Abstract: Embodiments provide a strategy for computing the motions of a mobile robot operating in an obstacle-laden environment without requiring prior knowledge of the distribution of obstacles in the environment or knowing the trajectory of a target tracked by the robot. Embodiments provide an algorithm that governs the motion of the observer robot based on measurements of the target's position and the location of obstacles in the environment. The algorithm computes a description of the geometric arrangement between the target and the observer's visibility region produced by the obstacles and computes a continuous control rule using this description. Embodiments employ an escape-path tree data structure to categorize the target's possible modes of escaping from the observer robot's sensors and use the escape-path tree to determine the target's shortest escape path.

Abstract: A method and apparatus for determining a pose of an elongate object and an absolute position of its tip while the tip is in contact with a plane surface having invariant features. The surface and features are illuminated with a probe radiation and a scattered portion, e.g., the back-scattered portion, of the probe radiation returning from the plane surface and the feature to the elongate object at an angle ? with respect to an axis of the object is detected. The pose is derived from a response of the scattered portion to the surface and the features and the absolute position of the tip on the surface is obtained from the pose and knowledge about the feature. The probe radiation can be directed from the object to the surface at an angle ? to the axis of the object in the form of a scan beam. The scan beam can be made to follow a scan pattern with the aid of a scanning arrangement with one or more arms and one or more uniaxial or biaxial scanners. Angle ? can also be varied, e.g.

Abstract: An apparatus and method for determining an inclination angle ? between an axis of an elongate object such as a cane, a pointer or a jotting implement such as a pen, pencil, stylus or the like and a normal to a plane surface at times when a tip of the elongate object is contacting that plane surface. The apparatus has an emitter mounted on the object for illuminating the plane surface with a probe radiation at an angle ? with respect to the axis of the object. The apparatus also has a detector mounted on the elongate object for detecting a radiation characteristic of a scattered portion of the probe radiation returning from the plane surface and a computing unit for deriving the inclination angle ? from the radiation characteristic. A scanning arrangement, such as a uniaxial or biaxial scanner, or a light guiding optic can be used for varying angle ?, and the probe radiation can be emitted in the form of a scan beam.

Abstract: Linear cyclodextrin copolymers and linear oxidized cyclodextrin copolymers containing an unoxidized and/or an oxidized cyclodextrin moiety integrated into the polymer backbone are described. Methods of preparing such copolymers are also described. The linear cyclodextrin copolymer and linear oxidized cyclodextrin copolymer of the invention may be used as a delivery vehicle of various therapeutic agents.

Abstract: Systems, apparatuses, and methods are presented that determine the number of people in a crowd using visual hull information. In one embodiment, an image sensor generates a conventional image of a crowd. A silhouette image is then determined based on the conventional image. The intersection of the silhouette image cone and a working volume is determined. The projection of the intersection onto a plane is determined. Planar projections from several image sensors are aggregated by intersecting them, forming a subdivision pattern. Polygons that are actually empty are identified and removed. Upper and lower bounds of the number of people in each polygon are determined and stored in a tree data structure. This tree is updated as time passes and new information is received from image sensors. The number of people in the crowd is equal to the lower bound of the root node of the tree.

Abstract: Embodiments of the invention provide a strategy for computing the motions of a mobile robot operating in an obstacle-laden environment without requiring prior knowledge of the distribution of obstacles in the environment or knowing the trajectory of a target tracked by the robot. Embodiments of the invention provide an algorithm that governs the motion of the observer robot based on measurements of the target's position and the location of obstacles in the environment. The algorithm computes a description of the geometric arrangement between the target and the observer's visibility region produced by the obstacles and computes a continuous control rule using this description. Embodiments of the invention employ an escape-path tree data structure to categorize the target's possible modes of escaping from the observer robot's sensors and use the escape-path tree to determine the target's shortest escape path.

Abstract: The invention is directed to a method and composition for providing roughened copper surfaces suitable for subsequent multilayer lamination. A smooth copper surface is contacted with an adhesion promoting composition under conditions effective to provide a roughened copper surface, the adhesion promoting composition consisting essentially of an oxidizer, a pH adjuster, a topography modifier, and a uniformity enhancer. A coating promoter may be used in place of the uniformity enhancer or in addition to the uniformity enhancer. The adhesion promoting composition does not require a surfactant. The process may further comprise the step of contacting the uniform roughened copper surface with a post-dip, wherein the post-dip comprises an azole or silane compound or a combination of said azole and said silane. The post-dip may further comprise, alone or in combination, a titanate, zirconate, and an aluminate. The pH adjuster is preferably sulfuric acid and the oxidizer is preferably hydrogen peroxide.

