Carnegie Mellon University

About: Carnegie Mellon University is a education organization based out in Pittsburgh, Pennsylvania, United States. It is known for research contribution in the topics: Population & Robot. The organization has 36317 authors who have published 104359 publications receiving 5975734 citations. The organization is also known as: CMU & Carnegie Mellon.

A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping

Abstract: We present an incremental method for concurrent mapping and localization for mobile robots equipped with 2D laser range finders. The approach uses a fast implementation of scan-matching for mapping, paired with a sample-based probabilistic method for localization. Compact 3D maps are generated using a multi-resolution approach adopted from the computer graphics literature, fed by data from a dual laser system. Our approach builds 3D maps of large, cyclic environments in real-time, and it is robust. Experimental results illustrate that accurate maps of large, cyclic environments can be generated even in the absence of any odometric data.

Plenoptic sampling

Abstract: This paper studies the problem of plenoptic sampling in image-based rendering (IBR). From a spectral analysis of light field signals and using the sampling theorem, we mathematically derive the analytical functions to determine the minimum sampling rate for light field rendering. The spectral support of a light field signal is bounded by the minimum and maximum depths only, no matter how complicated the spectral support might be because of depth variations in the scene. The minimum sampling rate for light field rendering is obtained by compacting the replicas of the spectral support of the sampled light field within the smallest interval. Given the minimum and maximum depths, a reconstruction filter with an optimal and constant depth can be designed to achieve anti-aliased light field rendering.Plenoptic sampling goes beyond the minimum number of images needed for anti-aliased light field rendering. More significantly, it utilizes the scene depth information to determine the minimum sampling curve in the joint image and geometry space. The minimum sampling curve quantitatively describes the relationship among three key elements in IBR systems: scene complexity (geometrical and textural information), the number of image samples, and the output resolution. Therefore, plenoptic sampling bridges the gap between image-based rendering and traditional geometry-based rendering. Experimental results demonstrate the effectiveness of our approach.

A New Look at Social Support: A Theoretical Perspective on Thriving Through Relationships

Abstract: Close and caring relationships are undeniably linked to health and well-being at all stages in the life span. Yet the specific pathways through which close relationships promote optimal well-being are not well understood. In this article, we present a model of thriving through relationships to provide a theoretical foundation for identifying the specific interpersonal processes that underlie the effects of close relationships on thriving. This model highlights two life contexts through which people may potentially thrive (coping successfully with life's adversities and actively pursuing life opportunities for growth and development), it proposes two relational support functions that are fundamental to the experience of thriving in each life context, and it identifies mediators through which relational support is likely to have long-term effects on thriving. This perspective highlights the need for researchers to take a new look at social support by conceptualizing it as an interpersonal process with a focus on thriving.

Accessing nearby copies of replicated objects in a distributed environment

Abstract: Consider a set of shared objects in a distributed network, where several copies of each object may exist at any given time. To ensure both fast access to the objects as well as efficient utilization of network resources, it is desirable that each access request be satisfied by a copy "close" to the requesting node. Unfortunately, it is not clear how to efficiently achieve this goal in a dynamic, distributed environment in which large numbers of objects are continuously being created, replicated, and destroyed. In this paper, we design a simple randomized algorithm for accessing shared objects that tends to satisfy each access request with a nearby copy. The algorithm is based on a novel mechanism to maintain and distribute information about object locations, and requires only a small amount of additional memory at each node. We analyze our access scheme for a class of cost functions that captures the hierarchical nature of wide-area networks. We show that under the particular cost model considered: (i) the expected cost of an individual access is asymptotically optimal, and (ii) if objects are sufficiently large, the memory used for objects dominates the additional memory used by our algorithm with high probability. We also address dynamic changes in both the network as well as the set of object copies.

Organic aerosol components observed in Northern Hemispheric datasets from Aerosol Mass Spectrometry

Abstract: . In this study we compile and present results from the factor analysis of 43 Aerosol Mass Spectrometer (AMS) datasets (27 of the datasets are reanalyzed in this work). The components from all sites, when taken together, provide a holistic overview of Northern Hemisphere organic aerosol (OA) and its evolution in the atmosphere. At most sites, the OA can be separated into oxygenated OA (OOA), hydrocarbon-like OA (HOA), and sometimes other components such as biomass burning OA (BBOA). We focus on the OOA components in this work. In many analyses, the OOA can be further deconvolved into low-volatility OOA (LV-OOA) and semi-volatile OOA (SV-OOA). Differences in the mass spectra of these components are characterized in terms of the two main ions m/z 44 (CO2+) and m/z 43 (mostly C2H3O+), which are used to develop a new mass spectral diagnostic for following the aging of OA components in the atmosphere. The LV-OOA component spectra have higher f44 (ratio of m/z 44 to total signal in the component mass spectrum) and lower f43 (ratio of m/z 43 to total signal in the component mass spectrum) than SV-OOA. A wide range of f44 and O:C ratios are observed for both LV-OOA (0.17±0.04, 0.73±0.14) and SV-OOA (0.07±0.04, 0.35±0.14) components, reflecting the fact that there is a continuum of OOA properties in ambient aerosol. The OOA components (OOA, LV-OOA, and SV-OOA) from all sites cluster within a well-defined triangular region in the f44 vs. f43 space, which can be used as a standardized means for comparing and characterizing any OOA components (laboratory or ambient) observed with the AMS. Examination of the OOA components in this triangular space indicates that OOA component spectra become increasingly similar to each other and to fulvic acid and HULIS sample spectra as f44 (a surrogate for O:C and an indicator of photochemical aging) increases. This indicates that ambient OA converges towards highly aged LV-OOA with atmospheric oxidation. The common features of the transformation between SV-OOA and LV-OOA at multiple sites potentially enable a simplified description of the oxidation of OA in the atmosphere. Comparison of laboratory SOA data with ambient OOA indicates that laboratory SOA are more similar to SV-OOA and rarely become as oxidized as ambient LV-OOA, likely due to the higher loadings employed in the experiments and/or limited oxidant exposure in most chamber experiments.