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Articles 1 - 30 of 53
Full-Text Articles in Engineering
Enhance Diamond Coating Adhesion By Oriented Interlayer Microcracking, Habio Guo, Xingcheng Xiao, Yue Qi, Zhi-Hui Xu, Xiaodong Li
Enhance Diamond Coating Adhesion By Oriented Interlayer Microcracking, Habio Guo, Xingcheng Xiao, Yue Qi, Zhi-Hui Xu, Xiaodong Li
Faculty Publications
In this paper, we report a microcrack toughening mechanism for enhancing the adhesion of diamondcoating. The oriented microcracks were formed within the TiC interlayer to dissipate strain energy and accommodate deformation via the crack opening-closing mechanism, thus enhancing the coating/substrate interfacial toughness. The delamination of diamondcoating was effectively prevented when the parallel microcracks were confined within the interlayer and arrested at interfaces of coating/interlayer/substrate. Density functional theory calculations revealed that the highly anisotropicfracture strength of the TiC phase energetically favors crack initiation and propagation along (100) planes only, which are 54.7° away from the interface. These microcracks are constrained inside …
Energy Efficiency Of Hydrogen Sulfide Decomposition In A Pulsed Corona Discharge Reactor, Morris D. Argyle, Sanil John, Jerry C. Hamann, Suresh S. Muknahallipatna, Stanislaw Legowski, John F. Ackerman
Energy Efficiency Of Hydrogen Sulfide Decomposition In A Pulsed Corona Discharge Reactor, Morris D. Argyle, Sanil John, Jerry C. Hamann, Suresh S. Muknahallipatna, Stanislaw Legowski, John F. Ackerman
Faculty Publications
A novel pulsed corona wire-in-tube reactor with quartz view-ports allowed visual observation of the effect of charge voltage and gas composition on the corona distribution. The H2S conversion and energy efficiency of H2S decomposition in this pulsed corona discharge reactor varied at constant power due to the selected values of the electrical parameters of pulse forming capacitance, charge voltage, and pulse frequency. Low pulse forming capacitance, low charge voltage, and high pulse frequency operation produce the highest energy efficiency of H2S conversion at constant power. H2S conversion is more efficient in Ar-N2 gas mixtures than in Ar or N2. these …
Compact Trench-Based Silicon-On-Insulator Rib Waveguide Ring Resonator With Large Free Spectral Range, Seunghyun Kim, Gregory P. Nordin, Weisheng Hu, Yusheng Qian, Jiguo Song, Gregory L. Wojcik
Compact Trench-Based Silicon-On-Insulator Rib Waveguide Ring Resonator With Large Free Spectral Range, Seunghyun Kim, Gregory P. Nordin, Weisheng Hu, Yusheng Qian, Jiguo Song, Gregory L. Wojcik
Faculty Publications
We demonstrate a compact trench-based silicon-on-insulator (SOI) rib waveguide ring resonator comprised of trench-based bends and splitters. It has a perimeter of 50 μm and occupies an area of only 25×25 μm. The measured free spectral range (FSR) is 13.2 nm, which the largest reported for an SOI rib waveguide ring resonator. The measured FSR, full width at half maximum, and quality factor match reasonably well with analytical calculations. Further calculation shows that a FSR of 50.8 nm is achievable for an SOI rib waveguide ring resonator with a perimeter of 15 μm.
