Low-Complexity Quantized Switching Controllers using Approximate Bisimulation

In this paper, we consider the problem of synthesizing low-complexity controllers for incrementally stable switched systems. For that purpose, we establish a new approximation result for the computation of symbolic models that are approximately bisimilar to a given switched system. The main advantage over existing results is that it allows us to design naturally quantized switching controllers for safety or reachability specifications; these can be pre-computed offline and therefore the online execution time is reduced. Then, we present a technique to reduce the memory needed to store the control law by borrowing ideas from algebraic decision diagrams for compact function representation and by exploiting the non-determinism of the synthesized controllers. We show the merits of our approach by applying it to a simple model of temperature regulation in a building

Charge ordering and chemical potential shift in La2−x_{2-x}Srx_xNiO4_4 studied by photoemission spectroscopy

We have studied the chemical potential shift in La$_{2-x}$Sr$_x$NiO$_4$ and the charge ordering transition in La$_{1.67}$Sr$_{0.33}$NiO$_4$ by photoemission spectroscopy. The result shows a large ($\sim$ 1 eV/hole) downward shift of the chemical potential with hole doping in the high-doping regime ($\delta \gtrsim$ 0.33) while the shift is suppressed in the low-doping regime ($\delta \lesssim$ 0.33). This suppression is attributed to a segregation of doped holes on a microscopic scale when the hole concentration is lower than $\delta \simeq 1/3$. In the $\delta = 1/3$ sample, the photoemission intensity at the chemical potential vanishes below the charge ordering transition temperature $T_{\rm CO}=$ 240 K.Comment: 5 pages, 4 figure

Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities

Visual-Inertial Odometry (VIO) algorithms typically rely on a point cloud representation of the scene that does not model the topology of the environment. A 3D mesh instead offers a richer, yet lightweight, model. Nevertheless, building a 3D mesh out of the sparse and noisy 3D landmarks triangulated by a VIO algorithm often results in a mesh that does not fit the real scene. In order to regularize the mesh, previous approaches decouple state estimation from the 3D mesh regularization step, and either limit the 3D mesh to the current frame or let the mesh grow indefinitely. We propose instead to tightly couple mesh regularization and state estimation by detecting and enforcing structural regularities in a novel factor-graph formulation. We also propose to incrementally build the mesh by restricting its extent to the time-horizon of the VIO optimization; the resulting 3D mesh covers a larger portion of the scene than a per-frame approach while its memory usage and computational complexity remain bounded. We show that our approach successfully regularizes the mesh, while improving localization accuracy, when structural regularities are present, and remains operational in scenes without regularities.Comment: 7 pages, 5 figures, ICRA accepte

Chemical potential shift and spectral weight transfer in Pr1−x_{1-x}Cax_xMnO3_3 revealed by photoemission spectroscopy

We have studied the chemical potential shift and changes in the electronic density of states near the Fermi level ($E_F$) as a function of carrier concentration in Pr$_{1-x}$Ca$_x$MnO$_3$ (PCMO, $0.2 \le x \le 0.65$) through the measurements of photoemission spectra. The results showed that the chemical potential shift was suppressed for x \agt 0.3, where the charge exchange (CE)-type antiferromagnetic charge-ordered state appears at low temperatures. We consider this observation to be related to charge self-organization such as stripe formation on a microscopic scale in this composition range. Together with the previous observation of monotonous chemical potential shift in La$_{1-x}$Sr$_x$MnO$_3$, we conclude that the tendency toward the charge self-organization increases with decreasing bandwidth. In the valence band, spectral weight of the Mn 3$d$ $e_g$ electrons in PCMO was transferred from $\sim$ 1 eV below $E_F$ to the region near $E_F$ with hole doping, leading to a finite intensity at $E_F$ even in the paramagnetic insulating phase for x \agt 0.3, probably related with the tendency toward charge self-organization. The finite intensity at $E_F$ in spite of the insulating transport behavior is consistent with fluctuations involving ferromagnetic metallic states.Comment: 6 pages, 5 figure

