Fermion masses in noncommutative geometry

Recent indications of neutrino oscillations raise the question of the possibility of incorporating massive neutrinos in the formulation of the Standard Model (SM) within noncommutative geometry (NCG). We find that the NCG requirement of Poincare duality constrains the numbers of massless quarks and neutrinos to be unequal unless new fermions are introduced. Possible scenarios in which this constraint is satisfied are discussed.Comment: 4 pages, REVTeX; typos are corrected in (19), "Possible Solutions" and "Conclusion" are modified; additional calculational details are included; references are update

Second Harmonic Generation from Phononic Epsilon-Near-Zero Berreman Modes in Ultrathin Polar Crystal Films

Immense optical field enhancement was predicted to occur for the Berreman mode in ultrathin films at frequencies in the vicinity of epsilon near zero (ENZ). Here, we report the first experimental proof of this prediction in the mid-infrared by probing the resonantly enhanced second harmonic generation (SHG) at the longitudinal optic phonon frequency from a deeply subwavelength-thin aluminum nitride (AlN) film. Employing a transfer matrix formalism, we show that the field enhancement is completely localized inside the AlN layer, revealing that the observed SHG signal of the Berreman mode is solely generated in the AlN film. Our results demonstrate that ENZ Berreman modes in intrinsically low-loss polar dielectric crystals constitute a promising platform for nonlinear nanophotonic applications

Dexterous Grasping by Manipulability Selection for Mobile Manipulator with Visual Guidance

Industry 4.0 demands the heavy usage of robotic mobile manipulators with high autonomy and intelligence. The goal is to accomplish dexterous manipulation tasks without prior knowledge of the object status in unstructured environments. It is important for the mobile manipulator to recognize and detect the objects, determine manipulation pose, and adjust its pose in the workspace fast and accurately. In this research, we developed a stereo vision algorithm for the object pose estimation using point cloud data from multiple stereo vision systems. An improved iterative closest point algorithm method is developed for the pose estimation. With the pose input, algorithms and several criteria are studied for the robot to select and adjust its pose by maximizing its manipulability on a given manipulation task. The performance of each technical module and the complete robotic system is finally shown by the virtual robot in the simulator and real robot in experiments. This study demonstrates a setup of autonomous mobile manipulator for various flexible manufacturing and logistical scenarios

Theoretical Models for Classical Cepheids: IV. Mean Magnitudes and Colors and the Evaluation of Distance, Reddening and Metallicity

We discuss the metallicity effect on the theoretical visual and near-infrared PL and PLC relations of classical Cepheids, as based on nonlinear, nonlocal and time--dependent convective pulsating models at varying chemical composition. In view of the two usual methods of averaging (magnitude-weighted and intensity-weighted) observed magnitudes and colors over the full pulsation cycle, we briefly discuss the differences between static and mean quantities. We show that the behavior of the synthetic mean magnitudes and colors fully reproduces the observed trend of Galactic Cepheids, supporting the validity of the model predictions. In the second part of the paper we show how the estimate of the mean reddening and true distance modulus of a galaxy from Cepheid VK photometry depend on the adopted metal content, in the sense that larger metallicities drive the host galaxy to lower extinctions and distances. Conversely, self-consistent estimates of the Cepheid mean reddening, distance and metallicity may be derived if three-filter data are taken into account. By applying the theoretical PL and PLC relations to available BVK data of Cepheids in the Magellanic Clouds we eventually obtain Z \sim 0.008, E(B-V) \sim 0.02 mag, DM \sim 18.63 mag for LMC and Z \sim 0.004, E(B-V) \sim 0.01 mag., DM \sim 19.16 mag. for SMC. The discrepancy between such reddenings and the current values based on BVI data is briefly discussed.Comment: 16 pages, 11 postscript figures, accepted for publication on Ap

