Self-supervised learning: When is fusion of the primary and secondary sensor cue useful?

Self-supervised learning (SSL) is a reliable learning mechanism in which a robot enhances its perceptual capabilities. Typically, in SSL a trusted, primary sensor cue provides supervised training data to a secondary sensor cue. In this article, a theoretical analysis is performed on the fusion of the primary and secondary cue in a minimal model of SSL. A proof is provided that determines the specific conditions under which it is favorable to perform fusion. In short, it is favorable when (i) the prior on the target value is strong or (ii) the secondary cue is sufficiently accurate. The theoretical findings are validated with computational experiments. Subsequently, a real-world case study is performed to investigate if fusion in SSL is also beneficial when assumptions of the minimal model are not met. In particular, a flying robot learns to map pressure measurements to sonar height measurements and then fuses the two, resulting in better height estimation. Fusion is also beneficial in the opposite case, when pressure is the primary cue. The analysis and results are encouraging to study SSL fusion also for other robots and sensors

Tools to tie: Flower characteristics, voc emission profile, and glandular trichomes of two mexican salvia species to attract bees

A plant can combine physical and chemical tools to interact with other organisms. Some are designed for pollinator attraction (i.e., colors and volatile organic compounds-VOCs); others can act to discourage herbivores (i.e., non-glandular trichomes). Few studies fully address available tools in a single species; notwithstanding, this information can be pivotal in understanding new interactions out of the home range. We characterized flower traits, emission profiles of constitutive compounds from flowers and leaves, micro-morphology of the glandular trichomes, and listed flower visitors of two Mexican bird-pollinated Salvia species (S. blepharophylla and S. greggii), growing in an Italian botanical garden. Flowers were highly variable in their morphometric characteristics. In both species, four trichome morphotypes with similar histochemistry and distribution were documented for leaves and flowers except the calyx abaxial side. The vegetative emission profiles were qualitatively more complex than the floral ones; however, common compounds occurring in high relative percentages were β-caryophyllene and germacrene D. Floral bouquets were dominated by limonene and β-pinene in S. greggii and by 1,8-cineole in S. blepharophylla. Two potential (non-bird) pollinators were especially abundant: small bees belonging to the genus Lasioglossum and large bees belonging to the species Xylocopa violacea. Our study highlights the plasticity of these plants, as well as tools that can be conveniently used to establish novel interactions

What is the evidence for giving chemoprophylaxis to children or students attending the same preschool, school or college as a case of meningococcal disease?

We performed a systematic literature review to assess the effectiveness of chemoprophylaxis for contacts of sporadic cases of invasive meningococcal disease (IMD) in educational settings. No studies directly compared IMD risk in contacts with/without chemoprophylaxis. However, compared to the background incidence, an elevated IMD risk was identified in settings without a general recommendation for chemoprophylaxis in pre-schools [pooled risk difference (RD) 58·2/10⁵, 95% confidence interval (CI) 27·3-89·0] and primary schools (pooled RD 4·9/10⁵, 95% CI 2·9-6·9) in the ~30 days after contact with a sporadic IMD case, but not in other educational settings. Thus, limited but consistent evidence suggests the risk of IMD in pre-school contacts of sporadic IMD cases is significantly increased above the background risk, but lower than in household contacts (pooled RD for household contacts with no chemoprophylaxis vs. background incidence: 480·1/10⁵, 95% CI 321·5-639·9). We recommend chemoprophylaxis for pre-school contacts depending on an assessment of duration and closeness of contact

Measurement of the Positive Muon Lifetime and Determination of the Fermi Constant to Part-per-Million Precision

We report a measurement of the positive muon lifetime to a precision of 1.0 parts per million (ppm); it is the most precise particle lifetime ever measured. The experiment used a time-structured, low-energy muon beam and a segmented plastic scintillator array to record more than 2 x 10^{12} decays. Two different stopping target configurations were employed in independent data-taking periods. The combined results give tau_{mu^+}(MuLan) = 2196980.3(2.2) ps, more than 15 times as precise as any previous experiment. The muon lifetime gives the most precise value for the Fermi constant: G_F(MuLan) = 1.1663788 (7) x 10^-5 GeV^-2 (0.6 ppm). It is also used to extract the mu^-p singlet capture rate, which determines the proton's weak induced pseudoscalar coupling g_P.Comment: Accepted for publication in Phys. Rev. Let

Dielectric Characterization of Breast Biopsied Tissues as Pre-Pathological Aid in Early Cancer Detection: A Blinded Feasibility Study

Dielectric characterization has significant potential in several medical applications, providing valuable insights into the electromagnetic properties of biological tissues for disease diagnosis, treatment planning, and monitoring of therapeutic interventions. This work presents the use of a custom-designed electromagnetic characterization system, based on an open-ended coaxial probe, for discriminating between benign and malignant breast tissues in a clinical setting. The probe’s development involved a well-balanced compromise between physical feasibility and its combined use with a reconstruction algorithm known as the virtual transmission line model (VTLM). Immediately following the biopsy procedure, the dielectric properties of the breast tissues were reconstructed, enabling tissue discrimination based on a rule-of-thumb using the obtained dielectric parameters. A comparative analysis was then performed by analyzing the outcomes of the dielectric investigation with respect to conventional histological results. The experimental procedure took place at Complejo Hospitalario Universitario de Toledo—Hospital Virgen de la Salud, Spain, where excised breast tissues were collected and subsequently analyzed using the dielectric characterization system. A comprehensive statistical evaluation of the probe’s performance was carried out, obtaining a sensitivity, specificity, and accuracy of 81.6%, 61.5%, and 73.4%, respectively, compared to conventional histological assessment, considered as the gold standard in this investigation

