Information acquisition using eye-gaze tracking for person-following with mobile robots

In the effort of developing natural means for human-robot interaction (HRI), signifcant amount of research has been focusing on Person-Following (PF) for mobile robots. PF, which generally consists of detecting, recognizing and following people, is believed to be one of the required functionalities for most future robots that share their environments with their human companions. Research in this field is mostly directed towards fully automating this functionality, which makes the challenge even more tedious. Focusing on this challenge leads research to divert from other challenges that coexist in any PF system. A natural PF functionality consists of a number of tasks that are required to be implemented in the system. However, in more realistic life scenarios, not all the tasks required for PF need to be automated. Instead, some of these tasks can be operated by human operators and therefore require natural means of interaction and information acquisition. In order to highlight all the tasks that are believed to exist in any PF system, this paper introduces a novel taxonomy for PF. Also, in order to provide a natural means for HRI, TeleGaze is used for information acquisition in the implementation of the taxonomy. TeleGaze was previously developed by the authors as a means of natural HRI for teleoperation through eye-gaze tracking. Using TeleGaze in the aid of developing PF systems is believed to show the feasibility of achieving a realistic information acquisition in a natural way

Quantum Simulation of the Hubbard Model: The Attractive Route

We study the conditions under which, using a canonical transformation, the phases sought after for the repulsive Hubbard model, namely a Mott insulator in the paramagnetic and anti-ferromagnetic phases, and a putative d-wave superfluid can be deduced from observations in an optical lattice loaded with a spin-imbalanced ultra-cold Fermi gas with attractive interactions, thus realizing the attractive Hubbard model. We show that the Mott insulator and antiferromagnetic phase of the repulsive Hubbard model are in fact more easy to observe as a paired, and superfluid phase respectively, in the attractive Hubbard model. The putative d-wave superfluid phase of the repulsive Hubbard model doped away from half-filling is related to a d-wave antiferromagnetic phase for the attractive Hubbard model. We discuss the advantages of this approach to 'quantum simulate' the Hubbard model in an optical lattice over the approach that attempts to directly simulate the doped Hubbard model in the repulsive regime. We also point out a number of technical difficulties of the proposed approach and, in some cases, suggest possible solutions.Comment: 11 pages, 5 figs. New version as accepted in PRA. We have clarified the models we are discussing in various places, and expanded on the critical number estimate to include both K40 and Li6 in section V. Also added reference

On pattern classification algorithms - Introduction and survey

Pattern recognition algorithms, and mathematical techniques of estimation, decision making, and optimization theor

Magnetism and Mott Transition: A Slave-rotor Study

Motivated by the debate of spin-density-wave (SDW) versus local-moment (LM) picture in the iron-based superconducting (FeSC) materials, we consider a two-band orbital-symmetric Hubbard model in which there is robust Fermi surface nesting at $(\pi,0)$. We obtain the phase diagram of such system by a mean-field slave-rotor approach, in which the Fermi surface nesting and the SDW order are explicitly taken into account via a natural separation of scale between the Hund's coupling and the Coulomb interaction. We find that for a sizable range of Hund's coupling the Mott transition acquires a strong first-order character, but there also exists a small range of stronger Hund's coupling in which an enhancement of magnetization can be observed on the SDW side. We interpret the former scenario as one in which a sharp distinction can be drawn between LM and the SDW picture, and the latter scenario as one in which signs of LM physics begin to develop in the metallic phase. It is tempting to suggest that some FeSC materials are in the vicinity of the latter scenario.Comment: 7 pages, 5 figures; v2: Added discussions on anisotropy in renormalized hopping, clarifications and discussions with regard to orbital order, new inset in Fig. 3(d), expanded and revised bibliography, plus other minor revisions. Accepted to PR