We describe an implementation integrating a spoken dialogue system with a mobile robot, which the user can direct to specific locations, ask for information about its status, and supply information about its environment. The robot uses an internal map for navigation, and communicates its current orientation and accessible locations to the dialogue system using a topological map as interface.

We describe a terrain rendering algorithm for spherical terrains based on clipmaps. It leverages the high geometry throughput of current GPU to render large static triangle sets. The vertices are displaced by a height map texture. Our main contribution is mapping of texture coordinates to calculate the height map sample position based on the static vertex offset and the variable view position.

The majority of visual attention models is based on the concept of saliency map, a two-dimensional map that encodes the saliency of objects in the surrounding world. We attempt a short review of current implementations and present our first thoughts on extending the classical saliency-based model by using motion and prior knowledge.

We propose a 3-D hysteresis piecewise-constant circuit. The circuit consists of linear capacitors and nonlinear voltage controlled current sources. This circuit is extremely simple, but exhibits interesting bifurcation phenomena. The righthand side of the state equation is piecewise-constant, hence the system dynamics can be simplified into a piecewiselinear return map. Using the return map, th...

Dual-energy CT has remained underutilized over the past decade probably due to a cumbersome workflow issue and current technical limitations. Clinical radiologists should be made aware of the potential clinical benefits of dual-energy CT over single-energy CT. To accomplish this aim, the basic principle, current acquisition methods with advantages and disadvantages, and various material-specifi...

An iterative algorithm that reconstructs the attenuation map and emission activity distribution from SPECT emission data is proposed. The algorithm is based on the quasilinearized attenuated Radon transform. At each iteration of the algorithm, emission activity distribution is reconstructed using the attenuation map from the previous iteration. Then, the attenuation map is estimated by using th...

Introduction Diffuse alveolar hemorrhage (DAH) is a serious pulmonary complication seen in patients with autoimmune disorders and patients treated with chemotherapy or after hematopoietic stem cell transplantation. The clinical management of DAH is complex and the condition has a high mortality rate. Tissue factor is expressed in the lung alveoli during inflammation and therefore pulmonary admi...

In order to localize itself, a mobile robot tries to match its sensory information at any instant against a prior environment model, the map. A probabilistic map can be regarded as a model that stores at each robot connguration q the probability density function of the sensor readings at q. By combining the knowledge of its current position, the new-coming sensory information, and the probabili...

We study different strategies for the truncation of computational domains in the simulation of eddy current probes of elongated axisymmetric tubes. For axial fictitious boundaries, an exact Dirichlet-to-Neumann (DtN) map is proposed and mathematically justified via the analysis of a nonselfadjoint spectral problem. We rely of results from the spectral theory of compact perturbations of selfadjo...