Distributed Multirobot Exploration and Mapping

Efficient exploration of unknown environments is a fundamental problem in mobile robotics. We present an approach to distributed multirobot mapping and exploration. Our system enables teams of robots to efficiently explore environments from different, unknown locations. In order to ensure consistency when combining their data into shared maps, the robots actively seek to verify their relative locations. Using shared maps, they coordinate their exploration strategies to maximize the efficiency of exploration. This system was evaluated under extremely realistic real-world conditions. An outside evaluation team found the system to be highly efficient and robust. The maps generated by our approach are consistently more accurate than those generated by manually measuring the locations and extensions of rooms and objects.     

Robotic sensor agents: a new generation of intelligent agents for complex environment monitoring

Monitoring environment parameters is a complex task of great importance in many areas, such as the natural living environment; homeland security; industrial or laboratory hazardous environments (biologically, radioactively, or chemically contaminated); polluted/toxic natural environments; water treatment plants; nuclear stations; war zones; or remote, difficult-to-reach environments, such as the deep space or underwater. This article will discuss a new generation of intelligent, autonomous, wireless robotic sensor agents (RSAs) for complex environment monitoring. Shown in this article is the architecture of an RSA system under development in our laboratory at the University of Ottawa (see Petriu et al., p14-19, May 2002). Monitoring is done by continuously collecting sensory data from stationary and mobile RSAs deployed in the field.     

Multiple-object 2-D-3-D registration for noninvasive pose identification of fracture fragments

This paper presents a multiple-object 2-D-3-D registration technique for noninvasively identifying the poses of fracture fragments in the space of a preoperative treatment plan. The plan is made by manipulating and aligning computer models of individual fracture fragments that are segmented from a diagnostic computed tomography. The registration technique iteratively updates the treatment plan and matches its digitally reconstructed radiographs to a small number of intraoperative fluoroscopic images. The proposed approach combines an image similarity metric that integrates edge information with mutual information, and a global-local optimization scheme, to deal with challenges associated with the registration of multiple small fragments and limited imaging orientations in the operating room. The method is easy to use as minimum user interaction is required. Experiments on simulated fractures and two distal radius fracture phantoms demonstrate clinically acceptable target registration errors with capture range as large as 10 mm.     

An infobutton for Web 2.0 clinical discussions: the knowledge linkage framework

This paper aims to develop an infobutton to automatically retrieve published papers corresponding to a topic-specific online clinical discussion. The knowledge linkages infobutton is designed to supplement online clinical conversations with pertinent medical literature from Pubmed. The project involves three distinct steps: 1) Clinical messages around a specific problem are grouped together into a thread. 2) These threads are processed using Metamap to link the conversations to keywords from the MeSH lexicon. 3) These keywords are used in a novel search strategy to retrieve a set of papers from Pubmed, which are then returned to the user. A pilot study using the messages from 2007 and 2008, was conducted to compare the knowledge linkage search strategy to a vector space model and extended Boolean model. The knowledge linkage model proved to be significantly better in terms of precision ( p = 0.013 and 0.003, respectively) and recall ( p = 0.351 and 0.013). Pertinent papers were returned to over 55% of the threads. This approach has demonstrated how clinicians can supplement their peer communications with evidence based research. Future work should focus on how to improve the threading and keyword-mapping strategies.     

多波长泵浦宽带拉曼放大器功率增益研究

受激拉曼散射（SRS）的Stokes波谱线型比较复杂,本文分别用Gauss线型和Lorentz线型,研究多波长泵浦宽带Raman放大器的增益特性,提出宽带增益平坦的多波长泵浦方案,研究表明增益平坦程序与泵清波频率间隔密切相关。对G．652、G．653、G．655光纤和新型大有效面积非零色散平坦光纤的Raman放大增益分别进行了研究,结果表明Raman增益与光纤种类和光纤传输性有关,特别是随光纤有效纤芯面积的增大而明显减小。     

