FabricFolding: Learning Efficient Fabric Folding without Expert Demonstrations

Autonomous fabric manipulation is a challenging task due to complex dynamics and potential self-occlusion during fabric handling. An intuitive method of fabric folding manipulation first involves obtaining a smooth and unfolded fabric configuration before the folding process begins. However, the combination of quasi-static actions such as pick & place and dynamic action like fling proves inadequate in effectively unfolding long-sleeved T-shirts with sleeves mostly tucked inside the garment. To address this limitation, this paper introduces an improved quasi-static action called pick & drag, specifically designed to handle this type of fabric configuration. Additionally, an efficient dual-arm manipulation system is designed in this paper, which combines quasi-static (including pick & place and pick & drag) and dynamic fling actions to flexibly manipulate fabrics into unfolded and smooth configurations. Subsequently, keypoints of the fabric are detected, enabling autonomous folding. To address the scarcity of publicly available keypoint detection datasets for real fabric, we gathered images of various fabric configurations and types in real scenes to create a comprehensive keypoint dataset for fabric folding. This dataset aims to enhance the success rate of keypoint detection. Moreover, we evaluate the effectiveness of our proposed system in real-world settings, where it consistently and reliably unfolds and folds various types of fabrics, including challenging situations such as long-sleeved T-shirts with most parts of sleeves tucked inside the garment. Specifically, our method achieves a coverage rate of 0.822 and a success rate of 0.88 for long-sleeved T-shirts folding

Primordial Black Hole Formation from Inflaton

Measurements of the distances to SNe Ia have produced strong evidence that the Universe is really accelarating, implying the existence of a nearly uniform component of dark energy with the simplest explanation as a cosmological constant. In this paper a small changing cosmological term is proposed, which is a function of a slow-rolling scalar field, by which the de Sitter primordial black holes' properties, for both charged and uncharged cases, are carefully examined and the relationship between the black hole formation and the energy transfer of the inflaton within this cosmological term is eluciatedComment: 6 pages, Late

Hamiltonian formalism in Friedmann cosmology and its quantization

We propose a Hamiltonian formalism for a generalized Friedmann-Roberson-Walker cosmology model in the presence of both a variable equation of state (EOS) parameter $w(a)$ and a variable cosmological constant $\Lambda(a)$, where $a$ is the scale factor. This Hamiltonian system containing 1 degree of freedom and without constraint, gives Friedmann equations as the equation of motion, which describes a mechanical system with a variable mass object moving in a potential field. After an appropriate transformation of the scale factor, this system can be further simplified to an object with constant mass moving in an effective potential field. In this framework, the $\Lambda$ cold dark matter model as the current standard model of cosmology corresponds to a harmonic oscillator. We further generalize this formalism to take into account the bulk viscosity and other cases. The Hamiltonian can be quantized straightforwardly, but this is different from the approach of the Wheeler-DeWitt equation in quantum cosmology.Comment: 7 pages, no figure; v2: matches the version accepted by PR

Superstructure-induced splitting of Dirac cones in silicene

Atomic scale engineering of two-dimensional materials could create devices with rich physical and chemical properties. External periodic potentials can enable the manipulation of the electronic band structures of materials. A prototypical system is 3x3-silicene/Ag(111), which has substrate-induced periodic modulations. Recent angle-resolved photoemission spectroscopy measurements revealed six Dirac cone pairs at the Brillouin zone boundary of Ag(111), but their origin remains unclear [Proc. Natl. Acad. Sci. USA 113, 14656 (2016)]. We used linear dichroism angle-resolved photoemission spectroscopy, the tight-binding model, and first-principles calculations to reveal that these Dirac cones mainly derive from the original cones at the K (K') points of free-standing silicene. The Dirac cones of free-standing silicene are split by external periodic potentials that originate from the substrate-overlayer interaction. Our results not only confirm the origin of the Dirac cones in the 3x3-silicene/Ag(111) system, but also provide a powerful route to manipulate the electronic structures of two-dimensional materials.Comment: 6 pages, 3 figure

Embodied energy use of China's megacities: A comparative study of Beijing and Shanghai

Previous studies presenting city energy-use profiles generally disregard indirect energy use across global supply chains. Moreover, the distinct energy-use patterns of China's megacities remain unclear due to various urban functions and development strategies associated with urbanization. Therefore, a multi-scale single-region input-output model is devised to depict energy-use patterns in two representative Chinese megacities—Beijing and Shanghai. This model highlights the distinct upstream sources of city energy use, elucidating regional-international connections. The distinct evolutionary features of the two cities' energy-use structures are presented from a consumption-based perspective. The results show that the growth of Beijing and Shanghai depend heavily on embodied energy resources from other domestic or foreign regions. Further, as Beijing is the country's political center, a considerable amount of its energy use is attributed to government activities. In contrast, 6.05% of the energy consumption in Shanghai, China's financial center, depends on foreign energy sources, whereas the corresponding value in Beijing is only 4.2%. In terms of time-series evolutionary features, the growth rate of Beijing's energy use is notably lower than that of Shanghai due to different development modes during 2002–2012. Comparing these two typical cities' energy-use profiles highlights the urgent need for globally-oriented inclusive governance, and energy conservation policies based on distinct city functions and development plans

