Autonomous Robust Skill Generation Using Reinforcement Learning with Plant Variation

This paper discusses an autonomous space robot for a truss structure assembly using some reinforcement learning. It is difficult for a space robot to complete contact tasks within a real environment, for example, a peg-in-hole task, because of error between the real environment and the controller model. In order to solve problems, we propose an autonomous space robot able to obtain proficient and robust skills by overcoming error to complete a task. The proposed approach develops skills by reinforcement learning that considers plant variation, that is, modeling error. Numerical simulations and experiments show the proposed method is useful in real environments

Increased fitness of a key appendicularian zooplankton species under warmer, acidified seawater conditions

Ocean warming and acidification (OA) may alter the fitness of species in marine pelagic ecosystems through community effects or direct physiological impacts. We used the zooplanktonic appendicularian, Oikopleura dioica, to assess temperature and pH effects at mesocosm and microcosm scales. In mesocosms, both OA and warming positively impacted O. dioica abundance over successive generations. In microcosms, the positive impact of OA, was observed to result from increased fecundity. In contrast, increased pH, observed for example during phytoplankton blooms, reduced fecundity. Oocyte fertility and juvenile development were equivalent under all pH conditions, indicating that the positive effect of lower pH on O. dioica abundance was principally due to increased egg number. This effect was influenced by food quantity and quality, supporting possible improved digestion and assimilation at lowered pH. Higher temperature resulted in more rapid growth, faster maturation and earlier reproduction. Thus, increased temperature and reduced pH had significant positive impacts on O. dioica fitness through increased fecundity and shortened generation time, suggesting that predicted future ocean conditions may favour this zooplankton species. © 2018 Bouquet et al. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited

Experimental demonstration of phase-remapping attack in a practical quantum key distribution system

Unconditional security proofs of various quantum key distribution (QKD) protocols are built on idealized assumptions. One key assumption is: the sender (Alice) can prepare the required quantum states without errors. However, such an assumption may be violated in a practical QKD system. In this paper, we experimentally demonstrate a technically feasible "intercept-and-resend" attack that exploits such a security loophole in a commercial "plug & play" QKD system. The resulting quantum bit error rate is 19.7%, which is below the proven secure bound of 20.0% for the BB84 protocol. The attack we utilize is the phase-remapping attack (C.-H. F. Fung, et al., Phys. Rev. A, 75, 32314, 2007) proposed by our group.Comment: 16 pages, 6 figure

Dispersive properties of quasi-phase-matched optical parametric amplifiers

The dispersive properties of non-degenerate optical parametric amplification in quasi-phase-matched (QPM) nonlinear quadratic crystals with an arbitrary grating profile are theoretically investigated in the no-pump-depletion limit. The spectral group delay curve of the amplifier is shown to be univocally determined by its spectral power gain curve through a Hilbert transform. Such a constraint has important implications on the propagation of spectrally-narrow optical pulses through the amplifier. In particular, it is shown that anomalous transit times, corresponding to superluminal or even negative group velocities, are possible near local minima of the spectral gain curve. A possible experimental observation of such effects using a QPM Lithium-Niobate crystal is suggested.Comment: submitted for publicatio

Hacking commercial quantum cryptography systems by tailored bright illumination

The peculiar properties of quantum mechanics allow two remote parties to communicate a private, secret key, which is protected from eavesdropping by the laws of physics. So-called quantum key distribution (QKD) implementations always rely on detectors to measure the relevant quantum property of single photons. Here we demonstrate experimentally that the detectors in two commercially available QKD systems can be fully remote-controlled using specially tailored bright illumination. This makes it possible to tracelessly acquire the full secret key; we propose an eavesdropping apparatus built of off-the-shelf components. The loophole is likely to be present in most QKD systems using avalanche photodiodes to detect single photons. We believe that our findings are crucial for strengthening the security of practical QKD, by identifying and patching technological deficiencies.Comment: Revised version, rewritten for clarity. 5 pages, 5 figures. To download the Supplementary information (which is in open access), go to the journal web site at http://dx.doi.org/10.1038/nphoton.2010.21