Spontaneous oxidation of disordered fcc FePt nanoparticles

In this work we present new results on spontaneous oxidation of disordered fcc FePt nanoparticles. The "as-made" oleic acid and oleylamine coated FePt nanoparticles of average size 4 nm synthesized by a high-boiling coordinating solvent method were exposed to air over a period of days and characterized structurally and magnetically by means of different techniques such as XANES, XPS, EXAFS, and SQUID magnetometry. The "as-made" FePt nanoparticles stabilize in the disordered fcc structure and have a very low magnetic saturation (M(s)=11 emu/g) and a huge coercive field (H_(c)=1800 Oe) compared to the low temperature bulk values of the disordered fcc FePt. We observed that the coercive field and the magnetic saturation change with the time the sample is exposed to air and these changes are associated with the oxidation or passivation of the nanoparticle surface that gives place to a core-shell structure. Indeed, the study on the electronic properties of the nanoparticles confirms the magnetic results and indicates that when the nanoparticles are exposed to air, changes in the oxidation state of both Fe and Pt occur, the oxidation state of Fe coming close to hematite. The formation of hematite tends to soften the "as-made" FePt nanoparticles as observed by the reduction of the coercive field to almost one third of the original value. Although the hematite softens the FePt nanoparticles, there is an exchange coupling at the interface of the core-shell characterized by the increase of the coercive field from 300 to 900 Oe when the sample is cooled in an applied field of 50 kOe

Improved Measurement of the Positive Muon Lifetime and Determination of the Fermi Constant

The mean life of the positive muon has been measured to a precision of 11 ppm using a low-energy, pulsed muon beam stopped in a ferromagnetic target, which was surrounded by a scintillator detector array. The result, tau_mu = 2.197013(24) us, is in excellent agreement with the previous world average. The new world average tau_mu = 2.197019(21) us determines the Fermi constant G_F = 1.166371(6) x 10^-5 GeV^-2 (5 ppm). Additionally, the precision measurement of the positive muon lifetime is needed to determine the nucleon pseudoscalar coupling g_P.Comment: As published version (PRL, July 2007

Quantum phase gate with a selective interaction

We present a proposal for implementing quantum phase gates using selective interactions. We analize selectivity and the possibility to implement these gates in two particular systems, namely, trapped ions and Cavity QED.Comment: Four pages of TEX file and two EPS figures. Submitted for publicatio

NEMO-SN1 (Western Ionian Sea, off Eastern Sicily): A Cabled Abyssal Observatory with Tsunami Early Warning Capability

The NEMO-SN1 (NEutrino Mediterranean Observatory - Submarine Network 1) seafloor observatory is located in the central Mediterranean, Western Ionian Sea, off Eastern Sicily Island (Southern Italy) at 2100 m water depth, 25 km from the harbour of the city of Catania. It is a prototype of cabled deep-sea multiparameter observatory, and the first operating with real-time data transmission in Europe since 2005. NEMO-SN1 is also the first-established node of EMSO (European Multidisciplinary Seafloor Observatory, http://emso-eu.org), one of the European large-scale research infrastructures. EMSO will address long-term monitoring of environmental processes related to marine ecosystems, climate change and geo-hazards. NEMO-SN1 will perform geophysical and environmental long-term monitoring by acquiring seismological, geomagnetic, gravimetric, accelerometric, physico-oceanographic, hydro-acoustic, bio-acoustic measurements to study earthquake and tsunami generation, and to characterize ambient noise which includes marine mammal sounds, and environmental and anthropogenic sources. NEMO-SN1 is also equipped with a prototype tsunami detector, based on the simultaneous measurement of the seismic and bottom pressure signals and a new high performance tsunami detection algorithm. NEMO-SN1 will be a permanent tsunami early warning node in Western Ionian Sea, an area where very destructive earthquakes have occurred in the past, some of them tsunamigenic (e.g., 1693, M=7.5; 1908, M=7.4). Another important feature of NEMO-SN1 is the installation of a low frequency-high sensibility hydrophone and two (scalar and vector, respectively) magnetometers. The objective is to improve the tsunami detection capability of SN1 through the recognition of tsunami-induced hydro-acoustic and electro-magnetic precursors.SubmittedRhodes, Greece3A. Ambiente Marinorestricte

Observing Volcanoes from the Seafloor in the Central Mediterranean Area

The three volcanoes that are the object of this paper show different types of activity that are representative of the large variety of volcanism present in the Central Mediterranean area. Etna and Stromboli are sub-aerial volcanoes, with significant part of their structure under the sea, while the Marsili Seamount is submerged, and its activity is still open to debate. The study of these volcanoes can benefit from multi-parametric observations from the seafloor. Each volcano was studied with a different kind of observation system. Stromboli seismic recordings are acquired by means of a single Ocean Bottom Seismometer (OBS). From these data, it was possible to identify two different magma chambers at different depths. At Marsili Seamount, gravimetric and seismic signals are recorded by a battery-powered multi-disciplinary observatory (GEOSTAR). Gravimetric variations and seismic Short Duration Events (SDE) confirm the presence of hydrothermal activity. At the Etna observation site, seismic signals, water pressure, magnetic field and acoustic echo intensity are acquired in real-time thanks to a cabled multi-disciplinary observatory (NEMO-SN1 ). This observatory is one of the operative nodes of the European Multidisciplinary Seafloor and water-column Observatory (EMSO; www.emso-eu.org) research infrastructure. Through a multidisciplinary approach, we speculate about deep Etna sources and follow some significant events, such as volcanic ash diffusion in the seawater