54,684 research outputs found
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 CuBiSe
We propose three possible momentum-dependent pairing potentials for candidate
of topological superconductor (for example CuBiSe), 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 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
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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 . 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
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