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This paper describes a system that semi-automatically builds a virtual world for remote operations by constructing 3-D models of a robot's work environment. With a minimum of human interaction, planar and quadric surface representations of objects typically found in man-made facilities are generated from laser rangefinder data. The surface representations(More)
The MILC Code is a body of high performance research software written in C for doing SU(3) lattice gauge theory on several different (MIMD) parallel computers in current use. In scalar mode, it runs on a variety of workstations making it extremely versatile for both production and exploratory applications. This manual is for the latest (7.7.11) version of(More)
We present a novel stereoscopic mapping system for use in post-nuclear accident operations. First we discuss a radiation shielded sensor array designed to tolerate extended cumulative dose using 4 shielding. Next, we outline procedures to ensure timely, accurate range estimation using trinocular stereo. Finally, we review the implementation of a system for(More)
Robots and remote systems will play crucial roles in future decontamination and decommissioning (D&D) of nuclear facilities. Many of these facilities, such as uranium enrichment plants, weapons assembly plants, research and production reactors, and fuel recycling facilities, are dormant ; there is also an increasing number of commercial reactors whose(More)
We discuss the calculation of disconnected diagrams needed for determining the strange quark content of the nucleon on the lattice. We present results for the strange scalar form factor and the related parameter f T s , which enters into the cross-section for the scattering of dark matter off nuclei in supersymmetric extensions of the standard model. In(More)
In astronomy, the light emitted by an object travels through the vacuum of space and then the turbulent atmosphere before arriving at a ground based telescope. By passing through the atmosphere a series of turbulent layers modify the light's wave-front in such a way that Adaptive Optics reconstruction techniques are needed to improve the image quality. A(More)