Abstract not found

to the separation of the geometrical and topological aspects of the problem and to the use of two simple but powerful primitives, a geometric predicate and an operator for manipulating the topology of the diagram. The topology is represented by a new data structure for generalized diagrams, that is, embeddings

This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi-tionally considered a high level planning problem, can be effectively distributed between different levels of control, al

Abstract not found

A number of techniques have been developed for reconstructing surfaces by integrating groups of aligned range images. A desirable set of properties for such algorithms includes: incremental updating, representation of directional uncertainty, the ability to fill gaps in the reconstruction, and robustness in the presence of outliers. Prior algorithms possess subsets of these properties. In this paper, we present a volumetric method for integrating range images that possesses all of these properties. Our volumetric representation consists of a cumulative weighted signed distance function. Working with one range image at a time, we first scan-convert it to a distance function, then combine this with the data already acquired using a simple additive scheme. To achieve space efficiency, we employ a run-length encoding of the volume. To achieve time efficiency, we resample the range image to align with the voxel grid and traverse the range and voxel scanlines synchronously. We generate the f...

the effect of the number of homologues included in an alignment. For a multiple alignment consisting of 8 sequences with low similarity, the accuracy was improved (2–10 percentage points) when the sequences were aligned together with dozens of their close homologues (E-value, 105–1020) col-lected from a

We introduce a system for sensing complex social systems with data collected from one hundred mobile phones over the course of six months. We demonstrate the ability to use standard Bluetooth-enabled mobile telephones to measure information access and use in different contexts, recognize social

Performance modelling is concerned with the capture and analysis of the dynamic behaviour of computer and communication systems. The size and complexity of many modern systems result in large, complex models. A compositional approach decomposes the system into subsystems that are smaller and more

We present a new symbolic execution tool, KLEE, capable of automatically generating tests that achieve high coverage on a diverse set of complex and environmentally-intensive programs. We used KLEE to thoroughly check all 89 stand-alone programs in the GNU COREUTILS utility suite, which form

This individual differences study examined the separability of three often postu-lated executive functions—mental set shifting (‘‘Shifting’’), information updating and monitoring (‘‘Updating’’), and inhibition of prepotent responses (‘‘Inhibi-tion’’)—and their roles in complex ‘‘frontal lobe