Incremental learning of skills in a task-parameterized Gaussian Mixture Model

The final publication is available at link.springer.comProgramming by demonstration techniques facilitate the programming of robots. Some of them allow the generalization of tasks through parameters, although they require new training when trajectories different from the ones used to estimate the model need to be added. One of the ways to re-train a robot is by incremental learning, which supplies additional information of the task and does not require teaching the whole task again. The present study proposes three techniques to add trajectories to a previously estimated task-parameterized Gaussian mixture model. The first technique estimates a new model by accumulating the new trajectory and the set of trajectories generated using the previous model. The second technique permits adding to the parameters of the existent model those obtained for the new trajectories. The third one updates the model parameters by running a modified version of the Expectation-Maximization algorithm, with the information of the new trajectories. The techniques were evaluated in a simulated task and a real one, and they showed better performance than that of the existent model.Peer ReviewedPostprint (author's final draft

Elastic forward scattering in the cuprate superconducting state

We investigate the effect of elastic forward scattering on the ARPES spectrum of the cuprate superconductors. In the normal state, small angle scattering from out-of-plane impurities is thought to broaden the ARPES spectral response with minimal effect on the resistivity or the superconducting transition temperature $T_c$. Here we explore how such forward scattering affects the ARPES spectrum in the d-wave superconducting state. Away from the nodal direction, the one-electron impurity scattering rate is found to be suppressed as $\omega$ approaches the gap edge by a cancellation between normal and anomalous scattering processes, leading to a square-root-like feature in the spectral weight as $\omega$ approaches -\Delta_\k from below. For momenta away from the Fermi surface, our analysis suggests that a dirty optimally or overdoped system will still display a sharp but nondispersive peak which could be confused with a quasiparticle spectral feature. Only in cleaner samples should the true dispersing quasiparticle peak become visible. At the nodal point on the Fermi surface, the contribution of the anomalous scattering vanishes and the spectral weight exhibits a Lorentzian quasiparticle peak in both energy and momentum. Our analysis, including a treatment of unitary scatterers and inelastic spin fluctuation scattering, suggests explanations for the sometimes mysterious lineshapes and temperature dependences of the peak structures observed in the \BSCCO system.Comment: 12 pages, 14 figure

Unconventional superconducting pairing by conventional phonons

The common wisdom that the phonon mechanism of electron pairing in the weak-coupling Bardeen-Cooper-Schrieffer (BCS) superconductors leads to conventional s-wave Cooper pairs is revised. An inevitable anisotropy of sound velocity in crystals makes the phonon-mediated attraction of electrons non-local in space providing unconventional Cooper pairs with a nonzero orbital momentum in a wide range of electron densities. As a result of this anisotropy quasi-two dimensional charge carriers undergo a quantum phase transition from an unconventional d-wave superconducting state to a conventional s-wave superconductor with more carriers per unit cell. In the opposite strong-coupling regime rotational symmetry breaking appears as a result of a reduced Coulomb repulsion between unconventional bipolarons dismissing thereby some constraints on unconventional pairing in the Bose-Einstein condensation (BEC) limit. The conventional phonons, and not superexchange, are shown to be responsible for the d-wave symmetry of cuprate superconductors, where the on-site Coulomb repulsion is large.Comment: 4 pages, 4 figures, more references adde

The authenticity and quality of Rhodiola rosea products

BACKGROUND: Rhodiola rosea L. Crassulaceae, root (Golden Root, Arctic Root) is a high-value herbal medicinal product, registered in the UK for the treatment of stress-induced fatigue, exhaustion and anxiety based on traditional use and used throughout Europe as a herbal medicinal product for similar indications. Numerous unregistered supplements are also available. There are several Chinese species used in traditional Chinese medicine (TCM), including Rhodiola crenulata (Hook.f. & Thomoson) that is believed to be a common adulterant in the R. rosea value chain. AIMS: The project is embedded in a larger study aiming to investigate the diverse value chains that lead to the production of R. rosea as an herbal medicinal product or supplement. Here we focus on a comparison of the quality of the finished products and assess any phytochemical variation between products registered under the Traditional Herbal Medicine Products Directive (THMPD) and products obtained from the market without any registration (i.e. generally unlicensed supplements). Our key aim is to establish the extent of the problem in terms of adulteration of consumer products claiming to contain R. rosea (or R. crenulata). METHODS: Approximately 40 commercial products (granulated powders and extracts) were sourced from different suppliers. We analysed these samples using high performance thin layer chromatography (HPTLC), mass spectrometry (MS) and (1)H NMR spectroscopy coupled with multi-variate analysis software following a method previously developed by our group for the analysis of turmeric products. RESULTS: We investigate the phytochemistry of the different species and assess the potential of R. crenulata as an adulterant at the end of the R. rosea value chains. The consistency of the products varies significantly. Approximately one fifth of commercial products that claimed to be R. rosea did not contain rosavin (the key reference markers used to distinguish R. rosea from related species). Moreover some products appeared not to contain salidroside, another marker compound found in other Rhodiola species. Approximately 80% of the remaining commercial products were lower in rosavin content than the registered products and appeared to be adulterated with other Rhodiola species. CONCLUSIONS: The variation in phytochemical constituents present in Rhodiola products available to European buyers via the internet and other sources is a major cause for concern. Adulteration with different species, and other sometimes unknown adulterants, appears to be commonplace. Good quality systems and manufacturing practices, including those required under the THMPD, enable consumers to have confidence that products are authentic and meet a high specification for quality and safety