Structured P2p Technologies For Distributed Command And Control, Daniel R. Karrels, Gilbert L. Peterson, Barry E. Mullins
Structured P2p Technologies For Distributed Command And Control, Daniel R. Karrels, Gilbert L. Peterson, Barry E. Mullins
Faculty Publications
The utility of Peer-to-Peer (P2P) systems extends far beyond traditional file sharing. This paper provides an overview of how P2P systems are capable of providing robust command and control for Distributed Multi-Agent Systems (DMASs). Specifically, this article presents the evolution of P2P architectures to date by discussing supporting technologies and applicability of each generation of P2P systems. It provides a detailed survey of fundamental design approaches found in modern large-scale P2P systems highlighting design considerations for building and deploying scalable P2P applications. The survey includes unstructured P2P systems, content retrieval systems, communications structured P2P systems, flat structured P2P systems and …
Improved Implementation Of Kirkwood-Buff Solution Theory In Periodic Molecular Simulations, Joseph W. Nichols, Stan G. Moore, Dean R. Wheeler
Improved Implementation Of Kirkwood-Buff Solution Theory In Periodic Molecular Simulations, Joseph W. Nichols, Stan G. Moore, Dean R. Wheeler
Faculty Publications
Kirkwood-Buff (KB) solution theory is a means to obtain certain thermodynamic derivatives from knowledge of molecular distributions. In actual practice the required integrals over radial distribution functions suffer inaccuracies due to finite-distance truncation effects and their use in closed systems. In this work we discuss how best to minimize these inaccuracies under traditional KB theory. In addition we implement a method for calculating KB quantities in molecular simulations with periodic boundary conditions and particularly within the canonical ensemble. The method is based on a finite-Fourier-series expansion of molecular concentration fluctuations and leads to more reliable results for a given computational …
In-Plane All-Photonic Transduction With Differential Splitter Using Double-Step Rib Waveguide For Photonic Microcantilever Arrays, Ryan Anderson, Seunghyun Kim, Gregory P. Nordin, Jong Wook Noh, Weisheng Hu
In-Plane All-Photonic Transduction With Differential Splitter Using Double-Step Rib Waveguide For Photonic Microcantilever Arrays, Ryan Anderson, Seunghyun Kim, Gregory P. Nordin, Jong Wook Noh, Weisheng Hu
Faculty Publications
We report a differential splitter consisting of an asymmetric double-step multimode rib waveguide and a Y-branch splitter for in-plane photonic transduction of photonic microcantilever deflection. Arrays of photonic microcantilevers are integrated with differential splitters and an optical waveguide network to demonstrate uniformity and sensitivity of transduction. Measurement results from multiple arrays indicate a sensitivity of 0.32 x 10-3 nm-1 and minimum detectable deflection of 141 pm for a 3.5 Hz measurement bandwidth.
Sharing Landmark Information Using Mixture Of Gaussian Terrain Spatiograms, Damian M. Lyons
Sharing Landmark Information Using Mixture Of Gaussian Terrain Spatiograms, Damian M. Lyons
Faculty Publications
In this paper we evaluate the use of a novel spatial histogram called the terrain spatiogram as a common representation for exchanging landmark information between robots working as a team to map an area. Individual robots use range sensors to provide the spatial dimension of the spatiogram and video for the image dimension. We have previously shown that terrain spatiograms can be shared between robots in a heterogeneous team to recognize landmarks and to fuse observations from multiple sensors or multiple platforms. A terrain spatiogram using a mixture of Gaussians (MOG) model is introduced and a corresponding normalized spatiogram similarity …
Combining Multiple Scoring Systems For Target Tracking Using Rank-Score Characteristics, Damian M. Lyons, D. Frank Hsu
Combining Multiple Scoring Systems For Target Tracking Using Rank-Score Characteristics, Damian M. Lyons, D. Frank Hsu
Faculty Publications
Video target tracking is the process of estimating the current state, and predicting the future state of a target from a sequence of video sensor measurements. Multitarget video tracking is complicated by the fact that targets can occlude one another, affecting video feature measurements in a highly non-linear and difficult to model fashion. In this paper, we apply a multisensory fusion approach to the problem of multitarget video tracking with occlusion. The approach is based on a data-driven method (CFA) to selecting the features and fusion operations that improve a performance criterion. Each sensory cue is treated as a scoring …
Phage-Induced Alignment Of Membrane Proteins Enables The Measurement And Structural Analysis Of Residual Dipolar Couplings With Dipolar Waves And Lambda-Maps, Sang Ho Park, Woo Sung Son, Rishi Mukhopadhyay, Homayoun Valafar, Stanley J. Opella
Phage-Induced Alignment Of Membrane Proteins Enables The Measurement And Structural Analysis Of Residual Dipolar Couplings With Dipolar Waves And Lambda-Maps, Sang Ho Park, Woo Sung Son, Rishi Mukhopadhyay, Homayoun Valafar, Stanley J. Opella
Faculty Publications
At pH > 6 added filamentous bacteriophage fd is compatible with many of the detergents used to solubilize membrane proteins for solution NMR studies of membrane proteins and, therefore, serves as an alignment media. In combination with strained polyacrylamide gel alignment, Dipolar Waves can be used to directly assess the secondary structure and a λ-map extracts the order tensors for de novo structure calculation of membrane proteins without distance restraints.