The Shape and Scale of Galactic Rotation from Cepheid Kinematics

A catalog of Cepheid variables is used to probe the kinematics of the Galactic disk. Radial velocities are measured for eight distant Cepheids toward l = 300; these new Cepheids provide a particularly good constraint on the distance to the Galactic center, R_0. We model the disk with both an axisymmetric rotation curve and one with a weak elliptical component, and find evidence for an ellipticity of 0.043 +/- 0.016 near the Sun. Using these models, we derive R_0 = 7.66 +/- 0.32 kpc and v_circ = 237 +/- 12 km/s. The distance to the Galactic center agrees well with recent determinations from the distribution of RR Lyrae variables, and disfavors most models with large ellipticities at the solar orbit.Comment: 36 pages, LaTeX, 10 figure

Leveraging Kernelized Synergies on Shared Subspace for Precision Grasping and Dexterous Manipulation

Manipulation in contrast to grasping is a trajectorial task that needs to use dexterous hands. Improving the dexterity of robot hands, increases the controller complexity and thus requires to use the concept of postural synergies. Inspired from postural synergies, this research proposes a new framework called kernelized synergies that focuses on the re-usability of same subspace for precision grasping and dexterous manipulation. In this work, the computed subspace of postural synergies is parameterized by kernelized movement primitives to preserve its grasping and manipulation characteristics and allows its reuse for new objects. The grasp stability of proposed framework is assessed with the force closure quality index, as a cost function. For performance evaluation, the proposed framework is initially tested on two different simulated robot hand models using the Syngrasp toolbox and experimentally, four complex grasping and manipulation tasks are performed and reported. Results confirm the hand agnostic approach of proposed framework and its generalization to distinct objects irrespective of their dimensions

Vision based virtual fixture generation for teleoperated robotic manipulation

In this paper we present a vision-based system for online virtual fixture generation suitable for manipulation tasks using remote controlled robots. This system makes use of a stereo camera system which provides accurate pose estimation of parts within the surrounding environment of the robot using features detection algorithms. The proposed approach is suitable for fast adaptation of the teleoperation system to different manipulation tasks without the need of tedious reimplementation of virtual constraints. Our main goal is to improve the efficiency of bilateral teleoperation systems by reducing the human operator effort in programming the system. In fact, using this method virtual guidances do not need to be programmed a priori but they can be instead dynamically generated on-the-fly and updated at any time making, in the end, the system suitable for any unstructured environment. In addition, this methodology is easily adaptable to any kind of teleoperation system since it is independent from the used master/slave robots. In order to validate our approach we performed a series of experiments in an emulated industrial scenario. We show how through the use of our approach a generic telemanipulation task can be easily accomplished without influencing the transparency of the system

Enhancing bilateral teleoperation using camera-based online virtual fixtures generation

In this paper we present an interactive system to enhance bilateral teleoperation through online virtual fixtures generation and task switching. This is achieved using a stereo camera system which provides accurate information of the surrounding environment of the robot and of the tasks that have to be performed in it. The use of the proposed approach aims at improving the performances of bilateral teleoperation systems by reducing the human operator workload and increasing both the implementation and the execution efficiency. In fact, using our method virtual guidances do not need to be programmed a priori but they can be instead automatically generated and updated making the system suitable for unstructured environments. We strengthen the proposed method using passivity control in order to safely switch between different tasks while teleoperating under active constraints. A series of experiments emulating real industrial scenarios are used to show that the switch between multiple tasks can be passively and safely achieved and handled by the system

Decay of the Z Boson into Scalar Particles

In extensions of the standard model, light scalar particles are often possible because of symmetry considerations. We study the decay of the Z boson into such particles. In particular, we consider for illustration the scalar sector of a recently proposed model of the 17-keV neutrino which satisfies all laboratory, astrophysical, and cosmological constraints.Comment: 11 pages (2 figures, not included) (Revised, Oct 1992). Some equations have been corrected and 1 figure has been eliminate