Measurement Instruments for the Anthropomorphism, Animacy, Likeability, Perceived Intelligence, and Perceived Safety of Robots

This study emphasizes the need for standardized measurement tools for human robot interaction (HRI). If we are to make progress in this field then we must be able to compare the results from different studies. A literature review has been performed on the measurements of five key concepts in HRI: anthropomorphism, animacy, likeability, perceived intelligence, and perceived safety. The results have been distilled into five consistent questionnaires using semantic differential scales. We report reliability and validity indicators based on several empirical studies that used these questionnaires. It is our hope that these questionnaires can be used by robot developers to monitor their progress. Psychologists are invited to further develop the questionnaires by adding new concepts, and to conduct further validations where it appears necessary. © The Author(s) 2008

Electron-phonon vertex in the two-dimensional one-band Hubbard model

Using quantum Monte Carlo techniques, we study the effects of electronic correlations on the effective electron-phonon (el-ph) coupling in a two-dimensional one-band Hubbard model. We consider a momentum-independent bare ionic el-ph coupling. In the weak- and intermediate-correlation regimes, we find that the on-site Coulomb interaction $U$ acts to effectively suppress the ionic el-ph coupling at all electron- and phonon- momenta. In this regime, our numerical simulations are in good agreement with the results of perturbation theory to order $U^2$. However, entering the strong-correlation regime, we find that the forward scattering process stops decreasing and begins to substantially increase as a function of $U$, leading to an effective el-ph coupling which is peaked in the forward direction. Whereas at weak and intermediate Coulomb interactions, screening is the dominant correlation effect suppressing the el-ph coupling, at larger $U$ values irreducible vertex corrections become more important and give rise to this increase. These vertex corrections depend crucially on the renormalized electronic structure of the strongly correlated system.Comment: 5 pages, 4 eps-figures, minor change

Possible isotope effect on the resonance peak formation in high-Tc_c cuprates

Starting from the three-band $p-d$ Hubbard Hamiltonian we derive an effective $t-J$ model including electron-phonon interaction of quasiparticles with optical phonons. Within the effective Hamiltonian we analyze the influence of electronic correlations and electron-phonon interaction on the dynamical spin susceptibility in layered cuprates. We find a huge isotope effect on the resonance peak in the magnetic spin susceptibility, ${Im}\chi({\bf q},\omega)$, seen by inelastic neutron scattering. It results from both the electron-phonon coupling and the electronic correlation effects taken into account beyond random phase approximation(RPA) scheme. We find at optimal doping the isotope coeffiecient $\alpha_{res} \approx 0.35$ which can be further tested experimentally.Comment: revised version, new figure is added. Phys. Rev. B 69, 0945XX (2004); in pres

Interplay of Electron-Phonon Interaction and Electron Correlation in High Temperature Superconductivity

We study the electron-phonon interaction in the strongly correlated superconducting cuprates. Two types of the electron-phonon interactions are introduced in the $t-J$ model; the diagonal and off-diagonal interactions which modify the formation energy of the Zhang-Rice singlet and its transfer integral, respectively. The characteristic phonon-momentum $(\vec q)$ and electron-momentum $(\vec k)$ dependence resulted from the off-diagonal coupling can explain a variety of experiments. The vertex correction for the electron-phonon interaction is formulated in the SU(2) slave-boson theory by taking into account the collective modes in the superconducting ground states. It is shown that the vertex correction enhances the attractive potential for the d-wave paring mediated by phonon with $\vec q=(\pi(1-\delta), 0)$ around $\delta \cong 0.3$ which corresponds to the half-breathing mode of the oxygen motion.Comment: 14 pages, 13 figure

Environmental Hazard Analysis - a Variant of Preliminary Hazard Analysis for Autonomous Mobile Robots

© 2014, Springer Science+Business Media Dordrecht. Robot manufacturers will be required to demonstrate objectively that all reasonably foreseeable hazards have been identified in any robotic product design that is to be marketed commercially. This is problematic for autonomous mobile robots because conventional methods, which have been developed for automatic systems do not assist safety analysts in identifying non-mission interactions with environmental features that are not directly associated with the robot’s design mission, and which may comprise the majority of the required tasks of autonomous robots. In this paper we develop a new variant of preliminary hazard analysis that is explicitly aimed at identifying non-mission interactions by means of new sets of guidewords not normally found in existing variants. We develop the required features of the method and describe its application to several small trials conducted at Bristol Robotics Laboratory in the 2011–2012 period

Stochastic pump effect and geometric phases in dissipative and stochastic systems

The success of Berry phases in quantum mechanics stimulated the study of similar phenomena in other areas of physics, including the theory of living cell locomotion and motion of patterns in nonlinear media. More recently, geometric phases have been applied to systems operating in a strongly stochastic environment, such as molecular motors. We discuss such geometric effects in purely classical dissipative stochastic systems and their role in the theory of the stochastic pump effect (SPE).Comment: Review. 35 pages. J. Phys. A: Math, Theor. (in press