Molecular crystal global phase diagrams. II. Reference lattices

In the first part of this series [Keith et al. (2004). Cryst. Growth Des. 4, 1009-1012; Mettes et al. (2004). Acta Cryst. A60, 621-636], a method was developed for constructing global phase diagrams (GPDs) for molecular crystals in which crystal structure is presented as a function of intermolecular potential parameters. In that work, a face-centered-cubic center-of-mass lattice was arbitrarily adopted as a reference state. In part two of the series, experimental crystal structures composed of tetrahedral point group molecules are classified to determine what fraction of structures are amenable to inclusion in the GPDs and the number of reference lattices necessary to span the observed structures. It is found that 60% of crystal structures composed of molecules with T_d point-group symmetry are amenable and that eight reference lattices are sufficient to span the observed structures. Similar results are expected for other cubic point groups

Relics of Supersymmetry in Ordinary 1-flavor QCD: Hairpin Diagrams and Scalar-Pseudoscalar Degeneracy

The large-$N_c$ orientifold planar equivalence between $\mathcal{N}=1$ SUSY Yang-Mills theory and ordinary 1-flavor QCD suggests that low-energy quark-gluon dynamics in QCD should be constrained by the supersymmetry of the parent theory. One SUSY relic expected from orientifold equivalence is the approximate degeneracy of the scalar and pseudoscalar mesons in 1-flavor QCD. Here we study the role of the $q\bar{q}$ annihilation (hairpin) contributions to the meson correlators. These annihilation terms induce mass shifts of opposite sign in the scalar and pseudoscalar channels, making degeneracy plausible. Calculations of valence and hairpin correlators in quenched lattice QCD are consistent with approximate degeneracy, although the errors on the scalar hairpin are large. We also study the role of $q\bar{q}$ annihilation in the 1- and 2-flavor Nambu-Jona Lasinio model, where annihilation terms arise from the chiral field determinant representing the axial U(1) anomaly. Scalar-pseudoscalar degeneracy for the 1-flavor case reduces to a constraint on the relative size of the anomalous and non-anomalous 4-fermion couplings.Comment: 17 pages, 3 figure

Usability evaluation of digital libraries: a tutorial

This one-day tutorial is an introduction to usability evaluation for Digital Libraries. In particular, we will introduce Claims Analysis. This approach focuses on the designers’ motivations and reasons for making particular design decisions and examines the effect on the user’s interaction with the system. The general approach, as presented by Carroll and Rosson(1992), has been tailored specifically to the design of digital libraries. Digital libraries are notoriously difficult to design well in terms of their eventual usability. In this tutorial, we will present an overview of usability issues and techniques for digital libraries, and a more detailed account of claims analysis, including two supporting techniques – simple cognitive analysis based on Norman’s ‘action cycle’ and Scenarios and personas. Through a graduated series of worked examples, participants will get hands-on experience of applying this approach to developing more usable digital libraries. This tutorial assumes no prior knowledge of usability evaluation, and is aimed at all those involved in the development and deployment of digital libraries

Efficient visual grasping alignment for cylinders

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available

Reliable vision-guided grasping

Automated assembly of truss structures in space requires vision-guided servoing for grasping a strut when its position and orientation are uncertain. This paper presents a methodology for efficient and robust vision-guided robot grasping alignment. The vision-guided grasping problem is related to vision-guided 'docking' problems. It differs from other hand-in-eye visual servoing problems, such as tracking, in that the distance from the target is a relevant servo parameter. The methodology described in this paper is hierarchy of levels in which the vision/robot interface is decreasingly 'intelligent,' and increasingly fast. Speed is achieved primarily by information reduction. This reduction exploits the use of region-of-interest windows in the image plane and feature motion prediction. These reductions invariably require stringent assumptions about the image. Therefore, at a higher level, these assumptions are verified using slower, more reliable methods. This hierarchy provides for robust error recovery in that when a lower-level routine fails, the next-higher routine will be called and so on. A working system is described which visually aligns a robot to grasp a cylindrical strut. The system uses a single camera mounted on the end effector of a robot and requires only crude calibration parameters. The grasping procedure is fast and reliable, with a multi-level error recovery system

Vision-guided gripping of a cylinder

The motivation for vision-guided servoing is taken from tasks in automated or telerobotic space assembly and construction. Vision-guided servoing requires the ability to perform rapid pose estimates and provide predictive feature tracking. Monocular information from a gripper-mounted camera is used to servo the gripper to grasp a cylinder. The procedure is divided into recognition and servo phases. The recognition stage verifies the presence of a cylinder in the camera field of view. Then an initial pose estimate is computed and uncluttered scan regions are selected. The servo phase processes only the selected scan regions of the image. Given the knowledge, from the recognition phase, that there is a cylinder in the image and knowing the radius of the cylinder, 4 of the 6 pose parameters can be estimated with minimal computation. The relative motion of the cylinder is obtained by using the current pose and prior pose estimates. The motion information is then used to generate a predictive feature-based trajectory for the path of the gripper