A natural-language interface to a mobile robot

The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot

Calibration of GRB Luminosity Relations with Cosmography

For the use of Gamma-Ray Bursts (GRBs) to probe cosmology in a cosmology-independent way, a new method has been proposed to obtain luminosity distances of GRBs by interpolating directly from the Hubble diagram of SNe Ia, and then calibrating GRB relations at high redshift. In this paper, following the basic assumption in the interpolation method that objects at the same redshift should have the same luminosity distance, we propose another approach to calibrate GRB luminosity relations with cosmographic fitting directly from SN Ia data. In cosmography, there is a well-known fitting formula which can reflect the Hubble relation between luminosity distance and redshift with cosmographic parameters which can be fitted from observation data. Using the Cosmographic fitting results from the Union set of SNe Ia, we calibrate five GRB relations using GRB sample at $z\leq1.4$ and deduce distance moduli of GRBs at $1.4< z \leq 6.6$ by generalizing above calibrated relations at high redshift. Finally, we constrain the dark energy parameterization models of the Chevallier-Polarski-Linder (CPL) model, the Jassal-Bagla-Padmanabhan (JBP) model and the Alam model with GRB data at high redshift, as well as with the Cosmic Microwave Background radiation (CMB) and the baryonic acoustic oscillation (BAO) observations, and we find the $\Lambda$CDM model is consistent with the current data in 1-$\sigma$ confidence region.Comment: 15 pages, 4 figures, 2 tables; accepted for publication in IJMP

Topological Mott Insulators

We consider extended Hubbard models with repulsive interactions on a Honeycomb lattice and the transitions from the semi-metal phase at half-filling to Mott insulating phases. In particular, due to the frustrating nature of the second-neighbor repulsive interactions, topological Mott phases displaying the quantum Hall and the quantum spin Hall effects are found for spinless and spinful fermion models, respectively. We present the mean-field phase diagram and consider the effects of fluctuations within the random phase approximation (RPA). Functional renormalization group analysis also show that these states can be favored over the topologically trivial Mott insulating states.Comment: 5 Pages, 4 figure

Spin Hall effects for cold atoms in a light induced gauge potential

We propose an experimental scheme to observe spin Hall effects with cold atoms in a light induced gauge potential. Under an appropriate configuration, the cold atoms moving in a spatially varying laser field experience an effective spin-dependent gauge potential. Through numerical simulation, we demonstrate that such a gauge field leads to observable spin Hall currents under realistic conditions. We also discuss the quantum spin Hall state in an optical lattice.Comment: 4 pages; The published versio

A holistic multimodal approach to the non-invasive analysis of watercolour paintings

A holistic approach using non-invasive multimodal imaging and spectroscopic techniques to study the materials (pigments, drawing materials and paper) and painting techniques of watercolour paintings is presented. The non-invasive imaging and spectroscopic techniques include VIS-NIR reflectance spectroscopy and multispectral imaging, micro-Raman spectroscopy, X-ray fluorescence spectroscopy (XRF) and optical coherence tomography (OCT). The three spectroscopic techniques complement each other in pigment identification. Multispectral imaging (near infrared bands), OCT and micro-Raman complement each other in the visualisation and identification of the drawing material. OCT probes the microstructure and light scattering properties of the substrate while XRF detects the elemental composition that indicates the sizing methods and the filler content . The multiple techniques were applied in a study of forty six 19th century Chinese export watercolours from the Victoria & Albert Museum (V&A) and the Royal Horticultural Society (RHS) to examine to what extent the non-invasive analysis techniques employed complement each other and how much useful information about the paintings can be extracted to address art conservation and history questions

Polyisoprene Captured Sulfur Nanocomposite Materials for High-Areal-Capacity Lithium Sulfur Battery

A polyisoprene-sulfur (PIPS) copolymer and nano sulfur composite material (90 wt % sulfur) is synthesized through inverse vulcanization of PIP polymer with micrometer-sized sulfur particles for high-areal-capacity lithium sulfur batteries. The polycrystalline structure and nanodomain nature of the copolymer are revealed through high-resolution transmission electron microscopy (HRTEM). PIP polymer is also used as binders for the electrode to further capture the dissovlved polysulfides. A high areal capacity of ca. 7.0 mAh/cm2 and stable cycling are achieved based on the PIPS nanosulfur composite with a PIP binder, crucial to commercialization of lithium sulfur batteries. The chemical confinement both at material and electrode level alleviates the diffusion of polysulfides and the shuttle effect. The sulfur electrodes, both fresh and cycled, are analyzed through scanning electron microscopy (SEM). This approach enables scalable material production and high sulfur utilization at the cell level