Sequential Optimization for Efficient High-Quality Object Proposal Generation

We are motivated by the need for a generic object proposal generation algorithm which achieves good balance between object detection recall, proposal localization quality and computational efficiency. We propose a novel object proposal algorithm, BING++, which inherits the virtue of good computational efficiency of BING but significantly improves its proposal localization quality. At high level we formulate the problem of object proposal generation from a novel probabilistic perspective, based on which our BING++ manages to improve the localization quality by employing edges and segments to estimate object boundaries and update the proposals sequentially. We propose learning the parameters efficiently by searching for approximate solutions in a quantized parameter space for complexity reduction. We demonstrate the generalization of BING++ with the same fixed parameters across different object classes and datasets. Empirically our BING++ can run at half speed of BING on CPU, but significantly improve the localization quality by 18.5% and 16.7% on both VOC2007 and Microhsoft COCO datasets, respectively. Compared with other state-of-the-art approaches, BING++ can achieve comparable performance, but run significantly faster.Comment: Accepted by TPAM

Sequential optimization for efficient high-quality object proposal generation

We are motivated by the need for a generic object proposal generation algorithm which achieves good balance between object detection recall, proposal localization quality and computational efficiency. We propose a novel object proposal algorithm, BING ++, which inherits the virtue of good computational efficiency of BING [1] but significantly improves its proposal localization quality. At high level we formulate the problem of object proposal generation from a novel probabilistic perspective, based on which our BING++ manages to improve the localization quality by employing edges and segments to estimate object boundaries and update the proposals sequentially. We propose learning the parameters efficiently by searching for approximate solutions in a quantized parameter space for complexity reduction. We demonstrate the generalization of BING++ with the same fixed parameters across different object classes and datasets. Empirically our BING++ can run at half speed of BING on CPU, but significantly improve the localization quality by 18.5 and 16.7 percent on both VOC2007 and Microhsoft COCO datasets, respectively. Compared with other state-of-the-art approaches, BING++ can achieve comparable performance, but run significantly faster

Hyb:A bioinformatics pipeline for the analysis of CLASH (crosslinking, ligation and sequencing of hybrids) data

Peer reviewedPublisher PD

Temperature-dependent photoemission spectral weight transfer and chemical potential shift in Pr1−x_{1-x}Cax_xMnO3_3 : Implications for charge density modulation

We have studied the temperature dependence of the photoemission spectra of Pr$_{1-x}$Ca$_x$MnO$_3$ (PCMO) with $x=0.25$, 0.3 and 0.5. For $x=0.3$ and 0.5, we observed a gap in the low-temperature CE-type charge-ordered (CO) phase and a pseudogap with a finite intensity at the Fermi level ($E_F$) in the high-temperature paramagnetic insulating (PI) phase. Within the CO phase, the spectral intensity near $E_F$ gradually increased with temperature. These observations are consistent with the results of Monte Carlo simulations on a model including charge ordering and ferromagnetic fluctuations [H. Aliaga {\it et al.} Phys. Rev. B {\bf 68}, 104405 (2003)]. For $x=0.25$, on the other hand, little temperature dependence was observed within the low-temperature ferromagnetic insulating (FI) phase and the intensity at $E_F$ remained low in the high-temperature PI phase. We attribute the difference in the temperature dependence near $E_F$ between the CO and FI phases to the different correlation lengths of orbital order between both phases. Furthermore, we observed a chemical potential shift with temperature due to the opening of the gap in the FI and CO phases. The doping dependent chemical potential shift was recovered at low temperatures, corresponding to the disappearance of the doping dependent change of the modulation wave vector. Spectral weight transfer with hole concentration was clearly observed at high temperatures but was suppressed at low temperatures. We attribute this observation to the fixed periodicity with hole doping in PCMO at low temperatures.Comment: 5pages, 7figure