Conceptual spatial representations for indoor mobile robots

We present an approach for creating conceptual representations of human-made indoor environments using mobile robots. The concepts refer to spatial and functional properties of typical indoor environments. Following findings in cognitive psychology, our model is composed of layers representing maps at different levels of abstraction. The complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition. The system also incorporates a linguistic framework that actively supports the map acquisition process, and which is used for situated dialogue. Finally, we discuss the capabilities of the integrated system

Hierarchical Visualization of Materials Space with Graph Convolutional Neural Networks

The combination of high throughput computation and machine learning has led to a new paradigm in materials design by allowing for the direct screening of vast portions of structural, chemical, and property space. The use of these powerful techniques leads to the generation of enormous amounts of data, which in turn calls for new techniques to efficiently explore and visualize the materials space to help identify underlying patterns. In this work, we develop a unified framework to hierarchically visualize the compositional and structural similarities between materials in an arbitrary material space with representations learned from different layers of graph convolutional neural networks. We demonstrate the potential for such a visualization approach by showing that patterns emerge automatically that reflect similarities at different scales in three representative classes of materials: perovskites, elemental boron, and general inorganic crystals, covering material spaces of different compositions, structures, and both. For perovskites, elemental similarities are learned that reflects multiple aspects of atom properties. For elemental boron, structural motifs emerge automatically showing characteristic boron local environments. For inorganic crystals, the similarity and stability of local coordination environments are shown combining different center and neighbor atoms. The method could help transition to a data-centered exploration of materials space in automated materials design.Comment: 22 + 7 pages, 6 + 5 figure

Aspects of Defect Topology in Smectic Liquid Crystals

We study the topology of smectic defects in two and three dimensions. We give a topological classification of smectic point defects and disclination lines in three dimensions. In addition we describe the combination rules for smectic point defects in two and three dimensions, showing how the broken translational symmetry of the smectic confers a path dependence on the result of defect addition.Comment: 19 pages, 13 figure