Higher-Derivative Gravitation in Bosonic and Superstring Theories

A discussion of the number of degrees of freedom, and their dynamical properties, in higher-derivative gravitational theories is presented. The complete non-linear sigma model for these degrees of freedom is exhibited using the method of auxiliary fields. As a by-product we present a consistent non-linear coupling of a spin-2 tensor to gravitation. It is shown that non-vanishing $(C_{\mu\nu\alpha\beta})^{2}$ terms arise in $N=1$, $D=4$ superstring Lagrangians due to one-loop radiative corrections with light field internal lines.Comment: 8 pages, LaTeX2e and AMS-LaTeX 1.2, Talk presented at SUSY'95, Ecole Polytechnique in Palaiseau, Palaiseau, France, May 15-19, 199

ArchiveSpark: Efficient Web Archive Access, Extraction and Derivation

Web archives are a valuable resource for researchers of various disciplines. However, to use them as a scholarly source, researchers require a tool that provides efficient access to Web archive data for extraction and derivation of smaller datasets. Besides efficient access we identify five other objectives based on practical researcher needs such as ease of use, extensibility and reusability. Towards these objectives we propose ArchiveSpark, a framework for efficient, distributed Web archive processing that builds a research corpus by working on existing and standardized data formats commonly held by Web archiving institutions. Performance optimizations in ArchiveSpark, facilitated by the use of a widely available metadata index, result in significant speed-ups of data processing. Our benchmarks show that ArchiveSpark is faster than alternative approaches without depending on any additional data stores while improving usability by seamlessly integrating queries and derivations with external tools.Comment: JCDL 2016, Newark, NJ, US

FunTAL: Reasonably Mixing a Functional Language with Assembly

We present FunTAL, the first multi-language system to formalize safe interoperability between a high-level functional language and low-level assembly code while supporting compositional reasoning about the mix. A central challenge in developing such a multi-language is bridging the gap between assembly, which is staged into jumps to continuations, and high-level code, where subterms return a result. We present a compositional stack-based typed assembly language that supports components, comprised of one or more basic blocks, that may be embedded in high-level contexts. We also present a logical relation for FunTAL that supports reasoning about equivalence of high-level components and their assembly replacements, mixed-language programs with callbacks between languages, and assembly components comprised of different numbers of basic blocks.Comment: 15 pages; implementation at https://dbp.io/artifacts/funtal/; published in PLDI '17, Proceedings of the 38th ACM SIGPLAN Conference on Programming Language Design and Implementation, June 18 - 23, 2017, Barcelona, Spai

Extrinisic Calibration of a Camera-Arm System Through Rotation Identification

Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as calibration targets. We propose a method that relies on structured motion of an observed arm to recover extrinsic calibration parameters. Our method combines known arm kinematics with observations of conics in the image plane to calculate maximum-likelihood estimates for calibration extrinsics. This method is validated in simulation and tested against a real-world model, yielding results consistent with ruler-based estimates. Our method shows promise for estimating the pose of a camera relative to an articulated arm's end effector without requiring tedious measurements or external artifacts. Index Terms: robotics, hand-eye problem, self-calibration, structure from motio

Comparison of molecular markers to detect fresh sewage in environmental waters

Human-specific Bacteroides HF183 (HS-HF183), human-specific Enterococci faecium esp (HS-esp), human-specific adenoviruses (HS-AVs) and human-specific polyomaviruses (HS-PVs) assays were evaluated in freshwater, seawater and distilled water to detect fresh sewage. The sewage spiked water samples were also tested for the concentrations of traditional fecal indicators (i.e., Escherichia coli, enterococci and Clostridium perfringens) and enteric viruses such as enteroviruses (EVs), sapoviruses (SVs), and torquetenoviruses (TVs). The overall host-specificity of the HS-HF183 marker to differentiate between humans and other animals was 98%. However, the HS-esp, HS-AVs and HS-PVs showed 100% hostspecificity. All the human-specific markers showed >97% sensitivity to detect human fecal pollution. E. coli, enterococci and, C. perfringens were detected up to dilutions of sewage 10_5, 10_4 and 10_3 respectively.HS-esp, HS-AVs, HS-PVs, SVs and TVs were detected up to dilution of sewage 10_4 whilst EVs were detected up to dilution 10_5. The ability of the HS-HF183 marker to detect freshsewagewas3–4 orders ofmagnitude higher than that of the HS-esp and viral markers. The ability to detect fresh sewage in freshwater, seawater and distilled water matrices was similar for human-specific bacterial and viral marker. Based on our data, it appears that human-specific molecular markers are sensitive measures of fresh sewage pollution, and the HS-HF183 marker appears to be the most sensitive among these markers in terms of detecting fresh sewage. However, the presence of the HS-HF183 marker in environmental waters may not necessarily indicate the presence of enteric viruses due to their high abundance in sewage compared to enteric viruses. More research is required on the persistency of these markers in environmental water samples in relation to traditional fecal indicators and enteric pathogens

Fuzzy logic control for energy saving in autonomous electric vehicles

Limited battery capacity and excessive battery dimensions have been two major limiting factors in the rapid advancement of electric vehicles. An alternative to increasing battery capacities is to use better: intelligent control techniques which save energy on-board while preserving the performance that will extend the range with the same or even smaller battery capacity and dimensions. In this paper, we present a Type-2 Fuzzy Logic Controller (Type-2 FLC) as the speed controller, acting as the Driver Model Controller (DMC) in Autonomous Electric Vehicles (AEV). The DMC is implemented using realtime control hardware and tested on a scaled down version of a back to back connected brushless DC motor setup where the actual vehicle dynamics are modelled with a Hardware-In-the-Loop (HIL) system. Using the minimization of the Integral Absolute Error (IAE) has been the control design criteria and the performance is compared against Type-1 Fuzzy Logic and Proportional Integral Derivative DMCs. Particle swarm optimization is used in the control design. Comparisons on energy consumption and maximum power demand have been carried out using HIL system for NEDC and ARTEMIS drive cycles. Experimental results show that Type-2 FLC saves energy by a substantial amount while simultaneously achieving the best IAE of the control strategies tested

Linking Types for Multi-Language Software: Have Your Cake and Eat It Too

Large software systems are and should be implemented with many different languages, each suited to the domain of the task at hand. High-level business logic may be written in Java or OCaml, resource-intensive components may be written in C or Rust, and high-assurance components may be written in Coq. In some development shops, domain-specific languages are used in various parts of systems to better separate the logic of particular problems from the plumbing of general-purpose programming. But how are programmers to reason about such multi-language systems? Currently, for a programmer to reason about a single source component within this multi-language system, it is not sufficient for her to consider how her component behaves in source-level contexts. Instead, she is required to understand the target contexts that her component will be run in after compilation - which requires not only understanding aspects of the compiler, but also how target components are linked together. These target contexts may have behavior inexpressible in the source, which can impact the notion of equivalence that justifies behavior-preserving modifications of code, whether programmer refactorings or compiler optimizations. But while programmers should not have to reason about arbitrary target contexts, sometimes multi-language linking is done exactly to gain access to features unavailable in the source. To enable programmers to reason about components that link with behavior inexpressible in their language, we advocate that language designers incorporate specifications for linking into the source language. Such specifications should allow a programmer to reason about inputs from other languages in a way that remains close to the semantics of her language. Linking types are a well-specified minimal extension of a source language that allow programmers to annotate where in their programs they can link with components that are not expressible in their unadulterated source language. This gives them fine-grained control over the contexts that they must reason about and the equivalences that arise