Coupling of excited molecules to surface plasmon and other modes of dielectric/metal structures

Imperial Users onl

Corridor Navigation for Monocular Vision Mobile Robots

Monocular vision robots use a single camera to process information about its environment. By analyzing this scene, the robot can determine the best navigation direction. Many modern approaches to robot hallway navigation involve using a plethora of sensors to detect certain features in the environment. This can be laser range finders, inertial measurement units, motor encoders, and cameras. By combining all these sensors, there is unused data which could be useful for navigation. To draw back and develop a baseline approach, this thesis explores the reliability and capability of solely using a camera for navigation. The basic navigation structure begins by taking frames from the camera and breaking them down to find the most prominent lines. The location where these lines intersect determine the forward direction to drive the robot. To improve the accuracy of navigation, algorithm improvements and additional features from the camera frames are used. This includes line intersection weighting to reduce noise from extraneous lines, floor segmentation to improve rotational stability, and person detection

Beyond Short Snippets: Deep Networks for Video Classification

Convolutional neural networks (CNNs) have been extensively applied for image recognition problems giving state-of-the-art results on recognition, detection, segmentation and retrieval. In this work we propose and evaluate several deep neural network architectures to combine image information across a video over longer time periods than previously attempted. We propose two methods capable of handling full length videos. The first method explores various convolutional temporal feature pooling architectures, examining the various design choices which need to be made when adapting a CNN for this task. The second proposed method explicitly models the video as an ordered sequence of frames. For this purpose we employ a recurrent neural network that uses Long Short-Term Memory (LSTM) cells which are connected to the output of the underlying CNN. Our best networks exhibit significant performance improvements over previously published results on the Sports 1 million dataset (73.1% vs. 60.9%) and the UCF-101 datasets with (88.6% vs. 88.0%) and without additional optical flow information (82.6% vs. 72.8%)

Roborodentia 2016 - Autonomous Omnidirectional Ring Moving Robot

Our team created an autonomous omnidirectional driving robot that was capable of small micro adjustments to accurately follow the black guide line using four motors. This omnidirectional robot used a linear potentiometer to raise and lower the grabbing mechanism. The grabbing mechanism was a claw with 3D printed extensions which increased the amount of rings that could be picked up in a single motion. We expect this methodology of quick driving and streamlined movements would be a deciding factor in scoring points for our team

Retardation of cochlear maturation and impaired hair cell function caused by deletion of all known thyroid hormone receptors

The deafness caused by early onset hypothyroidism indicates that thyroid hormone is essential for the development of hearing. We investigated the underlying roles of the TRa1 and TRß thyroid hormone receptors in the auditory system using receptor-deficient mice. TRa1 and TRß, which act as hormone-activated transcription factors, are encoded by the Thra and Thrb genes, respectively, and both are expressed in the developing cochlea. TRß is required for hearing because TRß-deficient (Thrb tm1/tm1) mice have a defective auditory-evoked brainstem response and retarded expression of a potassium current (I K,f) in the cochlear inner hair cells. Here, we show that although TRa1 is individually dispensable, TRa1 and TRß synergistically control an extended array of functions in postnatal cochlear development. Compared with Thrb tm1/tm1 mice, the deletion of all TRs inThra tm1/tm1 Thrb tm1/tm1mice produces exacerbated and novel phenotypes, including delayed differentiation of the sensory epithelium, malformation of the tectorial membrane, impairment of electromechanical transduction in outer hair cells, and a low endocochlear potential. The induction ofI K,f in inner hair cells was not markedly more retarded than in Thrb tm1/tm1mice, suggesting that this feature of hair cell maturation is primarily TRß-dependent. These results indicate that distinct pathways mediated by TRß alone or by TRß and TRa1 together facilitate control over an extended range of functions during the maturation of the cochlea