Real-time tracking using stereo and motion: Visual perception for space robotics

The state-of-the-art in computing technology is rapidly attaining the performance necessary to implement many early vision algorithms at real-time rates. This new capability is helping to accelerate progress in vision research by improving our ability to evaluate the performance of algorithms in dynamic environments. In particular, we are becoming much more aware of the relative stability of various visual measurements in the presence of camera motion and system noise. This new processing speed is also allowing us to raise our sights toward accomplishing much higher-level processing tasks, such as figure-ground separation and active object tracking, in real-time. This paper describes a methodology for using early visual measurements to accomplish higher-level tasks; it then presents an overview of the high-speed accelerators developed at Teleos to support early visual measurements. The final section describes the successful deployment of a real-time vision system to provide visual perception for the Extravehicular Activity Helper/Retriever robotic system in tests aboard NASA's KC135 reduced gravity aircraft

Electronic structure of the strongly hybridized ferromagnet CeFe2

We report on results from high-energy spectroscopic measurements on CeFe2, a system of particular interest due to its anomalous ferromagnetism with an unusually low Curie temperature and small magnetization compared to the other rare earth-iron Laves phase compounds. Our experimental results indicate very strong hybridization of the Ce 4f states with the delocalized band states, mainly the Fe 3d states. In the interpretation and analysis of our measured spectra, we have made use of two different theoretical approaches: The first one is based on the Anderson impurity model, with surface contributions explicitly taken into account. The second method consists of band-structure calculations for bulk CeFe2. The analysis based on the Anderson impurity model gives calculated spectra in good agreement with the whole range of measured spectra, and reveals that the Ce 4f -- Fe 3d hybridization is considerably reduced at the surface, resulting in even stronger hybridization in the bulk than previously thought. The band-structure calculations are ab initio full-potential linear muffin-tin orbital calculations within the local-spin-density approximation of the density functional. The Ce 4f electrons were treated as itinerant band electrons. Interestingly, the Ce 4f partial density of states obtained from the band-structure calculations also agree well with the experimental spectra concerning both the 4f peak position and the 4f bandwidth, if the surface effects are properly taken into account. In addition, results, notably the partial spin magnetic moments, from the band-structure calculations are discussed in some detail and compared to experimental findings and earlier calculations.Comment: 10 pages, 8 figures, to appear in Phys. Rev. B in December 200

Splitting of the Dipole and Spin-Dipole Resonances

Cross sections for the 90,92,94Zr(p,n) reactions were measured at energies of 79.2 and 119.4 MeV. A phenomenological model was developed to describe the variation with bombarding energy of the position of the L=1 peak observed in these and other (p,n) reactions. The model yields the splitting between the giant dipole and giant spin dipole resonances. Values of these splittings are obtained for isotopes of Zr and Sn and for 208Pb.Comment: 14 pages, 4 figure

A system of relational syllogistic incorporating full Boolean reasoning

We present a system of relational syllogistic, based on classical propositional logic, having primitives of the following form: Some A are R-related to some B; Some A are R-related to all B; All A are R-related to some B; All A are R-related to all B. Such primitives formalize sentences from natural language like `All students read some textbooks'. Here A and B denote arbitrary sets (of objects), and R denotes an arbitrary binary relation between objects. The language of the logic contains only variables denoting sets, determining the class of set terms, and variables denoting binary relations between objects, determining the class of relational terms. Both classes of terms are closed under the standard Boolean operations. The set of relational terms is also closed under taking the converse of a relation. The results of the paper are the completeness theorem with respect to the intended semantics and the computational complexity of the satisfiability problem.Comment: Available at http://link.springer.com/article/10.1007/s10849-012-9165-

Experimental Evidence for a Glass forming "Stripe Liquid" in the Magnetic Ground State of La1.65Eu0.2Sr0.15CuO4

