A natural-language interface to a mobile robot

The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot

Surface Spectral Function of Momentum-dependent Pairing Potentials in a Topological Insulator: Application to Cux_xBi2_2Se3_3

We propose three possible momentum-dependent pairing potentials for candidate of topological superconductor (for example Cu$_x$Bi$_2$Se$_3$), and calculate the surface spectral function and surface density of state with these pairing potentials. We find that the first two can give the same spectral functions as the fully-gapped and node-contacted pairing potentials given in [Phys. Rev. Lett. 105, 097001], and that the third one can obtain topological non-trivial case which exists flat Andreev bound state and preserves the $C_3$ rotation symmetry. We hope our proposals and results be judged by future experiment.Comment: 5 pages, 3 figure

Finite-size scaling of out-of-time-ordered correlators at late times

Chaotic dynamics in quantum many-body systems scrambles local information so that at late times it can no longer be accessed locally. This is reflected quantitatively in the out-of-time-ordered correlator of local operators, which is expected to decay to zero with time. However, for systems of finite size, out-of-time-ordered correlators do not decay exactly to zero and in this paper we show that the residual value can provide useful insights into the chaotic dynamics. When energy is conserved, the late-time saturation value of the out-of-time-ordered correlator of generic traceless local operators scales as an inverse polynomial in the system size. This is in contrast to the inverse exponential scaling expected for chaotic dynamics without energy conservation. We provide both analytical arguments and numerical simulations to support this conclusion.Comment: improved presentatio

A holistic multimodal approach to the non-invasive analysis of watercolour paintings

A holistic approach using non-invasive multimodal imaging and spectroscopic techniques to study the materials (pigments, drawing materials and paper) and painting techniques of watercolour paintings is presented. The non-invasive imaging and spectroscopic techniques include VIS-NIR reflectance spectroscopy and multispectral imaging, micro-Raman spectroscopy, X-ray fluorescence spectroscopy (XRF) and optical coherence tomography (OCT). The three spectroscopic techniques complement each other in pigment identification. Multispectral imaging (near infrared bands), OCT and micro-Raman complement each other in the visualisation and identification of the drawing material. OCT probes the microstructure and light scattering properties of the substrate while XRF detects the elemental composition that indicates the sizing methods and the filler content . The multiple techniques were applied in a study of forty six 19th century Chinese export watercolours from the Victoria & Albert Museum (V&A) and the Royal Horticultural Society (RHS) to examine to what extent the non-invasive analysis techniques employed complement each other and how much useful information about the paintings can be extracted to address art conservation and history questions

EAM Modulated DBR Laser Array for TWDM-PON Applications

4 Channel DBR laser arrays are fabricated for use in optical line terminals of TWDM-PON systems. These combine 1.4Q InGaAsP material in the DBR with EAMs using the identical active layer design. A tuning range ~10 nm and extinction ratio of >27 dB are measured

Experimental and Numerical Investigation on Progressive Collapse Resistance of Post-tensioned Precast Concrete Beam-Column Sub-assemblages

In this paper, four 1/2 scaled precast concrete (PC) beam-column sub-assemblages with high performance connection were tested under push-down loading procedure to study the load resisting mechanism of PC frames subjected to different column removal scenarios. The parameters investigated include the location of column removal and effective prestress in tendons. The test results indicated that the failure modes of unbonded post-tensioned precast concrete (PTPC) frames were different from that of reinforced concrete (RC) frames: no cracks formed in the beams and wide opening formed near the beam to column interfaces. For specimens without overhanging beams, the failure of side column was eccentric compression failure. Moreover, the load resisting mechanisms in PC frames were significantly different from that of RC frames: the compressive arch action (CAA) developed in concrete during column removal was mainly due to actively applied pre-compressive stress in the concrete; CAA will not vanish when severe crush in concrete occurred. Thus, it may provide negative contribution for load resistance when the displacement exceeds one-beam depth; the tensile force developed in the tendons could provide catenary action from the beginning of the test. Moreover, to deeper understand the behavior of tested specimens, numerical analyses were carried out. The effects of concrete strength, axial compression ratio at side columns, and loading approaches on the behavior of the sub-assemblages were also investigated based on validated numerical analysis

On Dust Extinction of Gamma-ray Burst Host Galaxies

Although it is well recognized that gamma-ray burst (GRB) afterglows are obscured and reddened by dust in their host galaxies, the wavelength-dependence and quantity of dust extinction are still poorly known. Current studies on this mostly rely on fitting the afterglow spectral energy distributions (SEDs) with template extinction models. The inferred extinction (both quantity and wavelength-dependence) and dust-to-gas ratios are often in disagreement with that obtained from dust depletion and X-ray spectroscopy studies. We argue that this discrepancy could result from the prior assumption of a template extinction law. We propose an analytical formula to approximate the GRB host extinction law. With the template extinction laws self-contained, and the capability of revealing extinction laws differing from the conventional ones, it is shown that this is a powerful approach in modeling the afterglow SEDs to derive GRB host extinction.Comment: 9 pages, 4 figures; The Astrophysical Journal, in press (2008 Oct 1 issue

Topological Gauge Structure and Phase Diagram for Weakly Doped Antiferromagnets

We show that the topological gauge structure in the phase string theory of the {\rm t-J} model gives rise to a global phase diagram of antiferromagnetic (AF) and superconducting (SC) phases in a weakly doped regime. Dual confinement and deconfinement of holons and spinons play essential roles here, with a quantum critical point at a doping concentration $x_c\simeq 0.043$. The complex experimental phase diagram at low doping is well described within such a framework.Comment: 4 pages, 2 figures, modified version, to appear in Phys. Rev. Let