New Low-Complexity Equalizers For Offset Qpsk, Qiang Lei, Michael D. Rice
New Low-Complexity Equalizers For Offset Qpsk, Qiang Lei, Michael D. Rice
Faculty Publications
Reduced-complexity linear and decision-feedback equalizers for use with offset QPSK are described and analyzed. The analysis and simulations show that reduced-complexity equalizers have 1/4 the complexity and achieve this at a loss that depends on the channel. As an example, the loss for the “Proakis B” channel is 2.7 dB for the linear equalizer and 0.8 dB for the decision feedback equalizer.
Performance Flight Testing Of Small Electric Powered Unmanned Aerial Vehicles, Jon N. Ostler, W. Jerry Bowman, Deryl O. Snyder, Timothy W. Mclain
Performance Flight Testing Of Small Electric Powered Unmanned Aerial Vehicles, Jon N. Ostler, W. Jerry Bowman, Deryl O. Snyder, Timothy W. Mclain
Faculty Publications
Flight testing methods are developed to find the drag polar for small unmanned aerial vehicles powered by electric motors with fixed-pitch propellers. Wind tunnel testing was used to characterize the propeller-motor efficiency. The drag polar was constructed using data from flight tests. This drag polar was then used to find the following performance parameters: maximum velocity, minimum velocity, velocity for maximum range, velocity for maximum endurance, maximum rate of climb, maximum climb angle, minimum turn radius, maximum turn rate, and maximum bank angle. The developed flight testing methods are used to characterize the performance of a small UAV.
3510-V 390-M Omega . Cm(2) 4h-Sic Lateral Jfet On A Semi-Insulating Substrate, Chih-Fang Huang, Cheng-Li Kan, Tian-Li Wu, Meng-Chia Lee, Yo-Zthu Liu, Kung-Yen Lee, Feng Zhao
3510-V 390-M Omega . Cm(2) 4h-Sic Lateral Jfet On A Semi-Insulating Substrate, Chih-Fang Huang, Cheng-Li Kan, Tian-Li Wu, Meng-Chia Lee, Yo-Zthu Liu, Kung-Yen Lee, Feng Zhao
Faculty Publications
The performance of high-voltage 4H-SiC lateral JFETs on a semi-insulating substrate is reported in this letter. The design of the voltage-supporting layers is based on the charge compensation of p- and n-type epilayers. The best measured breakdown voltage is 3510 V, which, to the authors' knowledge, is the highest value ever reported for SiC lateral switching devices. The R-on of this device is 390 m Omega . cm(2), in which 61% is due to the drift-region resistance. The BV2/R-on is 32 MW/cm(2), which is typical among other reported SiC lateral devices.
Abstracting Gis Layers From Hyperspectral Imagery, Torsten E. Howard, Michael J. Mendenhall, Gilbert L. Peterson
Abstracting Gis Layers From Hyperspectral Imagery, Torsten E. Howard, Michael J. Mendenhall, Gilbert L. Peterson
Faculty Publications
The spectral-spatial relationship of materials in a hyperspectral image cube is exploited to partially automate the creation of Geographic Information System (GIS) layers. The topological neighborhood preservation property of the Self Organizing Map (SOM) is clustered into six (partially overlapping) neighborhoods that are mapped into the image domain to locate in-scene structures of similar material type. GIS layers are abstracted through spatial logical and morphological operations on the six image domain material maps and a novel road finding algorithm connects road segments under significant tree-occlusion resulting in a contiguous road network. It is assumed that specific knowledge of the scene …
X-Ray Photoemission Analysis Of Chemically Treated Gate Semiconductor Surfaces For Radiation Detector Applications, A. J. Nelson, A. M. Conway, B. W. Sturm, E. M. Behymer, C. E. Reinhardt, R. J. Nikolic, S. A. Payne, G. Pabst, K. C. Mandal
X-Ray Photoemission Analysis Of Chemically Treated Gate Semiconductor Surfaces For Radiation Detector Applications, A. J. Nelson, A. M. Conway, B. W. Sturm, E. M. Behymer, C. E. Reinhardt, R. J. Nikolic, S. A. Payne, G. Pabst, K. C. Mandal
Faculty Publications
No abstract provided.
