4,151 research outputs found
Obstacle Avoidance and Proscriptive Bayesian Programming
Unexpected events and not modeled properties of the robot environment are some of
the challenges presented by situated robotics research field. Collision avoidance is a basic security
requirement and this paper proposes a probabilistic approach called Bayesian Programming, which
aims to deal with the uncertainty, imprecision and incompleteness of the information handled to
solve the obstacle avoidance problem. Some examples illustrate the process of embodying the
programmer preliminary knowledge into a Bayesian program and experimental results of these
examples implementation in an electrical vehicle are described and commented. A video illustration
of the developed experiments can be found at http://www.inrialpes.fr/sharp/pub/laplac
Proscriptive Bayesian Programming Application for Collision Avoidance
Evolve safely in an unchanged environment
and possibly following an optimal trajectory is one big
challenge presented by situated robotics research field. Collision
avoidance is a basic security requirement and this
paper proposes a solution based on a probabilistic approach
called Bayesian Programming. This approach aims to deal
with the uncertainty, imprecision and incompleteness of the
information handled. Some examples illustrate the process
of embodying the programmer preliminary knowledge into
a Bayesian program and experimental results of these examples
implementation in an electrical vehicle are described
and commented. Some videos illustrating these experiments
can be found at http://www-laplace.imag.fr
Separability of a Low-Momentum Effective Nucleon-Nucleon Potential
A realistic nucleon-nucleon potential is transformed into a low-momentum
effective one (LMNN) using the Okubo theory. The separable potentials are
converted from the LMNN with a universal separable expansion method and a
simple Legendre expansion. Through the calculation of the triton binding
energies, the separability for the convergence of these ranks is evaluated. It
is found that there is a tendency for the lower momentum cutoff parameter
of LMNN to gain good separability.Comment: 6 pages, 1 tabl
Cross-Disciplinary Analysis of the On-Farm Transition from Conventional to Organic Vegetable Production
This farm-scale analysis of the three-year transition to organic from conventional vegetable production tracked the changes in crop, soil, pest and management on two ranches (40 and 47 ha) in the Salinas Valley, California. Many small plantings of a diverse set of cash crop and cover crop species were used, as compared to only a few species in large monocultures in conventional production. The general trends with time were: increase in soil biological indicators, low soil nitrate pools, adequate crop nutrients, minor disease and weed problems, and sporadic mild insect damage. Some crops and cultivars consistently produced higher yields than others, relative to the maximum yield for a given crop. Differences in insect and disease damage were also observed. These results support the value of initially using a biodiverse set of taxa to reduce risk, then later choosing the best-suited varieties for optimal production. The grower used some principles of organic farming (e.g., crop diversity, crop rotation, and organic matter management), but also relied on substitution-based management, such as fertigation with soluble nutrients, initially heavy applications of organic pesticides, and use of inputs derived from off-farm sources. The organic transition was conducive to both production goals and environmental quality
Complex Energy Method in 4-Body Faddeev-Yakubovsky Equations
The Complex Energy Method [Prog. Theor. Phys. {\bf 109}, 869L (2003)] is
applied to the 4-body Faddeev-Yakubovsky equations in the 4-nucleon system. We
obtain a well converged solution in all energy regions below and above the
4-nucleon break-up threshold.Comment: 4 pages (ReVTeX), 4 figures, Phys. Rev. C, in printin
Threshold Analysis of Non-Binary Spatially-Coupled LDPC Codes with Windowed Decoding
In this paper we study the iterative decoding threshold performance of
non-binary spatially-coupled low-density parity-check (NB-SC-LDPC) code
ensembles for both the binary erasure channel (BEC) and the binary-input
additive white Gaussian noise channel (BIAWGNC), with particular emphasis on
windowed decoding (WD). We consider both (2,4)-regular and (3,6)-regular
NB-SC-LDPC code ensembles constructed using protographs and compute their
thresholds using protograph versions of NB density evolution and NB extrinsic
information transfer analysis. For these code ensembles, we show that WD of
NB-SC-LDPC codes, which provides a significant decrease in latency and
complexity compared to decoding across the entire parity-check matrix, results
in a negligible decrease in the near-capacity performance for a sufficiently
large window size W on both the BEC and the BIAWGNC. Also, we show that
NB-SC-LDPC code ensembles exhibit gains in the WD threshold compared to the
corresponding block code ensembles decoded across the entire parity-check
matrix, and that the gains increase as the finite field size q increases.
Moreover, from the viewpoint of decoding complexity, we see that (3,6)-regular
NB-SC-LDPC codes are particularly attractive due to the fact that they achieve
near-capacity thresholds even for small q and W.Comment: 6 pages, 8 figures; submitted to 2014 IEEE International Symposium on
Information Theor
Stau relic density at the Big-Bang nucleosynthesis era consistent with the abundance of the light element nuclei in the coannihilation scenario
We calculate the relic density of stau at the beginning of the Big-Bang
Nucleosynthesis (BBN) era in the coannihilation scenario of minimal
supersymmetric standard model (MSSM). In this scenario, stau can be long-lived
and form bound states with nuclei. We put constraints on the parameter space of
MSSM by connecting the calculation of the relic density of stau to the
observation of the light elements abundance, which strongly depends on the
relic density of stau. Consistency between the theoretical prediction and the
observational result, both of the dark matter abundance and the light elements
abundance, requires the mass difference between the lighter stau and the
lightest neutralino to be around 100MeV, the stau mass to be 300 -- 400 GeV,
and the mixing angle of the left and right-handed staus to be
.Comment: 9 pages, 5 figures, figure 5 correcte
Curie-like paramagnetism due to incomplete Zhang-Rice singlet formation in La2-xSrxCuO4
In an effort to elucidate the origin of the Curie-like paramagnetism that is
generic for heavily-overdoped cuprates, we have performed high transverse-field
muon spin rotation (TF-muSR) measurements of La2-xSrxCuO4 single crystals over
the Sr content range 0.145 < x < 0.33. We show that the x-dependence of the
previously observed field-induced broadening of the internal magnetic field
distribution above the superconducting transition temperature Tc reflects the
presence of two distinct contributions. One of these becomes less pronounced
with increasing x and is attributed to diminishing antiferromagnetic
correlations. The other grows with increasing x, but decreases above x ~ 0.30,
and is associated with the Curie-like term in the bulk magnetic susceptibility.
In contrast to the Curie-like term, however, this second contribution to the
TF-muSR line width extends back into the underdoped regime. Our findings imply
a coexistence of antiferromagnetically correlated and paramagnetic moments,
with the latter becoming dominant beyond x ~ 0.185. This suggests that the
doped holes do not neutralize all Cu spins via the formation of Zhang-Rice
singlets. Moreover, the paramagnetic component of the TF-muSR line width is
explained by holes progressively entering the Cu 3d_{x^2-y^2} orbital with
doping.Comment: 8 pages, 7 figure
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