Simultaneous localization and map-building using active vision

An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated Simultaneous Localization and Map-Building (SLAM) to be implemented with vision, permitting repeatable long-term localization using only naturally occurring, automatically-detected features. In this paper, we present the first example of a general system for autonomous localization using active vision, enabled here by a high-performance stereo head, addressing such issues as uncertainty-based measurement selection, automatic map-maintenance, and goal-directed steering. We present varied real-time experiments in a complex environment.Published versio

Numerical integration of one-loop Feynman diagrams for N-photon amplitudes

In the calculation of cross sections for infrared-safe observables in high energy collisions at next-to-leading order, one approach is to perform all of the integrations, including the virtual loop integration numerically. One would use a subtraction scheme that removes infrared and collinear divergences from the integrand in a style similar to that used for real emission graphs. Then one would perform the loop integration by Monte Carlo integration along with the integrations over final state momenta. In this paper, we have explored how one can perform the numerical integration. We have studied the N-photon scattering amplitude with a massless electron loop in order to have a case with a singular integrand that is not, however, so singular as to require the subtractions. We report results for N = 4, N = 5 with left-handed couplings, and N=6.Comment: 30 pages including 5 figures. This is a revised version that is close to the published versio

Neuronal imaging with ultrahigh dynamic range multiphoton microscopy

Multiphoton microscopes are hampered by limited dynamic range, preventing weak sample features from being detected in the presence of strong features, or preventing the capture of unpredictable bursts in sample strength. We present a digital electronic add-on technique that vastly improves the dynamic range of a multiphoton microscope while limiting potential photodamage. The add-on provides real-time negative feedback to regulate the laser power delivered to the sample, and a log representation of the sample strength to accommodate ultrahigh dynamic range without loss of information. No microscope hardware modifications are required, making the technique readily compatible with commercial instruments. Benefits are shown in both structural and in-vivo functional mouse brain imaging applications.R21 EY027549 - NEI NIH HH

Following microscopic motion in a two dimensional glass-forming binary fluid

The dynamics of a binary mixture of large and small discs are studied at temperatures approaching the glass transition using an analysis based on the topology of the Voronoi polygon surrounding each atom. At higher temperatures we find that dynamics is dominated by fluid-like motion that involves particles entering and exiting the nearest-neighbour shells of nearby particles. As the temperature is lowered, the rate of topological moves decreases and motion becomes localised to regions of mixed pentagons and heptagons. In addition we find that in the low temperature state particles may translate significant distances without undergoing changes in their nearest neig hbour shell. These results have implications for dynamical heterogeneities in glass forming liquids.Comment: 12 pages, 7 figure

Cold water aquifer storage

A working prototype system is described in which water is pumped from an aquifer at 70 F in the winter time, chilled to a temperature of less than 50 F, injected into a ground-water aquifer, stored for a period of several months, pumped back to the surface in the summer time. A total of 8.1 million gallons of chilled water at an average temperature of 48 F were injected. This was followed by a storage period of 100 days. The recovery cycle was completed a year later with a total of 8.1 million gallons recovered. Approximately 20 percent of the chill energy was recovered

Marker based Thermal-Inertial Localization for Aerial Robots in Obscurant Filled Environments

For robotic inspection tasks in known environments fiducial markers provide a reliable and low-cost solution for robot localization. However, detection of such markers relies on the quality of RGB camera data, which degrades significantly in the presence of visual obscurants such as fog and smoke. The ability to navigate known environments in the presence of obscurants can be critical for inspection tasks especially, in the aftermath of a disaster. Addressing such a scenario, this work proposes a method for the design of fiducial markers to be used with thermal cameras for the pose estimation of aerial robots. Our low cost markers are designed to work in the long wave infrared spectrum, which is not affected by the presence of obscurants, and can be affixed to any object that has measurable temperature difference with respect to its surroundings. Furthermore, the estimated pose from the fiducial markers is fused with inertial measurements in an extended Kalman filter to remove high frequency noise and error present in the fiducial pose estimates. The proposed markers and the pose estimation method are experimentally evaluated in an obscurant filled environment using an aerial robot carrying a thermal camera.Comment: 10 pages, 5 figures, Published in International Symposium on Visual Computing 201