Abstract: The invention provides a composition containing particulate composite of a polymer and a therapeutic agent. The composition also contains a complexing agent. The polymer interacts with the complexing agent in a host-guest or a guest-host interaction to form an inclusion complex. A therapeutic composition of the invention may be used to deliver the therapeutic agent and to treat various disorders. Both the polymer of the particulate composite and the complexing agent may be used to introduce functionality into the therapeutic composition. The invention also relates to a method of preparing a composition. The method combines a therapeutic agent, a polymer having host or guest functionality, and a complexing agent having guest or host functionality to form the therapeutic composition. The complexing agent forms an inclusion complex with the polymer. The invention also relates to a method of delivering a therapeutic agent.

Abstract: Linear cyclodextrin copolymers and linear oxidized cyclodextrin copolymers containing an unoxidized and/or an oxidized cyclodextrin moiety integrated into the polymer backbone are described. Methods of preparing such copolymers are also described. The linear cyclodextrin copolymer and linear oxidized cyclodextrin copolymer of the invention may be used as a delivery vehicle of various therapeutic agents.

Abstract: The invention provides a composition containing particulate composite of a polymer and a therapeutic agent. The composition also contains a complexing agent. The polymer interacts with the complexing agent in a host-guest or a guest-host interaction to form an inclusion complex. A therapeutic composition of the invention may be used to deliver the therapeutic agent and to treat various disorders. Both the polymer of the particulate composite and the complexing agent may be used to introduce functionality into the therapeutic composition. The invention also relates to a method of preparing a composition. The method combines a therapeutic agent, a polymer having host or guest functionality, and a complexing agent having guest or host functionality to form the therapeutic composition. The complexing agent forms an inclusion complex with the polymer. The invention also relates to a method of delivering a therapeutic agent.

Abstract: Linear cyclodextrin copolymers and linear oxidized cyclodextrin copolymers containing an unoxidized and/or an oxidized cyclodextrin moiety integrated into the polymer backbone are described. Methods of preparing such copolymers are also described. The linear cyclodextrin copolymer and linear oxidized cyclodextrin copolymer of the invention may be used as a delivery vehicle of various therapeutic agents.

Abstract: The invention is directed to a method and composition for providing roughened copper surfaces suitable for subsequent multilayer lamination. A smooth copper surface is contacted with an adhesion promoting composition under conditions effective to provide a roughened copper surface, the adhesion promoting composition consisting essentially of an oxidizer, a pH adjuster, a topography modifier, and a uniformity enhancer. A coating promoter may be used in place of the uniformity enhancer or in addition to the uniformity enhancer. The adhesion promoting composition does not require a surfactant. The process may further comprise the step of contacting the uniform roughened copper surface with a post-dip, wherein the post-dip comprises an azole or silane compound or a combination of said azole and said silane. The post-dip may further comprise, alone or in combination, a titanate, zirconate, and an aluminate. The pH adjuster is preferably sulfuric acid and the oxidizer is preferably hydrogen peroxide.

Abstract: The invention relates to the shape selective acylation of an organic compound. In particular, the invention describes a process for such acylation wherein the process comprises reducing the number of surface acid sites without dealuminations on at least a portion of the surface of a zeolite and acylating the organic compound in the presence of the zeolite. The organic compounds used in the invention include, for example, olefins, aromatic hydrocarbons, aromatic heterocyclic compounds, and phenolic compounds wherein the organic group may be substituted or unsubstituted. The zeolite may be any natural or synthetic zeolite with a unidimensional or multidimensional network, for example a two-dimensional, or three-dimensional network, or any molecular sieve with structural features similar to these.

Abstract: A conveyor oven module has a very low profile so that more oven modules may be stacked to give a greater baking capacity in the same "foot print" without the top conveyor being higher than the five and a half feet from the floor, which is the generally accepted maximum height for people to reach. Almost all serviceable parts are in the front of the oven. The oven modules are self-contained so that an oven module may be serviced while the remainder of the oven modules in the stack continue to operate.