Video Rate Visual Servoing for Robots

This paper presents some preliminary experimental results in robotic visual servoing, utilizing a newly available hardware region-growing and moment-generation unit. A Unix-based workstation in conjunction with special purpose video processing hardware has been used to visually close the robot position loop at video field rate, 60Hz. The architecture and capabilities of the system are discussed. Performance of the closed-loop position control is investigated analytically and via step response tests, and experimental results are presented. Initial results are for 2 dimensional servoing, but extensions to 3 dimensional positioning are covered along with methods for monocular distance determination. Finally some limitations of the approach and areas for further work are covered

Sqrt{shat}_{min} resurrected

We discuss the use of the variable sqrt{shat}_{min}, which has been proposed in order to measure the hard scale of a multi parton final state event using inclusive quantities only, on a SUSY data sample for a 14 TeV LHC. In its original version, where this variable was proposed on calorimeter level, the direct correlation to the hard scattering scale does not survive when effects from soft physics are taken into account. We here show that when using reconstructed objects instead of calorimeter energy and momenta as input, we manage to actually recover this correlation for the parameter point considered here. We furthermore discuss the effect of including W + jets and t tbar+jets background in our analysis and the use of sqrt{shat}_{min} for the suppression of SM induced background in new physics searches.Comment: 23 pages, 9 figures; v2: 1 figure, several subsections and references as well as new author affiliation added. Corresponds to published versio

A Computational Fluid Dynamics Study of Transitional Flows in Low-Pressure Turbines under a Wide Range of Operating Conditions

A transport equation for the intermittency factor is employed to predict the transitional flows in low-pressure turbines. The intermittent behavior of the transitional flows is taken into account and incorporated into computations by modifying the eddy viscosity, mu(sub p) with the intermittency factor, gamma. Turbulent quantities are predicted using Menter's two-equation turbulence model (SST). The intermittency factor is obtained from a transport equation model which can produce both the experimentally observed streamwise variation of intermittency and a realistic profile in the cross stream direction. The model had been previously validated against low-pressure turbine experiments with success. In this paper, the model is applied to predictions of three sets of recent low-pressure turbine experiments on the Pack B blade to further validate its predicting capabilities under various flow conditions. Comparisons of computational results with experimental data are provided. Overall, good agreement between the experimental data and computational results is obtained. The new model has been shown to have the capability of accurately predicting transitional flows under a wide range of low-pressure turbine conditions

Measurement of charged particle multiplicities in pppp collisions at s=7{\sqrt{s} =7}TeV in the forward region

The charged particle production in proton-proton collisions is studied with the LHCb detector at a centre-of-mass energy of ${\sqrt{s} =7}$TeV in different intervals of pseudorapidity $\eta$. The charged particles are reconstructed close to the interaction region in the vertex detector, which provides high reconstruction efficiency in the $\eta$ ranges $-2.5<\eta<-2.0$ and $2.0<\eta<4.5$. The data were taken with a minimum bias trigger, only requiring one or more reconstructed tracks in the vertex detector. By selecting an event sample with at least one track with a transverse momentum greater than 1 GeV/c a hard QCD subsample is investigated. Several event generators are compared with the data; none are able to describe fully the multiplicity distributions or the charged particle density distribution as a function of $\eta$. In general, the models underestimate the charged particle production

Secreted Phospholipase A2 Involvement in Neurodegeneration: Differential Testing of Prosurvival and Anti-Inflammatory Effects of Enzyme Inhibition