The role of photomask resolution on the performance ofarrayed-waveguide grating devices

The crosstalk performance of an arrayed-waveguide grating (AWG) multiplexer or demultiplexer is primarily caused by random optical phase errors introduced in the arrayed waveguides. Because the layout of waveguides on a wafer is patterned via photomask through the photolithography process, the resolution of a photomask has a direct influence on the phase errors of an AWG. The paper presents a theoretical analysis on the phase error caused by photomask resolution and other basic design parameters. Both calculation and measurement results show that a high-resolution photomask (better than 25 nm) is a critical requirement to produce low-crosstalk (less than -30 dB) AWG demultiplexers. We also investigate the effect of nonideal power distribution in the arrayed waveguides because it contributes considerable phase errors when material impurity is not well controlled during wafer fabrication. Basic criteria of power profile truncation, number of grating waveguides, and material index variation are also summarized     

Profile-Driven Component Placement for Cluster-Based Online Services

The growth of the Internet and of various intranets has spawned a wealth of online services, most of which are implemented on local-area clusters using remote invocation (for example, remote procedure call/remote method invocation) among manually placed application components. Component placement can be a significant challenge for large-scale services, particularly when application resource needs are workload dependent. Automatic component placement has the potential to maximize overall system throughput. The key idea is to construct (offline) a mapping between input workload and individual-component resource consumption. Such mappings, called component profiles, then support high-performance placement. Preliminary results on an online auction benchmark based on J2EE (Java 2 Platform, Enterprise Edition) suggest that profile-driven tools can identify placements that achieve near-optimal overall throughput.     

Strategy and issue frames in election campaign coverage: a social cognitive account of framing effects

This study examines how news frames in campaign coverage affect individuals' interpretation of campaigns. Framing effects are conceptualized in terms of the process by which textual features in news stories set limits on knowledge use in the construction of a discourse model - a mental model constructed through the interaction between news frames and the interpreter's social knowledge. Examining message structures in campaign news stories led to identifying two major frames in campaign coverage: strategy and issue. Narrative data collected from two field experiments were analyzed. The findings suggest that both strategy-framed and issue-framed print news stories are effective in influencing campaign interpretation.     

Optical fiber and preform profiling technology

A comprehensive review of state-of-the-art optical fiber and preform index-profiling methods has been prepared. The advantages and disadvantages of the various approaches are discussed. Important parameters include measurement accuracy, resolution, simplicity, and the nondestructive features of some methods. Both optical and nonoptical techniques have been treated. Resolution considerations probably favor the refracted near-field technique and this may be a decisive factor for the measurement of single-mode fibers. Simplicity of apparatus lies with near-field methods generally so that the bound near-field method is most often used for dimensional measurements. Preform profiling is dominated by deflection function methods, usually accompanied by spatial filtering or focusing. Methods restricted to certain classes of fiber, such as the far-field approaches, are less attractive and, consequently, do not receive as much use.     

Dermatitis-inducing furanocoumarins on leaf surfaces of eight species of Rutaceous and Umbelliferous plants

Eight species of Rutaceae or Umbelliferae, known to cause or suspected of causing photophytodermatitis, had the linear furanocoumarins psoralen, bergapten, and xanthotoxin on their leaf surfaces, in concentrations varying from 0.014 to 1800 /gmg/g fresh weight, equivalent to 0.17–56% of the total leaf concentration. The higher percentage generally observed for spring leaves compared to autumn leaves suggests a higher rate of transfer of these furanocoumarins to the surface in the younger leaves. Among the plants studied,Ruta graveolens had the highest surface concentrations of all three furanocoumarins. The relatively high effectiveness in causing dermatitis of some species with low surface concentrations may be explained by a more effective mechanism of transfer of the furanocoumarins to the skin. A role in the defense of the plant is suggested by their accumulation on the plant surface.A paper based on the work reported here was presented at the Groupe Polyphénols conference, Brock University, St. Catharines, Ontario, Canada, August 19–19, 1988.