Sparse 3D Point-cloud Map Upsampling and Noise Removal as a vSLAM Post-processing Step: Experimental Evaluation

The monocular vision-based simultaneous localization and mapping (vSLAM) is one of the most challenging problem in mobile robotics and computer vision. In this work we study the post-processing techniques applied to sparse 3D point-cloud maps, obtained by feature-based vSLAM algorithms. Map post-processing is split into 2 major steps: 1) noise and outlier removal and 2) upsampling. We evaluate different combinations of known algorithms for outlier removing and upsampling on datasets of real indoor and outdoor environments and identify the most promising combination. We further use it to convert a point-cloud map, obtained by the real UAV performing indoor flight to 3D voxel grid (octo-map) potentially suitable for path planning.Comment: 10 pages, 4 figures, camera-ready version of paper for "The 3rd International Conference on Interactive Collaborative Robotics (ICR 2018)

On-chip integrated amplifiers and lasers utilizing rare-earth-ion activation

This contribution reviews our recent results on rare-earth-ion-doped integrated amplifiers and lasers. We have concentrated our efforts on complex-doped polymers, amorphous Al2O3, and crystalline potassium double tungstates

Volume modulus inflection point inflation and the gravitino mass problem

Several models of inflection point inflation with the volume modulus as the inflaton are investigated. Non-perturbative superpotentials containing two gaugino condensation terms or one such term with threshold corrections are considered. It is shown that the gravitino mass may be much smaller than the Hubble scale during inflation if at least one of the non-perturbative terms has a positive exponent. Higher order corrections to the Kahler potential have to be taken into account in such models. Those corrections are used to stabilize the potential in the axion direction in the vicinity of the inflection point. Models with only negative exponents require uplifting and in consequence have the supersymmetry breaking scale higher than the inflation scale. Fine-tuning of parameters and initial conditions is analyzed in some detail for both types of models. It is found that fine-tuning of parameters in models with heavy gravitino is much stronger than in models with light gravitino. It is shown that recently proposed time dependent potentials can provide a solution to the problem of the initial conditions only in models with heavy gravitino. Such potentials can not be used to relax fine tuning of parameters in any model because this would lead to values of the spectral index well outside the experimental bounds.Comment: 27 pages, 9 figures, comments and references added, version to be publishe

Faint Infrared Flares from the Microquasar GRS 1915+105

We present simultaneous infrared and X-ray observations of the Galactic microquasar GRS 1915+105 using the Palomar 5-m telescope and Rossi X-ray Timing Explorer on July 10, 1998 UT. Over the course of 5 hours, we observed 6 faint infrared (IR) flares with peak amplitudes of $\sim 0.3-0.6$ mJy and durations of $\sim 500-600$ seconds. These flares are associated with X-ray soft-dip/soft-flare cycles, as opposed to the brighter IR flares associated with X-ray hard-dip/soft-flare cycles seen in August 1997 by Eikenberry et al. (1998). Interestingly, the IR flares begin {\it before} the X-ray oscillations, implying an ``outside-in'' origin of the IR/X-ray cycle. We also show that the quasi-steady IR excess in August 1997 is due to the pile-up of similar faint flares. We discuss the implications of this flaring behavior for understanding jet formation in microquasars.Comment: 10 pages, 4 figures Accepted for publication in ApJ Letter

Exact Microscopic Entropy of Non-Supersymmetric Extremal Black Rings

In this brief note we show that the horizon entropy of the largest known class of non-supersymmetric extremal black rings, with up to six parameters, is exactly reproduced for all values of the ring radius using the same conformal field theory of the four-charge four-dimensional black hole. A particularly simple case is a dipole black ring without any conserved charges. The mass gets renormalized, but the first corrections it receives can be easily understood as an interaction potential energy. Finally, we stress that even if the entropy is correctly reproduced, this only implies that one sector of chiral excitations has been identified, but an understanding of excitations in the other sector is still required in order to capture the black ring dynamics.Comment: 7 pages. v2: minor improvements, ref adde

Scanning the Landscape of Flux Compactifications: Vacuum Structure and Soft Supersymmetry Breaking

We scan the landscape of flux compactifications for the Calabi-Yau manifold $\mathbb{P}^4_{[1,1,1,6,9]}$ with two K\" ahler moduli by varying the value of the flux superpotential $W_0$ over a large range of values. We do not include uplift terms. We find a rich phase structure of AdS and dS vacua. Starting with $W_0\sim 1$ we reproduce the exponentially large volume scenario, but as $W_0$ is reduced new classes of minima appear. One of them corresponds to the supersymmetric KKLT vacuum while the other is a new, deeper non-supersymmetric minimum. We study how the bare cosmological constant and the soft supersymmetry breaking parameters for matter on D7 branes depend on $W_0$, for these classes of minima. We discuss potential applications of our results.Comment: draft format remove

On supersymmetric Minkowski vacua in IIB orientifolds

Supersymmetric Minkowski vacua in IIB orientifold compactifications based on orbifolds with background fluxes and non-perturbative superpotentials are investigated. Especially, microscopic requirements and difficulties to obtain such vacua are discussed. We show that orbifold models with one and two complex structure moduli and supersymmetric 2-form flux can be successfully stabilized to such vacua. By taking additional gaugino condensation on fixed space-time filling D3-branes into account also models without complex structure can be consistently stabilized to Minkowski vacua.Comment: 17 pages, 2 figures; More detailed proof for absence of complex flat directions in susy AdS vacua given; Footnotes and reference adde

Systematics of Moduli Stabilization, Inflationary Dynamics and Power Spectrum

We study the scalar sector of type IIB superstring theory compactified on Calabi-Yau orientifolds as a place to find a mechanism of inflation in the early universe. In the large volume limit, one can stabilize the moduli in stages using perturbative method. We relate the systematics of moduli stabilization with methods to reduce the number of possible inflatons, which in turn lead to a simpler inflation analysis. Calculating the order-of-magnitude of terms in the equation of motion, we show that the methods are in fact valid. We then give the examples where these methods are used in the literature. We also show that there are effects of non-inflaton scalar fields on the scalar power spectrum. For one of the two methods, these effects can be observed with the current precision in experiments, while for the other method, the effects might never be observable.Comment: 20 pages, JHEP style; v.2 and v.3: typos fixed, discussion and references adde