Alexander J. B. Trevor

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— We present an extension to our feature based mapping technique that allows for the use of planar surfaces such as walls, tables, counters, or other planar surfaces as landmarks in our mapper. These planar surfaces are measured both in 3D point clouds, as well as 2D laser scans. These sensing modalities compliment each other well, as they differ(More)
Male Sprague-Dawley reats were trained to bar press for food reinforcement on an FI-300 sec schedule. Ketamine (7.5 mg/kg, IP) significantly increased response rates of both drug-naive and drug-experienced rats for the first 10 min after injection. With a 15.0 mg/kg dose of ketamine, response rates decreased significantly during the first 10 min after(More)
1-Methyl-4-phenyl-1,2,3,6-tetrahydropyridine (MPTP), a thermal breakdown product of a meperidine-like narcotic analgetic used by drug abusers as a synthetic heroin, causes Parkinsonian symptoms in humans and degeneration of the substantia nigra in monkeys. MPTP is oxidized by brain mitochondrial preparations in a process which is blocked by deprenyl and(More)
Mouse brain synaptosomal preparations were used to study uptake of N-methyl-4-phenylpyridine (MPP+), a metabolite of the neurotoxin MPTP (1-methyl-4-phenyl-1,2,3,6-tetrahydropyridine). The uptake of [3H]-MPP+ by striatal synaptosomes was approximately 25 X greater than that of [3H]-MPTP, with a KM of 0.48 microM and a Vmax of 5.3 nmoles/g tissue/min. Uptake(More)
Classification of spatial regions based on semantic information in an indoor environment enables robot tasks such as navigation or mobile manipulation to be spatially aware. The availability of contextual information can significantly simplify operation of a mobile platform. We present methods for 3utomHted recognition and classification of SI)aceS into(More)
A muscarinic cholinergic receptor binding profile was performed on 3 separate regions of the rat brain following administration of the drug phencyclidine (10 mg/kg, twice a day) for 10 days. Binding assays were performed on homogenates of the hippocampus, striatum and cortex using the ligand [3H]QNB. Scatchard analysis of the binding data revealed a(More)
— Complex and structured landmarks like objects have many advantages over low-level image features for semantic mapping. Low level features such as image corners suffer from occlusion boundaries, ambiguous data association, imaging artifacts, and viewpoint dependance. Artificial landmarks are an unsatisfactory alternative because they must be placed in the(More)
Diethyldithiocarbamate (DDC) has been reported to exacerbate the neurotoxic effects of 1-methyl-4-phenyl-1,2,3,6-tetrahydropyridine (MPTP) in mice. In this study, the effects of DDC on the biotransformation and distribution of MPTP and 1-methyl-4-phenylpyridinium ion (MPP+, the putative toxic metabolite of MPTP) were investigated. When DDC was administered(More)
— Simultaneous Localization and Mapping (SLAM) aims to estimate the maximum likelihood map and robot pose based on a robot's control and sensor measurements. In structured environments, such as human environments, we might have additional domain knowledge that could be applied to produce higher quality mapping results. We present a method for using virtual(More)