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We present a computational framework and experimental setup for deployment of autonomous cars in a miniature Robotic Urban-Like Environment (RULE). The specifications are given in rich, human-like language as temporal logic statements about roads, intersections, and parking spaces. We use transition systems to model the motion and sensing capabilities of(More)
Esophageal cancer is increasing in frequency in the United States faster than any other cancer. Barrett's esophagus, an otherwise benign complication of esophageal reflux, affects approximately three million Americans and precedes almost all cases of esophageal cancer. If detected as high-grade dysplasia (HGD), most esophageal cancers can be prevented.(More)
— In this paper we develop an RRT-based motion planner that achieved bounding in simulation with the LittleDog robot over extremely rough terrain. LittleDog is a quadruped robot that has 12 actuators, and a 36-dimensional state space; the task of bounding involves differential contstraints due to underactuation and motor limits, which makes motion planning(More)
This letter reports the development of an endoscopic polarized scanning spectroscopy (EPSS) instrument compatible with existing endoscopes. This instrument uses light scattering spectroscopy (LSS). In proof-of-principle studies using a single-point instrument, LSS has successfully demonstrated the ability to identify pre-cancer in the epithelial tissues of(More)
Recent progress in antiretroviral treatment has led to dramatic improvements in HIV-related morbidity and mortality. These improvements have been fostered by advances in our understanding of HIV-related pathogenesis, the use of plasma HIV RNA levels to monitor patients, and the availability of 13 licensed antiretroviral drugs. Numerous drug combinations,(More)
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