Towards a self-collision aware teleoperation framework for compound robots

This work lays the foundations of a self-collision aware teleoperation framework for compound robots. The need of an haptic enabled system which guarantees self-collision and joint limits avoidance for complex robots is the main motivation behind this paper. The objective of the proposed system is to constrain the user to teleoperate a slave robot inside its safe workspace region through the application of force cues on the master side of the bilateral teleoperation system. A series of simulated experiments have been performed on the Kuka KMRiiwa mobile robot; however, due to its generality, the framework is prone to be easily extended to other robots. The experiments have shown the applicability of the proposed approach to ordinary teleoperation systems without altering their stability properties. The benefits introduced by this framework enable the user to safely teleoperate whichever complex robotic system without worrying about self-collision and joint limitations

Robust and Efficient Sifting-Less Quantum Key Distribution Protocols

We show that replacing the usual sifting step of the standard quantum-key-distribution protocol BB84 by a one-way reverse reconciliation procedure increases its robustness against photon-number-splitting (PNS) attacks to the level of the SARG04 protocol while keeping the raw key-rate of BB84. This protocol, which uses the same state and detection than BB84, is the m=4 member of a protocol-family using m polarization states which we introduce here. We show that the robustness of these protocols against PNS attacks increases exponentially with m, and that the effective keyrate of optimized weak coherent pulses decreases with the transmission T like T^{1+1/(m-2)}

Full stress tensor measurement using colour centres in diamond

Stress and strain are important factors in determining the mechanical, electronic, and optical properties of materials, relating to each other by the material's elasticity or stiffness. Both are represented by second rank field tensors with, in general, six independent components. Measurements of these quantities are usually achieved by measuring a property that depends on the translational symmetry and periodicity of the crystal lattice, such as optical phonon energies using Raman spectroscopy, the electronic band gap using cathodoluminescence, photoelasticity via the optical birefringence, or Electron Back Scattering Diffraction (EBSD). A reciprocal relationship therefore exists between the maximum sensitivity of the measurements and the spatial resolution. Furthermore, of these techniques, only EBSD and off-axis Raman spectroscopy allow measurement of all six components of the stress tensor, but neither is able to provide full 3D maps. Here we demonstrate a method for measuring the full stress tensor in diamond, using the spectral and optical polarization properties of the photoluminescence from individual nitrogen vacancy (NV) colour centres. We demonstrate a sensitivity of order 10 MPa, limited by local fluctuations in the stress in the sample, and corresponding to a strain of about 10^-5, comparable with the best sensitivity provided by other techniques. By using the colour centres as built-in local sensors, the technique overcomes the reciprocal relationship between spatial resolution and sensitivity and offers the potential for measuring strains as small as 10^-9 at spatial resolution of order 10 nm. Furthermore it provides a straightforward route to volumetric stress mapping. Aside from its value in understanding strain distributions in diamond, this new approach to stress and strain measurement could be adapted for use in micro or nanoscale sensors.Comment: 12 pages, 5 figures - supplementary informations included in appendi

Enhancing airplane boarding procedure using vision based passenger classification

This paper presents the implementation of a new boarding strategy that exploits passenger and hand-luggage detection and classification to reduce the boarding time onto an airplane. A vision system has the main purpose of providing passengers data, in terms of agility coefficient and hand-luggage size to a seat assignment algorithm. The software is able to dynamically generate the passenger seat that reduces the overall boarding time while taking into account the current airplane boarding state. The motivation behind this work is to speed up of the passenger boarding using the proposed online procedure of seat assignment based on passenger and luggage classification. This method results in an enhancement of the boarding phase, in terms of both time and passenger experience. The main goal of this work is to demonstrate the usability of the proposed system in real conditions proving its performances in terms of reliability. Using a simple hardware and software setup, we performed several experiments recreating a gate entrance mock up and comparing the measurements with ground truth data to assess the reliability of the system

A fast airplane boarding strategy using online seat assignment based on passenger classification

The minimization of the turnaround time, the duration which an aircraft must remain parked at the gate, is an important goal of airlines to increase their profitability. This work introduces a procedure to minimize of the turnaround time by speeding up the boarding time in passenger aircrafts. This is realized by allocating the seat numbers adaptively to passengers when they pass the boarding gate and not before. Using optical sensors, an agility measure is assigned to each person and also a measure to characterize the size of her/his hand-luggage. Based on these two values per passenger and taking into account additional constraints, like reserved seats and the belonging to a group, a novel seat allocation algorithm is introduced to minimize the boarding time. Extensive simulations show that a mean reduction of the boarding time with approximately 15% is achieved compared to existing boarding strategies. The costs of introducing the proposed procedure are negligible, while the savings of reducing the turnaround time are enormous, considering that the costs generated by inactive planes on an airport are estimated to be about 30 $ per minute