Lamina Emergent Torsion (Let) Joint, Joseph O. Jacobsen, Guimin Chen, Larry L. Howell, Spencer P. Magleby
Lamina Emergent Torsion (Let) Joint, Joseph O. Jacobsen, Guimin Chen, Larry L. Howell, Spencer P. Magleby
Faculty Publications
Part of the challenge in designing compliant mechanisms is finding suitable joints that provide the needed motion and force-deflection characteristics. The Lamina Emergent Torsional (LET) Joint is presented as a compliant joint suited for applications where large angular rotation is desired, but high off-axis stiffness is not as critical. The joint is introduced and the equations necessary for determining the force-deflection characteristics are presented. Since the LET Joint can be fabricated from a single planar layer, it is well suited for macro and micro applications. Illustrative examples are provided with devices fabricated from materials as diverse as steel, polypropylene, and …
Developing And Assessing A Case Study For Teaching Engineering Entrepreneurship At San Jose State University, Anuradha Basu, Minnie Patel
Developing And Assessing A Case Study For Teaching Engineering Entrepreneurship At San Jose State University, Anuradha Basu, Minnie Patel
Faculty Publications
In this paper the authors share their experience of developing a case study for teaching engineering entrepreneurship and subsequently developing assessment and instructional material for the case. We also present the lessons learned from that experience. The authors developed the case study in question on the basis of a survey of engineering students’ perceptions of entrepreneurship6. Our survey showed that many students were interested in entrepreneurship, but were hesitant about starting their own business. We proposed two complementary approaches to learning, namely, case studies and active learning, to enhance the engineering students’ understanding of the entrepreneurial process and dispel some …
Transdisciplinary Green Engineering Education At San José State University, Belle Wei, Patricia Backer
Transdisciplinary Green Engineering Education At San José State University, Belle Wei, Patricia Backer
Faculty Publications
Climate change is a pressing issue for the world today. There are an increasing number of technological by-products posing a threat to the stability and quality of the world environment. According to the United Nations’ Intergovernmental Panel on Climate Change (IPCC), global warming appears to be accelerating, resulting in higher increases in global temperature and higher rises in the sea level. To effectively address this problem, there is a need for transdisciplinary, transnational approaches, reflecting the complexity of the problem and the interdependence of people’s lives around the world. Consequently, the Davidson College of Engineering at San José State University …
Dynamics And Control Of Cable-Drogue System In Aerial Recovery Of Micro Air Vehicles Based On Gauss's Principle, Liang Sun, Randal W. Beard, Mark B. Colton, Timothy W. Mclain
Dynamics And Control Of Cable-Drogue System In Aerial Recovery Of Micro Air Vehicles Based On Gauss's Principle, Liang Sun, Randal W. Beard, Mark B. Colton, Timothy W. Mclain
Faculty Publications
This paper presents a new concept for aerial recovery of Micro Air Vehicles (ARMAVs) using a large mothership and a recovery drogue. The mothership drags a drogue attached to a cable and the drogue is controlled to match the flight patten of the MAV. This paper uses Gauss’s Principle to derive the dynamic model of the cable-drogue systems. A controllable drogue plays a key role in recovering MAVs in windy conditions. We develop a control approach for the drogue using its drag coefficient. Simulation results based on multilink cable-drogue systems present the feasibility of the aerial recovery concept and the …
A Miniature Implanted Inverted-F Antenna For Gps Application, Mohammed Z. Azad, Mohammod Ali
A Miniature Implanted Inverted-F Antenna For Gps Application, Mohammed Z. Azad, Mohammod Ali
Faculty Publications
A miniature implanted Hilbert inverted-F antenna design at the 1.575 GHz; global positioning system (GPS) frequency is proposed, which can be used to track the location of its user, e.g., the elderly with declining mental capacity (alzheimer's disease). A detailed parametric study of the antenna design is performed by considering it to be implanted within a human muscle model. The effects of the substrate, superstrate, and the nearby muscle tissue on antenna performance are carefully investigated. A laboratory prototype of the antenna was built and tested within a muscle equivalent fluid indicating good VSWR performance. Finally the said antenna when …
Probability Density Functions For Snir In Ds-Cdma, David W. Matolak
Probability Density Functions For Snir In Ds-Cdma, David W. Matolak
Faculty Publications
Analytical expressions for the probability density function of block-wise signal-to-noise-plus-interference ratio for both synchronous and asynchronous direct-sequence spread spectrum code-division multiple access systems are developed, for equal average energy signals on the Gaussian and Rayleigh flat fading channels. Using the standard Gaussian approximation for multi-user interference, accurate density approximations are obtained, which agree very well with computer simulation results.
