Experimental study of contact transition control incorporating joint acceleration feedback

Joint acceleration and velocity feedbacks are incorporated into a classical internal force control of a robot in contact with the environment. This is intended to achieve a robust contact transition and force tracking performance for varying unknown environments, without any need of adjusting the controller parameters, A unified control structure is proposed for free motion, contact transition, and constrained motion in view of the consumption of the initial kinetic energy generated by a nonzero impact velocity. The influence of the velocity and acceleration feedbacks, which are introduced especially for suppressing the transition oscillation, on the postcontact tracking performance is discussed. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for environments of various stiffnesses, including elastic (sponge), less elastic (cardboard), and hard (steel plate) surfaces. Results are compared with those obtained by the transition control scheme without the acceleration feedback. The ability of the proposed control scheme in resisting the force disturbance during the postcontact period is also experimentally investigated

Scalable Compression of Deep Neural Networks

Deep neural networks generally involve some layers with mil- lions of parameters, making them difficult to be deployed and updated on devices with limited resources such as mobile phones and other smart embedded systems. In this paper, we propose a scalable representation of the network parameters, so that different applications can select the most suitable bit rate of the network based on their own storage constraints. Moreover, when a device needs to upgrade to a high-rate network, the existing low-rate network can be reused, and only some incremental data are needed to be downloaded. We first hierarchically quantize the weights of a pre-trained deep neural network to enforce weight sharing. Next, we adaptively select the bits assigned to each layer given the total bit budget. After that, we retrain the network to fine-tune the quantized centroids. Experimental results show that our method can achieve scalable compression with graceful degradation in the performance.Comment: 5 pages, 4 figures, ACM Multimedia 201

Objective analysis of observational data from the FGGE observing systems

An objective analysis procedure for updating the GLAS second and fourth order general atmospheric circulation models using observational data from the first GARP global experiment is described. The objective analysis procedure is based on a successive corrections method and the model is updated in a data assimilation cycle. Preparation of the observational data for analysis and the objective analysis scheme are described. The organization of the program and description of the required data sets are presented. The program logic and detailed descriptions of each subroutine are given

Unusual persistence of superconductivity against high magnetic fields in the strongly-correlated iron-chalcogenide film FeTe:Ox_{x}

We report an unusual persistence of superconductivity against high magnetic fields in the iron chalcogenide film FeTe:O$_{x}$ below ~ 2.5 K. Instead of saturating like a mean-field behavior with a single order parameter, the measured low-temperature upper critical field increases progressively, suggesting a large supply of superconducting states accessible via magnetic field or low-energy thermal fluctuations. We demonstrate that superconducting states of finite momenta can be realized within the conventional theory, despite its questionable applicability. Our findings reveal a fundamental characteristic of superconductivity and electronic structure in the strongly-correlated iron-based superconductors.Comment: 10 pages, 3 figure

Wave mixing of optical pulses and Bose-Einstein condensates

We investigate theoretically the four-wave mixing of optical and matter waves resulting from the scattering of a short light pulse off an atomic Bose-Einstein condensate, as recently demonstrated by D. Schneble {\em et al.} [ Science {\bf 300}, 475 (2003)]. We show that atomic ``pair production'' from the condensate results in the generation of both forward- and backward-propagating matter waves. These waves are characterized by different phase-matching conditions, resulting in different angular distributions and temporal evolutions.Comment: 4+\epsilon pages, 3 figure

Spherically symmetric trapping horizons, the Misner-Sharp mass and black hole evaporation

Understood in terms of pure states evolving into mixed states, the possibility of information loss in black holes is closely related to the global causal structure of spacetime, as is the existence of event horizons. However, black holes need not be defined by event horizons, and in fact we argue that in order to have a fully unitary evolution for black holes, they should be defined in terms of something else, such as a trapping horizon. The Misner-Sharp mass in spherical symmetry shows very simply how trapping horizons can give rise to black hole thermodynamics, Hawking radiation and singularities. We show how the Misner-Sharp mass can also be used to give insights into the process of collapse and evaporation of locally defined black holes.Comment: 9 pages, 10 figure

Transport in Graphene Tunnel Junctions

We present a technique to fabricate tunnel junctions between graphene and Al and Cu, with a Si back gate, as well as a simple theory of tunneling between a metal and graphene. We map the differential conductance of our junctions versus probe and back gate voltage, and observe fluctuations in the conductance that are directly related to the graphene density of states. The conventional strong-suppression of the conductance at the graphene Dirac point can not be clearly demonstrated, but a more robust signature of the Dirac point is found: the inflection in the conductance map caused by the electrostatic gating of graphene by the tunnel probe. We present numerical simulations of our conductance maps, confirming the measurement results. In addition, Al causes strong n-doping of graphene, Cu causes a moderate p-doping, and in high resistance junctions, phonon resonances are observed, as in STM studies.Comment: 22 pages, 5 figure

Stokes Parameters as a Minkowskian Four-vector

It is noted that the Jones-matrix formalism for polarization optics is a six-parameter two-by-two representation of the Lorentz group. It is shown that the four independent Stokes parameters form a Minkowskian four-vector, just like the energy-momentum four-vector in special relativity. The optical filters are represented by four-by-four Lorentz-transformation matrices. This four-by-four formalism can deal with partial coherence described by the Stokes parameters. A four-by-four matrix formulation is given for decoherence effects on the Stokes parameters, and a possible experiment is proposed. It is shown also that this Lorentz-group formalism leads to optical filters with a symmetry property corresponding to that of two-dimensional Euclidean transformations.Comment: RevTeX, 22 pages, no figures, submitted to Phys. Rev.