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We describe a dynamic programming algorithm for predicting optimal RNA secondary structure, including pseudoknots. The algorithm has a worst case complexity of O(N6) in time and O(N4) in storage. The description of the algorithm is complex, which led us to adopt a useful graphical representation (Feynman diagrams) borrowed from quantum field theory. We(More)
This paper reports on a navigation method for the snow-removal robot called SnowEater. The robot is designed to work autonomously within small areas (around 30 m 2 or less) following line segment paths. The line segment paths are laid out so as much snow as possible can be cleared from an area. Navigation is accomplished by using an onboard low-resolution(More)
The study of ancient Maya causeways is crucial for understanding Maya social and spatial organization. Archaeologists have been interested in Maya causeways for decades, specifically documenting their locations. More recently, the use of Geographic Information Systems, or GIS, has been used for understanding the spatial organization of archaeological sites.(More)
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