Gene Order Phylogeny And The Evolution Of Methanogens, Haiwei Luo, Zhiyi Sun, William Arndt, Jian Shi, Robert Friedman, Jijun Tang
Gene Order Phylogeny And The Evolution Of Methanogens, Haiwei Luo, Zhiyi Sun, William Arndt, Jian Shi, Robert Friedman, Jijun Tang
Faculty Publications
Methanogens are a phylogenetically diverse group belonging to Euryarchaeota. Previously, phylogenetic approaches using large datasets revealed that methanogens can be grouped into two classes, “Class I” and “Class II”. However, some deep relationships were not resolved. For instance, the monophyly of “Class I” methanogens, which consist of Methanopyrales, Methanobacteriales and Methanococcales, is disputable due to weak statistical support. In this study, we use MSOAR to identify common orthologous genes from eight methanogen species and a Thermococcale species (outgroup), and apply GRAPPA and FastME to compute distance-based gene order phylogeny. The gene order phylogeny supports two classes of methanogens, but it …
Nondestructive Electromagnetic Material Characterization Using A Dual Waveguide Probe: A Full Wave Solution, Milo W. Hyde Iv, James W. Stewart, Michael J. Havrilla, William P. Baker, Edward Rothwell, Dennis P. Nyquist
Nondestructive Electromagnetic Material Characterization Using A Dual Waveguide Probe: A Full Wave Solution, Milo W. Hyde Iv, James W. Stewart, Michael J. Havrilla, William P. Baker, Edward Rothwell, Dennis P. Nyquist
Faculty Publications
A nondestructive technique for determining the complex permittivity and permeability of a perfect electric conductor backed magnetic shielding material using a dual waveguide probe is presented. The dual waveguide probe allows for the simultaneous collection of reflection and transmission coefficients which distinguishes it from single probe methods common in the literature. Theoretical development of these coefficients, which is accomplished through a coupled magnetic field integral equations formulation using Love's equivalence principle and solved via the method of moments (MOM), is discussed. Evaluation of the resulting MOM impedance matrix elements is performed using complex plane integration leading to enhanced computational efficiency …
Tobacco Mosaic Virus Templated Synthesis Of One Dimensional Inorganic-Polymer Hybrid Fibres, Jianhua Rong, Fiona Oberbeck, Xinnan Wang, Xiaodong Li, Jerry Oxsher, Zhongwei Niu, Qian Wang
Tobacco Mosaic Virus Templated Synthesis Of One Dimensional Inorganic-Polymer Hybrid Fibres, Jianhua Rong, Fiona Oberbeck, Xinnan Wang, Xiaodong Li, Jerry Oxsher, Zhongwei Niu, Qian Wang
Faculty Publications
Inorganic–polymer hybrid nanofibres were prepared by using a rod-like tobacco mosaic virus (TMV) as a template. With tetraethylorthosilicate (TEOS) as a precursor, long silica-coated TMVfibres were formed via a head-to-tail assembly, which showed a substantial increase of the elastic modulus. Furthermore, homogenous titania–TMV hybrid fibres could be prepared using polyaniline-coated TMV fibres as a template, which were used to form a composite film that was able to sense liquefied petroleum gases.
Parallel-Connected Solar Pv System To Address Partial And Rapidly Fluctuating Shadow Conditions, Lijun Gao, Roger A. Dougal, Shengyi Liu, Albena P. Iotova
Parallel-Connected Solar Pv System To Address Partial And Rapidly Fluctuating Shadow Conditions, Lijun Gao, Roger A. Dougal, Shengyi Liu, Albena P. Iotova
Faculty Publications
Solar photovoltaic (PV) arrays in portable applications are often subject to partial shading and rapid fluctuations of shading. In the usual series-connected wiring scheme, the residual energy generated by partially shaded cells either cannot be collected (if diode bypassed) or, worse, impedes collection of power from the remaining fully illuminated cells (if not bypassed). Rapid fluctuation of the shading pattern makes maximum power point (MPP) tracking difficult; generally, there will exist multiple local MPPs, and their values will change as rapidly as does the illumination. In this paper, a portable solar PV system that effectively eliminates both of the aforementioned …
Ultrasonic Drug Delivery To Tumors Via Stealth Liposomes, Peter Jones, Ghaleb A. Husseini, William G. Pitt, Beverly L. Roeder
Ultrasonic Drug Delivery To Tumors Via Stealth Liposomes, Peter Jones, Ghaleb A. Husseini, William G. Pitt, Beverly L. Roeder
Faculty Publications
Our research develops ultrasonically-controlled drug delivery systems. Previous micellar drug carriers released the drug upon ultrasonication. We have developed a liposomal drug carrier that is even more effective upon insonation in reducing tumors.