There is increased interest in the contribution of secreted phospholipase A2 (sPLA2) enzymes to neurodegenerative diseases. Systemic treatment with the nonapeptide CHEC-9, a broad spectrum uncompetitive inhibitor of sPLA2, has been shown previously to inhibit neuron death and aspects of the inflammatory response in several models of neurodegeneration. A persistent question in studies of sPLA2 inhibitors, as for several other anti-inflammatory and neuroprotective compounds, is whether the cell protection is direct or due to slowing of the toxic aspects of the inflammatory response. To further explore this issue, we developed assays using SY5Y (neuronal cells) and HL-60 (monocytes) cell lines and examined the effects of sPLA2 inhibition on these homogeneous cell types in vitro. We found that the peptide inhibited sPLA2 enzyme activity in both SY5Y and HL-60 cultures. This inhibition provided direct protection to SY5Y neuronal cells and their processes in response to several forms of stress including exposure to conditioned medium from HL-60 cells. In cultures of HL-60 cells, sPLA2 inhibition had no effect on survival of the cells but attenuated their differentiation into macrophages, with regard to process development, phagocytic ability, and the expression of differentiation marker CD36, as well as the secretion of proinflammatory cytokines TNF-α and IL-6. These results suggest that sPLA2 enzyme activity organizes a cascade of changes comprising both cell degeneration and inflammation, processes that could theoretically operate independently during neurodegenerative conditions. The effectiveness of sPLA2 inhibitor CHEC-9 may be due to its ability to affect both processes in isolation. Testing potential anti-inflammatory/neuroprotective compounds with these human cell lines and their conditioned media may provide a useful screening tool prior to in vivo therapeutic applications

Jet energy measurement and its systematic uncertainty in proton–proton collisions at √s=7 TeV with the ATLAS detector

The jet energy scale (JES) and its systematic uncertainty are determined for jets measured with the ATLAS detector using proton–proton collision data with a centre-of-mass energy of √s=7 TeV corresponding to an integrated luminosity of 4.7 fb −1. Jets are reconstructed from energy deposits forming topological clusters of calorimeter cells using the anti-kt algorithm with distance parameters R=0.4 or R=0.6, and are calibrated using MC simulations. A residual JES correction is applied to account for differences between data and MC simulations. This correction and its systematic uncertainty are estimated using a combination of in situ techniques exploiting the transverse momentum balance between a jet and a reference object such as a photon or a Z boson, for 20≤pTjet1 TeV. The calibration of forward jets is derived from dijet pT balance measurements. The resulting uncertainty reaches its largest value of 6 % for low-pT jets at |η|=4.5. Additional JES uncertainties due to specific event topologies, such as close-by jets or selections of event samples with an enhanced content of jets originating from light quarks or gluons, are also discussed. The magnitude of these uncertainties depends on the event sample used in a given physics analysis, but typically amounts to 0.5–3 %

Measurement of dijet cross-sections in pp collisions at 7 TeV centre-of-mass energy using the ATLAS detector

Double-differential dijet cross-sections measured in pp collisions at the LHC with a 7 TeV centre-of-mass energy are presented as functions of dijet mass and half the rapidity separation of the two highest-pT jets. These measurements are obtained using data corresponding to an integrated luminosity of 4.5 fb−¹, recorded by the ATLAS detector in 2011. The data are corrected for detector effects so that cross-sections are presented at the particle level. Cross-sections are measured up to 5 TeV dijet mass using jets reconstructed with the anti-kt algorithm for values of the jet radius parameter of 0.4 and 0.6. The cross-sections are compared with next-to-leading-order perturbative QCD calculations by NLOJet++ corrected to account for non-perturbative effects. Comparisons with POWHEG predictions, using a next-to-leading-order matrix element calculation interfaced to a parton-shower Monte Carlo simulation, are also shown. Electroweak effects are accounted for in both cases. The quantitative comparison of data and theoretical predictions obtained using various parameterizations of the parton distribution functions is performed using a frequentist method. In general, good agreement with data is observed for the NLOJet++ theoretical predictions when using the CT10, NNPDF2.1 and MSTW 2008 PDF sets. Disagreement is observed when using the ABM11 and HERAPDF1.5 PDF sets for some ranges of dijet mass and half the rapidity separation. An example setting a lower limit on the compositeness scale for a model of contact interactions is presented, showing that the unfolded results can be used to constrain contributions to dijet production beyond that predicted by the Standard Model