\u27 Meeting Load: A Hampton Road Case-Study

Preparation for a disaster is not something that can be done by a single organization thus there is a need for coordination between them. Meetings and joint exercises are one means of coordination used by the emergency management community. Meetings and exercises take time, including transportation of personnel and arrangements, and time is money. With limited budgets, emergency managers need to make hard decisions about how their time is allocated. This paper describes a cost model for meeting analysis and discusses a case study that looks at the holistic time spent on meetings and exercises, by personnel, for the Hampton Roads Region of Virginia. A novel way is used to display this expenditure, e.g., it is shown in terms of monetary cost instead of temporal cost. This analysis highlighted some unexpected results, i.e., the small number of personnel involved in multiple working group meetings and high level of travel costs between the HR and the state capital, Richmond. This cost model approach may provide emergency managers with better mechanisms to show their meetings costs to senior leadership

Effects of Conflict-of-Interest Policies in Psychiatry Residency on Antidepressant Prescribing

Concerns about the pharmaceutical industry’s influence in academic medical centers and on medical education have led many medical schools and teaching hospitals to adopt conflict-of-interest (COI) policies. Although the restrictiveness of these policies differs, the goal is the same: to shield physicians-in-training from the persuasive aspects of pharmaceutical promotion. But do these policies work? This Issue Brief examines how COI policies affect the prescribing patterns of antidepressants, one of the most heavily promoted drug classes in the past decade. As such, it provides the first empirical evidence of the effects of COI policies in residency on the subsequent prescribing patterns of practicing physicians

Mouse preimplantation embryo responses to culture medium osmolarity include increased expression of CCM2 and p38 MAPK activation

BACKGROUND: Mechanisms that confer an ability to respond positively to environmental osmolarity are fundamental to ensuring embryo survival during the preimplantation period. Activation of p38 mitogen-activated protein kinase (MAPK) occurs following exposure to hyperosmotic treatment. Recently, a novel scaffolding protein called Osmosensing Scaffold for MEKK3 (OSM) was linked to p38 MAPK activation in response to sorbitol-induced hypertonicity. The human ortholog of OSM is cerebral cavernous malformation 2 (CCM2). The present study was conducted to investigate whether CCM2 is expressed during mouse preimplantation development and to determine whether this scaffolding protein is associated with p38 MAPK activation following exposure of preimplantation embryos to hyperosmotic environments. RESULTS: Our results indicate that Ccm2 along with upstream p38 MAPK pathway constituents (Map3k3, Map2k3, Map2k6, and Map2k4) are expressed throughout mouse preimplantation development. CCM2, MAP3K3 and the phosphorylated forms of MAP2K3/MAP2K6 and MAP2K4 were also detected throughout preimplantation development. Embryo culture in hyperosmotic media increased p38 MAPK activity in conjunction with elevated CCM2 levels. CONCLUSION: These results define the expression of upstream activators of p38 MAPK during preimplantation development and indicate that embryo responses to hyperosmotic environments include elevation of CCM2 and activation of p38 MAPK

Flying between obstacles with an autonomous knife-edge maneuver

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2012.Cataloged from PDF version of thesis.Includes bibliographical references (p. 55-58).We develop an aircraft and control system that is capable of repeatedly performing a high speed (7m/s or 16 MPH) "knife-edge" maneuver through a gap that is smaller than the aircraft's wingspan. The maneuver consists of flying towards a gap, rolling to a significant angle, accurately navigating between the obstacles, and rolling back to horizontal. The speed and roll-rate required demand a control system capable of highly precise, repeatable maneuvers. We address the necessary control theory, path planning, and hardware requirements for such a maneuver, and give a proposal for a new system that may improve upon the existing techniques.by Andrew J. Barry.S.M