We report measurements of the longitudinal ($^{139}T_1^{-1}$) and transverse ($^{139}T_2^{-1}$) decay rates of the magnetization of $^{139}$La nuclei performed in a high quality single crystal of La$_{1.65}$Eu$_{0.2}$Sr$_{0.15}$CuO$_{4}$. We observe a dramatic slowing of the Cu 3d spins manifested as a sharp increase of both $^{139}T_1^{-1}$ and $^{139}T_2^{-1}$ below 30 K. We find that in this temperature range the fluctuations involve a unique time scale $\tau$ which diverges as $(T-T_{\rm A})^{-1.9}$ with $T_{\rm A}\thickapprox 5$ K. This behavior is distinct from the continuous freezing observed in underdoped La$_{1-x}$Sr$_x$CuO$_4$ which involves a distribution of energy barriers. By contrast, in La$_{1.65}$Eu$_{0.2}$Sr$_{0.15}$CuO$_{4}$, the freezing below 30K is intrinsic to its magnetic ground state and the observed power law supports the existence of a glass forming "charge stripe liquid".Comment: 5 pages, 3 Figures. Revised version, resubmitte

Microhoneycomb monoliths prepared by the unidirectional freeze-drying of cellulose nanofiber based sols: Method and extensions

© 2018 Journal of Visualized Experiments. Monolithic honeycomb structures have been attractive to multidisciplinary fields due to their high strength-to-weight ratio. Particularly, microhoneycomb monoliths (MHMs) with micrometer-scale channels are expected as efficient platforms for reactions and separations because of their large surface areas. Up to now, MHMs have been prepared by a unidirectional freeze-drying (UDF) method only from very limited precursors. Herein, we report a protocol from which a series of MHMs consisting of different components can be obtained. Recently, we found that cellulose nanofibers function as a distinct structure-directing agent towards the formation of MHMs through the UDF process. By mixing the cellulose nanofibers with water soluble substances which do not yield MHMs, a variety of composite MHMs can be prepared. This significantly enriches the chemical constitution of MHMs towards versatile applications

Dietary Patterns and Risk of Colorectal Cancer Subtypes Classified by Fusobacterium nucleatum in Tumor Tissue

Importance—Fusobacterium nucleatum appears to play a role in colorectal carcinogenesis through suppression of host immune response to tumor. Evidence also suggests that diet influences intestinal F. nucleatum. However, the role of F. nucleatum in mediating the relationship between diet and the risk of colorectal cancer is unknown. Objective—To test the hypothesis that the associations of prudent diets (rich in whole grains and dietary fiber) and Western diets (rich in red and processed meat, refined grains, and desserts) with colorectal cancer risk may differ according to the presence of F. nucleatum in tumor tissue. Design—Prospective cohort study. Setting—The Nurses’ Health Study (1980–2012) and the Health Professionals Follow-up Study (1986–2012). Participants—121,700 US female nurses and 51,529 US male health professionals aged 30 to 55 years and 40 to 75 years, respectively, at enrollment. Exposures—Prudent and Western dietary patterns. Main Outcomes and Measures—Incidence of colorectal carcinoma subclassified by F. nucleatum status in tumor tissue, determined by quantitative polymerase chain reaction. Results—We documented 1,019 incident colon and rectal cancer cases with available F. nucleatum data among predominantly white 137,217 individuals over 26–32 years of follow-up encompassing 3,643,562 person-years. The association of prudent diet with colorectal cancer significantly differed by tissue F. nucleatum status (Pheterogeneity = .01). Prudent diet score was associated with a lower risk of F. nucleatum-positive cancers [Ptrend = .003; multivariable hazard ratio of 0.43 (95% confidence interval 0.25–0.72) for the highest vs. the lowest prudent score quartile], but not with F. nucleatum-negative cancers (Ptrend = .47). Dietary component analyses suggested possible differential associations for the cancer subgroups according to intakes of dietary fiber (Pheterogeneity = .02). There was no significant heterogeneity between the subgroups according to Western dietary pattern scores (Pheterogeneity = .23). Conclusions and Relevance—Prudent diets rich in whole grains and dietary fiber are associated with a lower risk for F. nucleatum-positive colorectal cancer but not F. nucleatum-negative cancer, supporting a potential role for intestinal microbiota in mediating the association between diet and colorectal neoplasms