A 72-year-old male is diagnosed with paradoxical embolus after he presented with concurrent deep vein thrombosis, stroke, and multiple arterial emboli in the presence of a patent foramen ovale (PFO). Paradoxical embolus requires the passage of a thrombus from the venous into the arterial circulation through a right-to-left shunt leading to systemic embolism. But, despite the high incidence of P...

The use of robotics in Urban Search and Rescue (USAR) is growing steadily from their initial inception during the 2001 World Trade Centre incident. These first USAR robots were adapted from robots intended for tasks such as duct inspection and bomb disposal and proved useful for exploring voids (spaces within the collapsed structure) deemed too dangerous or too small for either canine or human ...

Some transformations and many analyses on programs are either difficult or unnatural to express using terms. In particular, analyses that involve type contexts, callor control flow graphs are not easily captured in term rewriting systems. In this paper, we describe an extension to the System S term rewriting system that adds references. We show how references are used for graph rewriting, how w...

We consider the problem of safely and swiftly navigating through a spatial arrangement of potential hazard detections in which each detection has associated with it a probability that the detection is indeed a true hazard. When in close proximity to a detection, we assume the ability—for a cost—to determine whether or not the hazard is real. Our approach to this problem involves a new object, t...

This paper develops both single and multi-UAV path planning schemes for navigating over partially known terrain in GPS-denied environments. The UAVs perform Simultaneous Localisation And Mapping (SLAM) using a combination of on-board inertial sensors and an on-board terrain sensor and share map information with one another over a data fusion network. UAV paths across the terrain are planned suc...