This work addresses the problem of designing a scalable framework for archival appraisals of contemporary PDF documents. The motivation for our work is to provide an e-science solution that (a) fuses the independent research methodologies focusing on specific information types to one comprehensive analytical framework, (b) optimizes tradeoffs between computational requirements and preservation costs, and (b) bridges the small scale and large scale computational studies. The e-science solution presented here consists of (1) a methodology for comprehensive comparisons of contemporary documents containing text, images and vector graphics, (2) a framework for including 3D and 3D+time data sets into the appraisal analyses, (3) interfaces supporting exploratory archival appraisal analyses with small scale data sets, and (4) infrastructure supporting the transition from small scale to large scale computations using commodity and high performance computing resources. The novelty of our work is in designing methodologies, mathematical frameworks and prototypes for comprehensive and scalable document appraisals that include text, images, vector graphics, and high dimensional data.

While structured by social and institutional networks, disease outbreaks are modulated by physical, economical, technological, communication, health, and governmental infrastructures. To systematically reason about the nature of outbreaks, the potential outcomes of media, prophylaxis, and vaccination campaigns, and the relative value of various early warning devices, social context, and infrastructure, must be considered. Numerical models provide a cost-effective ethical system for reasoning about such events. BioWar, a scalable citywide multiagent network numerical model, is described in this paper. BioWar simulates individuals as agents who are embedded in social, health, and professional networks and tracks the incidence of background and maliciously introduced diseases. In addition to epidemiology, BioWar simulates health-care-seeking behaviors, absenteeism patterns, and pharmaceutical purchases, information useful for syndromic and behavioral surveillance algorithms.

Autonomous planetary rovers operating in vast unknown environments must operate efficiently because of size, power and computing limitations. Recently, we have developed a rover capable of efficient obstacle avoidance and path planning. The rover uses binocular stereo vision to sense potentially cluttered outdoor environments. Navigation is performed by a combination of several modules that each "vote" for the next best action for the robot to execute. The key distinction of our system is that it produces globally intelligent behavior with a small computational resource - all processing and decision making are done on a single processor. These algorithms have been tested on our outdoor prototype rover, Bullwinkle, and have recently driven the rover 100 m at a speed of 15 cm/sec. In this paper we report on the extension on the systems that we have previously developed that were necessary to achieve autonomous navigation in this domain.

Mobile robots operating in vast outdoor unstructured environments often only have incomplete maps and must deal with new objects found during traversal. Path planning in such sparsely occupied regions must be incremental to accommodate new information, and, must use efficient representations. In previous work we have developed an optimal method D* to plan paths when the environment is not known ahead of time, but, rather is discovered as the robot moves around. To date, D* has been applied to a uniform grid representation for obstacles and free space. In this paper we propose the use of D* with framed quadtrees to improve the efficiency of planning paths in sparse environments. The new system has been tested in simulation as well on an autonomous jeep, equipped with local obstacle avoidance capabilities. We show how the use of framed quadtrees improves performance in terms of path length, computation speed, and memory requirements.