Multi-View Picking: Next-best-view Reaching for Improved Grasping in Clutter

Camera viewpoint selection is an important aspect of visual grasp detection, especially in clutter where many occlusions are present. Where other approaches use a static camera position or fixed data collection routines, our Multi-View Picking (MVP) controller uses an active perception approach to choose informative viewpoints based directly on a distribution of grasp pose estimates in real time, reducing uncertainty in the grasp poses caused by clutter and occlusions. In trials of grasping 20 objects from clutter, our MVP controller achieves 80% grasp success, outperforming a single-viewpoint grasp detector by 12%. We also show that our approach is both more accurate and more efficient than approaches which consider multiple fixed viewpoints.Comment: ICRA 2019 Video: https://youtu.be/Vn3vSPKlaEk Code: https://github.com/dougsm/mvp_gras

On the global symmetries of 6D superconformal field theories

We study global symmetry groups of six-dimensional superconformal field theories (SCFTs). In the Coulomb branch we use field theoretical arguments to predict an upper bound for the global symmetry of the SCFT. We then analyze global symmetry groups of F-theory constructions of SCFTs with a one-dimensional Coulomb branch. While in the vast majority of cases, all of the global symmetries allowed by our Coulomb branch analysis can be realized in F-theory, in a handful of cases we find that F-theory models fail to realize the full symmetry of the theory on the Coulomb branch. In one particularly mysterious case, F-theory models realize several distinct maximal subgroups of the predicted group, but not the predicted group itself.Comment: 47 pages; v2: typos corrected, added the case su(6)* to the analysis of section 5 and section 6.1. v3: references added, minor changes, published versio

Time Optimal Qubit Computer

We present a number of new physical systems that may be addressed using methods of time dependent transformation. A recap of results available for two-state systems is given, with particular emphasis on the AC stark effect. We give some results that are not well known, including the full solution for a two state system in a static electric field with arbitrary direction. Connection with established theorems in time optimal quantum control is given, and a full discussion outlines some advanced results in matrix calculus. In particular, we derive a set of matrix gates relevant to quantum information theory and computation using time optimal unitary operators, and define the hyperbolic equivalent of the quantum brachistochrone problem.Comment: 11 page

A component-based model and language for wireless sensor network applications

Wireless sensor networks are often used by experts in many different fields to gather data pertinent to their work. Although their expertise may not include software engineering, these users are expected to produce low-level software for a concurrent, real-time and resource-constrained computing environment. In this paper, we introduce a component-based model for wireless sensor network applications and a language, Insense, for supporting the model. An application is modelled as a composition of interacting components and the application model is preserved in the Insense implementation where active components communicate via typed channels. The primary design criteria for Insense include: to abstract over low-level concerns for ease of programming; to permit worst-case space and time usage of programs to be determinable; to support the fractal composition of components whilst eliminating implicit dependencies between them; and, to facilitate the construction of low footprint programs suitable for resource-constrained devices. This paper presents an overview of the component model and Insense, and demonstrates how they meet the above criteria.Preprin

Restoration of a brown trout (Salmo trutta L.) population to Loch Enoch, an acified Loch in Galloway, South-West Scotland

The authors present the findings of a restoration project in Loch Enoch in Scotland. There are historical references that brown trout was present in Loch Enoch up to the 1920s but it is believed the acidity of loch triggered the disappearance of Salmo trutta. The recent observed reduction in the acidity of L. Enoch to a level close to that found in nearby lochs with trout populations, suggested that trout might now survive in L. Enoch. For a population to survive, all stages in the life-cycle of a species must be able to develop. Accordingly, tests were undertaken, first with eggs and fry. The availability of food was also studied. In October 1994, 3,000 yearling trout of L. Grannoch origin which had been reared in a local hatchery were distributed throughout the loch. The fish population was studied from 1995-98. The authors conclude that survival of the trout population is possible if the acidity of the loch water remains low

Preventing cervical cancer in rural Tanzania : a program model for health worker trainings

With a focus on Northern Tanzania, this report seeks to demonstrate the need for increased resource allocation to cervical cancer interventions, examine best practices for cervical cancer screening promotion, and develop an intervention and program evaluation framework. The intervention is a training program designed for dispensary-level healthcare providers in the Northern Zone of Tanzania and aims to increase provider awareness and knowledge of cervical cancer, and build skills among providers to educate patients on cervical cancer prevention and screening and treatment resources. This report is purely a program design and planning tool; no new data was collected, nor interventions implemented in the development of report. The first objective of the report is to develop an intervention to be presented to Foundation for Cancer Care in Tanzania (FCCT) and the second is to develop an evaluation framework to be presented to FCCT. FCCT is a non-profit agency working to bring comprehensive cancer services to the region. The program will complement existing and planned services related to cervical cancer prevention and treatment in the Northern Zone of Tanzania, and will be considered for implementation by the Foundation for Cancer Care in Tanzania (FCCT). Part I of the report reviews published literature and data to demonstrate the need for increased resource allocation to cervical cancer interventions and the appropriateness of Northern Tanzania as a case selection. Part I also examines best practices for cervical cancer screening promotion in Northern Tanzania, providing evidence from the published literature to inform Part II, the intervention design and program evaluation framework. Included in the intervention design is a logic model for change, detailed training plans and curriculum, and guidelines for selecting trainers. The report recommends appointments to a local planning team and estimates a timeline and budget for the program. Additionally, the report designs a thorough program evaluation, the objective of which is to measure the effect of training and health education materials on dispensary-level healthcare providers’ awareness, knowledge, and skills regarding cervical cancer prevention.Global Policy StudiesNursin