Controlling a superconducting nanowire single-photon detector using tailored bright illumination

We experimentally demonstrate that a superconducting nanowire single-photon detector is deterministically controllable by bright illumination. We found that bright light can temporarily make a large fraction of the nanowire length normally-conductive, can extend deadtime after a normal photon detection, and can cause a hotspot formation during the deadtime with a highly nonlinear sensitivity. In result, although based on different physics, the superconducting detector turns out to be controllable by virtually the same techniques as avalanche photodiode detectors. As demonstrated earlier, when such detectors are used in a quantum key distribution system, this allows an eavesdropper to launch a detector control attack to capture the full secret key without being revealed by to many errors in the key.Comment: Expanded discussions, updated references. 9 pages, 8 figure

Detector decoy quantum key distribution

Photon number resolving detectors can enhance the performance of many practical quantum cryptographic setups. In this paper, we employ a simple method to estimate the statistics provided by such a photon number resolving detector using only a threshold detector together with a variable attenuator. This idea is similar in spirit to that of the decoy state technique, and is specially suited for those scenarios where only a few parameters of the photon number statistics of the incoming signals have to be estimated. As an illustration of the potential applicability of the method in quantum communication protocols, we use it to prove security of an entanglement based quantum key distribution scheme with an untrusted source without the need of a squash model and by solely using this extra idea. In this sense, this detector decoy method can be seen as a different conceptual approach to adapt a single photon security proof to its physical, full optical implementation. We show that in this scenario the legitimate users can now even discard the double click events from the raw key data without compromising the security of the scheme, and we present simulations on the performance of the BB84 and the 6-state quantum key distribution protocols.Comment: 27 pages, 7 figure

Superlinear threshold detectors in quantum cryptography

We introduce the concept of a superlinear threshold detector, a detector that has a higher probability to detect multiple photons if it receives them simultaneously rather than at separate times. Highly superlinear threshold detectors in quantum key distribution systems allow eavesdropping the full secret key without being revealed. Here, we generalize the detector control attack, and analyze how it performs against quantum key distribution systems with moderately superlinear detectors. We quantify the superlinearity in superconducting single-photon detectors based on earlier published data, and gated avalanche photodiode detectors based on our own measurements. The analysis shows that quantum key distribution systems using detector(s) of either type can be vulnerable to eavesdropping. The avalanche photodiode detector becomes superlinear towards the end of the gate, allowing eavesdropping using trigger pulses containing less than 120 photons per pulse. Such an attack would be virtually impossible to catch with an optical power meter at the receiver entrance.Comment: Rewritten for clearity. Included a discussion on detector dark counts, a discussion on how to tackle this type of loopholes, and updated references. 8 pages, 6 figure

Qualitative study of system-level factors related to genomic implementation

PURPOSE: Research on genomic medicine integration has focused on applications at the individual level, with less attention paid to implementation within clinical settings. Therefore, we conducted a qualitative study using the Consolidated Framework for Implementation Research (CFIR) to identify system-level factors that played a role in implementation of genomic medicine within Implementing GeNomics In PracTicE (IGNITE) Network projects. METHODS: Up to four study personnel, including principal investigators and study coordinators from each of six IGNITE projects, were interviewed using a semistructured interview guide that asked interviewees to describe study site(s), progress at each site, and factors facilitating or impeding project implementation. Interviews were coded following CFIR inner-setting constructs. RESULTS: Key barriers included (1) limitations in integrating genomic data and clinical decision support tools into electronic health records, (2) physician reluctance toward genomic research participation and clinical implementation due to a limited evidence base, (3) inadequate reimbursement for genomic medicine, (4) communication among and between investigators and clinicians, and (5) lack of clinical and leadership engagement. CONCLUSION: Implementation of genomic medicine is hindered by several system-level barriers to both research and practice. Addressing these barriers may serve as important facilitators for studying and implementing genomics in practice