Molecular dynamics simulations of the Salmonella typhi Vi antigenic polysaccharide and effects of the introduction of a zwitterionic motif

A series of hexasaccharides corresponding to the Vi capsular polysaccharide, a polymer of \u3b1-(1\u21924)-galacturonic acid, and analogs containing a zwitterionic motif with various degrees of acetylation at positions 3 have been modeled. When submitted to molecular dynamics simulations in a water box, all the structures visited only two quite restricted regions of the /\u3c8 conformational space both corresponding to extended geometries without any tendency towards supercoiling. The most stable conformation showed a clockwise helix arrangement of substituents on the molecular surface whereas the opposite arrangement was observed for the other conformation. The flexibility of the system and the hydrophobic character of the molecular surface are modulated by the 3-O-acetyl groups that confer rigidity to the system. In the zwitterionic analogs, the introduction of positive charges in the place of the acetamido groups alters the hydrophobicity that can be regained by methylation of the amino groups. The needed molecular flexibility can be obtained by the complete deacetylation at positions 3

Development of site-specific biomechanical indices for estimating injury risk in cycling

In this paper we present novel biomechanical indices for site-specific assessment of injury risk in cycling. The indices are built from a multifactorial analysis based on the kinematics and kinetics of the cyclist from the biomechanical side, and muscle excitations and muscle synergies from the neurophysiological side. The indices are specifics for three body regions (back, knee, ankle) which are strongly affected by overuse injuries in cycling. We use these indices for injury risks analysis of a recreational cyclist, who offered to participate in the experiments. The preliminary results are promising towards the use of such indices for planning and/or evaluating training schedule with the final goal of reducing non-traumatic injuries in cycling

Use of neutron-capture plastic fibers for nondestructive assay

Neutron-capture plastic fibers can be used as a nondestructive assay tool. The detectors consist of an active region assembled from ribbons of boron-({sup 10}B) loaded optical fibers. The mixture of the moderator and thermal neutron absorber in the fiber yields a detector with high efficiency ({var_epsilon}) and a short die-away time ({tau}). The deposited energy of the resultant charged particles is converted to light that is collected by photomultiplier tubes mounted at both ends of the fiber. Thermal neutron coincidence counters (TNCC) made of these fibers can serve to verify fissile materials generated from the nuclear fuel cycle. This type of detector may extend the range of materials now accessible to assay by {sup 3}He detectors. Experiments with single fibers of diameters 0.25, 0.50, and 1.00 mm test their ability to distinguish between the signals generated from neutron interactions and those from gamma rays. These results are compared with those obtained from simulation analyses for the same purpose. Light output and attenuation, neutron detection efficiency, and the signal-to-noise ratios of these fibers have also been investigated. The experimental results for light attenuation and neutron detection efficiency are consistent with the values obtained from simulation studies. A comparison of the performance of various configurations of the plastic scintillating fibers with that of other neutron-capture devices such as {sup 3}He detectors is also discussed

Chirality of nanophotonic waveguide with embedded quantum emitter for unidirectional spin transfer

Scalable quantum technologies may be achieved by faithful conversion between matter qubits and photonic qubits in integrated circuit geometries. Within this context, quantum dots possess well-defined spin states (matter qubits), which couple efficiently to photons. By embedding them in nanophotonic waveguides, they provide a promising platform for quantum technology implementations. In this paper, we demonstrate that the naturally occurring electromagnetic field chirality that arises in nanobeam waveguides leads to unidirectional photon emission from quantum dot spin states, with resultant in-plane transfer of matter-qubit information. The chiral behaviour occurs despite the non-chiral geometry and material of the waveguides. Using dot registration techniques, we achieve a quantum emitter deterministically positioned at a chiral point and realize spin-path conversion by design. We further show that the chiral phenomena are much more tolerant to dot position than in standard photonic crystal waveguides, exhibit spin-path readout up to 95±5% and have potential to serve as the basis of spin-logic and network implementations

On-chip quantum frequency combs

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