Simultaneous localization and map-building using active vision

An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated Simultaneous Localization and Map-Building (SLAM) to be implemented with vision, permitting repeatable long-term localization using only naturally occurring, automatically-detected features. In this paper, we present the first example of a general system for autonomous localization using active vision, enabled here by a high-performance stereo head, addressing such issues as uncertainty-based measurement selection, automatic map-maintenance, and goal-directed steering. We present varied real-time experiments in a complex environment.Published versio

Numerical integration of one-loop Feynman diagrams for N-photon amplitudes

In the calculation of cross sections for infrared-safe observables in high energy collisions at next-to-leading order, one approach is to perform all of the integrations, including the virtual loop integration numerically. One would use a subtraction scheme that removes infrared and collinear divergences from the integrand in a style similar to that used for real emission graphs. Then one would perform the loop integration by Monte Carlo integration along with the integrations over final state momenta. In this paper, we have explored how one can perform the numerical integration. We have studied the N-photon scattering amplitude with a massless electron loop in order to have a case with a singular integrand that is not, however, so singular as to require the subtractions. We report results for N = 4, N = 5 with left-handed couplings, and N=6.Comment: 30 pages including 5 figures. This is a revised version that is close to the published versio

Calculation of Gallium-metal-Arsenic phase diagrams

Electrical contacts and metallization to GaAs solar cells must survive at high temperatures for several minutes under specific mission scenarios. The determination of which metallizations or alloy systems that are able to withstand extreme thermal excursions with minimum degradation to solar cell performance can be predicted by properly calculated temperature constitution phase diagrams. A method for calculating a ternary diagram and its three constituent binary phase diagrams is briefly outlined and ternary phase diagrams for three Ga-As-X alloy systems are presented. Free energy functions of the liquid and solid phase are approximated by the regular solution theory. Phase diagrams calculated using this method are presented for the Ga-As-Ge and Ga-As-Ag systems

Age and sex-selective predation moderate the overall impact of predators

© 2014 The Authors. Journal of Animal Ecology published by John Wiley & Sons Ltd on behalf of British Ecological Society. Acknowledgements: Thanks to J. Reid, S. Redpath, A. Beckerman and an anonymous reviewer for their helpful comments on a previous version of the manuscript. This work was partly funded by a Natural Environment Research Council studentship NE/J500148/1 to SH and a grant NE/F021402/1 to XL and by Natural Research Limited. Forest Research funded all the fieldwork on goshawks, tawny owls and field voles during 1973–1996. We thank B. Little, P. Hotchin, D. Anderson and all field assistants for their help with data collection and Forest Enterprise, T. Dearnley and N. Geddes for allowing and facilitating work in Kielder Forest. In addition, we are grateful to English Nature and the BTO for kindly issuing licences annually visit goshawk nest sites. Data accessibility: All data associated with the study which have not already been given in the text are available from the Dryad Digital Repository: http://doi.org/10.5061/dryad.h1289 (Hoy et al. 2014).Peer reviewedPublisher PD

Glassy behaviour in a simple topological model

In this article we study a simple, purely topological, cellular model which is allowed to evolve through a Glauber-Kawasaki process. We find a non-thermodynamic transition to a glassy phase in which the energy (defined as the square of the local cell topological charge) fails to reach the equilibrium value below a characteristic temperature which is dependent on the cooling rate. We investigate a correlation function which exhibits aging behaviour, and follows a master curve in the stationary regime when time is rescaled by a factor of the relaxation time t_r. This master curve can be fitted by a von Schweidler law in the late beta-relaxation regime. The relaxation times can be well-fitted at all temperatures by an offset Arrhenius law. A power law can be fitted to an intermediate temperature regime; the exponent of the power law and the von Schweidler law roughly agree with the relationship predicted by Mode-coupling Theory. By defining a suitable response function, we find that the fluctuation-dissipation ratio is held until sometime later than the appearance of the plateaux; non-monotonicity of the response is observed after this ratio is broken, a feature which has been observed in other models with dynamics involving activated processes.Comment: 11 pages LaTeX; minor textual corrcetions, minor corrections to figs 4 & 7

Diffractive jet production in a simple model with applications to HERA

In diffractive jet production, two high energy hadrons A and B collide and produce high transverse momentum jets, while hadron A is diffractively scattered. Ingelman and Schlein predicted this phenomenon. In their model, part of the longitudinal momentum transferred from hadron A is delivered to the jet system, part is lost. Lossless diffractive jet production, in which all of this longitudinal momentum is delivered to the jet system, has been discussed by Collins, Frankfurt, and Strikman. We study the structure of lossless diffractive jet production in a simple model. The model suggests that the phenomenon can be probed experimentally at HERA, with A being a proton and B being a bremsstrahlung photon with virtuality $Q^2$. Lossless events should be present for small $Q^2$, but not for $Q^2$ larger than $1/R_{\rm P}^2$, where $R_{\rm P}$ is a characteristic size of the pomeron.Comment: 23 pages, REVTeX 3.0 with 8 postscript figures compressed with uufiles, OITS 536 and AZPH-TH/94-0

Cohomological Donaldson-Thomas theory of a quiver with potential and quantum enveloping algebras

This paper concerns the cohomological aspects of Donaldson-Thomas theory for Jacobi algebras and the associated cohomological Hall algebra, introduced by Kontsevich and Soibelman. We prove the Hodge-theoretic categorification of the integrality conjecture and the wall crossing formula, and furthermore realise the isomorphism in both of these theorems as Poincar\'e-Birkhoff-Witt isomorphisms for the associated cohomological Hall algebra. We do this by defining a perverse filtration on the cohomological Hall algebra, a result of the "hidden properness" of the semisimplification map from the moduli stack of semistable representations of the Jacobi algebra to the coarse moduli space of polystable representations. This enables us to construct a degeneration of the cohomological Hall algebra, for generic stability condition and fixed slope, to a free supercommutative algebra generated by a mixed Hodge structure categorifying the BPS invariants. As a corollary of this construction we furthermore obtain a Lie algebra structure on this mixed Hodge structure - the Lie algebra of BPS invariants - for which the entire cohomological Hall algebra can be seen as the positive part of a Yangian-type quantum group.Comment: v5 final version, 64 pages, to appear in Invent. Math. Many thanks to the anonymous referee for helpful suggestion