Integration of touch attention mechanisms to improve the robotic haptic exploration of surfaces

This text presents the integration of touch attention mechanisms to improve the efficiency of the action-perception loop, typically involved in active haptic exploration tasks of surfaces by robotic hands. The progressive inference of regions of the workspace that should be probed by the robotic system uses information related with haptic saliency extracted from the perceived haptic stimulus map (exploitation) and a “curiosity”-inducing prioritisation based on the reconstruction's inherent uncertainty and inhibition-of-return mechanisms (exploration), modulated by top-down influences stemming from current task objectives, updated at each exploration iteration. This work also extends the scope of the top-down modulation of information presented in a previous work, by integrating in the decision process the influence of shape cues of the current exploration path. The Bayesian framework proposed in this work was tested in a simulation environment. A scenario made of three different materials was explored autonomously by a robotic system. The experimental results show that the system was able to perform three different haptic discontinuity following tasks with a good structural accuracy, demonstrating the selectivity and generalization capability of the attention mechanisms. These experiments confirmed the fundamental contribution of the haptic saliency cues to the success and accuracy of the execution of the tasks

An upper bound on the Kaon B-parameter and Re(epsilon_K)

New precise data in B physics and theoretical developments in K physics lead us to reconsider the weak K^0-\bar{K}^0 transition from a large-N_c viewpoint, N_c being the number of colors. In this framework, we infer an upper limit on \hat{B}_K and the Kaon indirect CP violation.Comment: 11 pages, 4 figures. V2 : Minor corrections, final version accepted for publication in JHE

CP properties of symmetry-constrained two-Higgs-doublet models

The two-Higgs-doublet model can be constrained by imposing Higgs-family symmetries and/or generalized CP symmetries. It is known that there are only six independent classes of such symmetry-constrained models. We study the CP properties of all cases in the bilinear formalism. An exact symmetry implies CP conservation. We show that soft breaking of the symmetry can lead to spontaneous CP violation (CPV) in three of the classes.Comment: 14 pages, 2 tables, revised version adapted to the journal publicatio

Triple Higgs coupling in the most general 2HDM at SM-like scenario

We consider the triple Higgs coupling for h(125) Higgs boson within the most general 2HDM. At moderate values of parameters of model, allowing by modern data, noticeable deviation of this coupling from its SM value is improbable. This deviation can be sizable only if some measurable parameters of the model are exotic

The flavor puzzle in multi-Higgs models

We reconsider the flavor problem in the models with two Higgs doublets. By studying two generation toy models, we look for flavor basis independent constraints on Yukawa couplings that will give us the mass hierarchy while keeping all Yukawa couplings of the same order. We then generalize our findings to the full three generation Standard Model. We find that we need two constraints on the Yukawa couplings to generate the observed mass hierarchy, and a slight tuning of Yukawa couplings of order 10%, much less than the Standard Model. We briefly study how these constraints can be realized, and show how flavor changing currents are under control for $K-\bar{K}$ mixing in the near-decoupling limit.Comment: 26 pages, typos are corrected, references are added, the final versio

Minimal lepton flavor violating realizations of minimal seesaw models

We study the implications of the global U(1)R symmetry present in minimal lepton flavor violating implementations of the seesaw mechanism for neutrino masses. In the context of minimal type I seesaw scenarios with a slightly broken U(1)R, we show that, depending on the R-charge assignments, two classes of generic models can be identified. Models where the right-handed neutrino masses and the lepton number breaking scale are decoupled, and models where the parameters that slightly break the U(1)R induce a suppression in the light neutrino mass matrix. We show that within the first class of models, contributions of right-handed neutrinos to charged lepton flavor violating processes are severely suppressed. Within the second class of models we study the charged lepton flavor violating phenomenology in detail, focusing on mu to e gamma, mu to 3e and mu to e conversion in nuclei. We show that sizable contributions to these processes are naturally obtained for right-handed neutrino masses at the TeV scale. We then discuss the interplay with the effects of the right-handed neutrino interactions on primordial B - L asymmetries, finding that sizable right-handed neutrino contributions to charged lepton flavor violating processes are incompatible with the requirement of generating (or even preserving preexisting) B - L asymmetries consistent with the observed baryon asymmetry of the Universe.Comment: 21 pages, 4 figures; version 2: Discussion on possible generic models extended, typos corrected, references added. Version matches publication in JHE

Probing top charged-Higgs production using top polarization at the Large Hadron Collider

We study single top production in association with a charged Higgs in the type II two Higgs doublet model at the Large Hadron Collider. The polarization of the top, reflected in the angular distributions of its decay products, can be a sensitive probe of new physics in its production. We present theoretically expected polarizations of the top for top charged-Higgs production, which is significantly different from that in the closely related process of t-W production in the Standard Model. We then show that an azimuthal symmetry, constructed from the decay lepton angular distribution in the laboratory frame, is a sensitive probe of top polarization and can be used to constrain parameters involved in top charged-Higgs production.Comment: 22 pages, 18 Figures, Discussions about backgrounds and NLO corrections added, figures modified, references added, Version published in JHE