Barriers To Mitigation: A Pilot Study, James Lee, Crystal Paul, Guna Selvaduray
Barriers To Mitigation: A Pilot Study, James Lee, Crystal Paul, Guna Selvaduray
Faculty Publications
This pilot research was undertaken to discover barriers that prevent homeowners from mitigating earthquake hazards in their homes. There is a relatively significant body of literature on disaster mitigation, which is reviewed and summarized in this report. However, no studies address how these barriers may be overcome so that homeowners would be more proactive in mitigation. If the barriers can be identified, then future communications and policy actions that address these barriers can be taken, resulting in more widespread mitigation implementation that reduces the injury and damage potential that communities face, leading to a reduction in the post-disaster response requirement, …
Payload Directed Flight Of Miniature Air Vehicles, Randal W. Beard, Clark Taylor, Jeff Saunders, Ryan Holt, Timothy W. Mclain
Payload Directed Flight Of Miniature Air Vehicles, Randal W. Beard, Clark Taylor, Jeff Saunders, Ryan Holt, Timothy W. Mclain
Faculty Publications
This paper describes three applications of payload directed flight using miniature air vehicles: vision-based road following, vision-based target tracking, and vision-based mapping. A general overview of each application is given, followed by simulation and flight-test results. Results demonstrate the viability of utilizing electo-optical video imagery to directly control the air vehicle flight path to enhance performance relative to the sensing objective.
Exploiting Matrix Symmetry To Improve Fpgaaccelerated Conjugate Gradient, Jason D. Bakos, Krishna K. Nagar
Exploiting Matrix Symmetry To Improve Fpgaaccelerated Conjugate Gradient, Jason D. Bakos, Krishna K. Nagar
Faculty Publications
In this paper we describe a new approach for accelerating the Conjugate Gradient (CG) method using an FPGA co-processor. As in previous approaches, our co-processor performs a double-precision sparse matrix-vector multiplication. However, our implementation doubles the amount of computation per unit of input data by exploiting the symmetry of the input matrix and computing the upper and lower triangle of the input matrix in parallel. Using a Virtex-2 Pro 100 FPGA, we have achieved an observed computational throughput of 1155 MFLOPS.
La0.85Sr0.15Mno3− Infiltrated Y0.5Bi1.5O3 Cathodes For Intermediate-Temperature Solid Oxide Fuel Cells, Jiang Zhiyi, Changrong Xia, Fei Zhao, Fanglin Chen
La0.85Sr0.15Mno3− Infiltrated Y0.5Bi1.5O3 Cathodes For Intermediate-Temperature Solid Oxide Fuel Cells, Jiang Zhiyi, Changrong Xia, Fei Zhao, Fanglin Chen
Faculty Publications
Porous yttria-stabilized bismuth oxides (YSB) were investigated as the backbones for (LSM) infiltrated cathodes in intermediate-temperature solid oxide fuel cells. The cathodes were evaluated using anode-supported single cells with scandia-stabilized zirconia as the electrolytes. With humidified as the fuel, the cell showed peak power density of 0.33, 0.52, and at 650, 700, and , respectively. At , the cell polarization resistance was only , of the lowest value previously reported, indicating that YSB is a promising backbone for the LSM infiltrated cathode.
Sharing And Fusing Landmark Information In A Team Of Autonomous Robots, Damian M. Lyons
Sharing And Fusing Landmark Information In A Team Of Autonomous Robots, Damian M. Lyons
Faculty Publications
A team of robots working to explore and map a space may need to share information about landmarks so as register local maps and to plan effective exploration strategies. In this paper we investigate the use of spatial histograms (spatiograms) as a common representation for exchanging landmark information between robots. Each robot can use sonar, stereo, laser and image information to identify potential landmarks. The sonar, laser and stereo information provide the spatial dimension of the spatiogram in a landmark-centered coordinate frame while video provides the image information. We call the result a terrain spatiogram. This representation can be shared …