Matter loops corrected modified gravity in Palatini formulation

Recently, corrections to the standard Einstein-Hilbert action are proposed to explain the current cosmic acceleration in stead of introducing dark energy. In the Palatini formulation of those modified gravity models, there is an important observation due to Arkani-Hamed: matter loops will give rise to a correction to the modified gravity action proportional to the Ricci scalar of the metric. In the presence of such term, we show that the current forms of modified gravity models in Palatini formulation, specifically, the 1/R gravity and $\ln R$ gravity, will have phantoms. Then we study the possible instabilities due to the presence of phantom fields. We show that the strong instability in the metric formulation of 1/R gravity indicated by Dolgov and Kawasaki will not appear and the decay timescales for the phantom fields may be long enough for the theories to make sense as effective field theory . On the other hand, if we change the sign of the modification terms to eliminate the phantoms, some other inconsistencies will arise for the various versions of the modified gravity models. Finally, we comment on the universal property of the Palatini formulation of the matter loops corrected modified gravity models and its implications.Comment: 11 pages, 1 figures, References adde

Magnetic levitation force between a superconducting bulk magnet and a permanent magnet

The current density in a disk-shaped superconducting bulk magnet and the magnetic levitation force exerted on the superconducting bulk magnet by a cylindrical permanent magnet are calculated from first principles. The effect of the superconducting parameters of the superconducting bulk is taken into account by assuming the voltage-current law and the material law. The magnetic levitation force is dominated by the remnant current density, which is induced by switching off the applied magnetizing field. High critical current density and flux creep exponent may increase the magnetic levitation force. Large volume and high aspect ratio of the superconducting bulk can enhance the magnetic levitation force further.Comment: 18 pages and 8 figure

Birkhoff's Theorem in f(T) Gravity up to the Perturbative Order

f(T) gravity, a generally modified teleparallel gravity, has become very popular in recent times as it is able to reproduce the unification of inflation and late-time acceleration without the need of a dark energy component or an inflation field. In this present work, we investigate specifically the range of validity of Birkhoff's theorem with the general tetrad field via perturbative approach. At zero order, Birkhoff's theorem is valid and the solution is the well known Schwarzschild-(A)dS metric. Then considering the special case of the diagonal tetrad field, we present a new spherically symmetric solution in the frame of f(T) gravity up to the perturbative order. The results with the diagonal tetrad field satisfy the physical equivalence between the Jordan and the so-called Einstein frames, which are realized via conformal transformation, at least up to the first perturbative order.Comment: 8 pages, no figure. Final version, accepted for publication in EPJ

Composition dependence of electronic structure and optical properties of Hf1-xSixOy gate dielectrics

Copyright © 2008 American Institute of Physics. This article is copyrighted as indicated in the article. Reuse of AIP content is subject to the terms at: http://scitation.aip.org/termsconditionsComposition-dependent electronic structure and optical properties of Hf1−xSixOy 0.1 x 0.6 gate dielectrics on Si at 450 °C grown by UV-photo-induced chemical vapor deposition UV-CVD have been investigated via x-ray photoemission spectroscopy and spectroscopy ellipsometry SE . By means of the chemical shifts in the Hf 4f, Si 2p, and O 1s spectra, the Hf–O–Si bondings in the as-deposited films have been confirmed. Analyses of composition-dependent band alignment of Hf1−xSixOy / Si gate stacks have shown that the valence band VB offset Ev demonstrates little change; however, the values of conduction band offset Ec increase with the increase in the silicon atomic composition, resulting from the increase in the separation between oxygen 2p orbital VB state and antibonding d states intermixed of Hf and Si. Analysis by SE, based on the Tauc–Lorentz model, has indicated that decreases in the optical dielectric constant and increase in band gap have been observed as a function of silicon contents. Changes in the complex dielectric functions and band gap Eg related to the silicon concentration in the films are discussed systematically. From the band offset and band gap viewpoint, these results suggest that Hf1−xSixOy films provide sufficient tunneling barriers for electrons and holes, making them promising candidates as alternative gate dielectrics.National Natural Science Foundation of China and Royal Society U.K

The challenges and opportunities of artificial intelligence in implementing trustworthy robotics and autonomous systems

Effective Robots and Autonomous Systems (RAS) must be trustworthy. Trust is essential in designing autonomous and semi-autonomous technologies, because “No trust, no use”. RAS should provide high quality of services, with the four key properties that make it trust, i.e. they must be (i) robust for any health issues, (ii) safe for any matters in their surrounding environments, (iii) secure for any threats from cyber spaces, and (iv) trusted for human-machine interaction. We have thoroughly analysed the challenges in implementing the trustworthy RAS in respects of the four properties, and addressed the power of AI in improving the trustworthiness of RAS. While we put our eyes on the benefits that AI brings to human, we should realise the potential risks that could be caused by AI. The new concept of human-centred AI will be the core in implementing the trustworthy RAS. This review could provide a brief reference for the research on AI for trustworthy RAS