First results in terrain mapping for a roving planetary explorer

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain

Quantum phase transition of dynamical resistance in a mesoscopic capacitor

We study theoretically dynamic response of a mesoscopic capacitor, which consists of a quantum dot connected to an electron reservoir via a point contact and capacitively coupled to a gate voltage. A quantum Hall edge state with a filling factor nu is realized in a strong magnetic field applied perpendicular to the two-dimensional electron gas. We discuss a noise-driven quantum phase transition of the transport property of the edge state by taking into account an ohmic bath connected to the gate voltage. Without the noise, the charge relaxation for nu>1/2 is universally quantized at R_q=h/(2e^2), while for nu<1/2, the system undergoes the Kosterlitz-Thouless transtion, which drastically changes the nature of the dynamical resistance. The phase transition is facilitated by the noisy gate voltage, and we see that it can occur even for an integer quantum Hall edge at nu=1. When the dissipation by the noise is sufficiently small, the quantized value of R_q is shifted by the bath impedance.Comment: 5 pages, 2 figures, proceeding of the 19th International Conference on the Application of High Magnetic Fields in Semiconductor Physics and Nanotechnology (HMF-19

Electric-field induced capillary interaction of charged particles at a polar interface

We study the electric-field induced capillary interaction of charged particles at a polar interface. The algebraic tails of the electrostatic pressure of each charge results in a deformation of the interface $u\sim \rho ^{-4}$. The resulting capillary interaction is repulsive and varies as $\rho ^{-6}$ with the particle distance. As a consequence, electric-field induced capillary forces cannot be at the origin of the secondary minimum observed recently for charged PMMA particles at on oil-water interface.Comment: June 200

Cancellation of UV Divergences in the N=4 SUSY Nonlinear Sigma Model in Three Dimensions

We study the UV properties of the three-dimensional ${\cal N}=4$ SUSY nonlinear sigma model whose target space is $T^*(CP^{N-1})$ (the cotangent bundle of $CP^{N-1}$) to higher orders in the 1/N expansion. We calculate the $\beta$-function to next-to-leading order and verify that it has no quantum corrections at leading and next-to-leading orders.Comment: 10 pages, 2 figures. references adde

Electronic structure and effects of dynamical electron correlation in ferromagnetic bcc-Fe, fcc-Ni and antiferromagnetic NiO

LDA+DMFT method in the framework of the iterative perturbation theory (IPT) with full LDA Hamiltonian without mapping onto the effective Wannier orbitals. We then apply this LDA+DMFT method to ferromagnetic bcc-Fe and fcc-Ni as a test of transition metal, and to antiferromagnetic NiO as an example of transition metal oxide. In Fe and Ni, the width of occupied 3d bands is narrower than those in LDA and Ni 6eV satellite appears. In NiO, the resultant electronic structure is of charge-transfer insulator type and the band gap is 4.3eV. These results are in good agreement with the experimental XPS. The configuration mixing and dynamical correlation effects play a crucial role in these results

Crystal structure of the human p58 killer cell inhibitory receptor (KIR2DL3) specific for HLA-Cw3-related MHC class I

AbstractBackground: T cells and natural killer (NK) cells perform complementary roles in the cellular immune system. T cells identify infected cells directly through recognition of antigenic peptides that are displayed at the target cell surface by the classical major histocompatibility complex (MHC) class I molecules. NK cells monitor the target cell surface for malfunction of this display system, lysing potentially infected cells that might otherwise evade recognition by the T cells. Human killer cell inhibitory receptors (KIRs) control this process by either inhibiting or activating the cytotoxic activity of NK cells via specific binding to MHC class I molecules on the target cell.Results: We report the crystal structure of the extracellular region of the human p58 KIR (KIR2DL3), which is specific for the human MHC class I molecule HLA-Cw3 and related alleles. The structure shows the predicted topology of two tandem immunoglobulin-like domains, but comparison with the previously reported structure of the related receptor KIR2DL1 reveals an unexpected change of 23° in the relative orientation of these domains.Conclusions: The altered orientation of the immunoglobulin-like domains maintains an unusually acute interdomain elbow angle, which therefore appears to be a distinctive feature of the KIRs. The putative MHC class I binding site is located on the outer surface of the elbow, spanning both domains. The unexpected observation that this binding site can be modulated by differences in the relative domain orientations has implications for the general mechanism of KIR–MHC class I complex formation

First Detection of Near-Infrared Intraday Variations in the Seyfert 1 Nucleus NGC4395

We carried out a one-night optical V and near-infrared JHK monitoring observation of the least luminous Seyfert 1 galaxy, NGC4395, on 2004 May 1, and detected for the first time the intraday flux variations in the J and H bands, while such variation was not clearly seen for the K band. The detected J and H variations are synchronized with the flux variation in the V band, which indicates that the intraday-variable component of near-infrared continuum emission of the NGC4395 nucleus is an extension of power-law continuum emission to the near-infrared and originates in an outer region of the central accretion disk. On the other hand, from our regular program of long-term optical BVI and near-infrared JHK monitoring observation of NGC4395 from 2004 February 12 until 2005 January 22, we found large flux variations in all the bands on time scales of days to months. The optical BVI variations are almost synchronized with each other, but not completely with the near-infrared JHK variations. The color temperature of the near-infrared variable component is estimated to be T=1320-1710 K, in agreement with thermal emission from hot dust tori in active galactic nuclei (AGNs). We therefore conclude that the near-infrared variation consists of two components having different time scales, so that a small K-flux variation on a time scale of a few hours would possibly be veiled by large variation of thermal dust emission on a time scale of days.Comment: 4 pages including figures, accepted for publication in ApJ

EvIcon: Designing High-Usability Icon with Human-in-the-loop Exploration and IconCLIP

Interface icons are prevalent in various digital applications. Due to limited time and budgets, many designers rely on informal evaluation, which often results in poor usability icons. In this paper, we propose a unique human-in-the-loop framework that allows our target users, i.e., novice and professional UI designers, to improve the usability of interface icons efficiently. We formulate several usability criteria into a perceptual usability function and enable users to iteratively revise an icon set with an interactive design tool, EvIcon. We take a large-scale pre-trained joint image-text embedding (CLIP) and fine-tune it to embed icon visuals with icon tags in the same embedding space (IconCLIP). During the revision process, our design tool provides two types of instant perceptual usability feedback. First, we provide perceptual usability feedback modeled by deep learning models trained on IconCLIP embeddings and crowdsourced perceptual ratings. Second, we use the embedding space of IconCLIP to assist users in improving icons' visual distinguishability among icons within the user-prepared icon set. To provide the perceptual prediction, we compiled IconCEPT10K, the first large-scale dataset of perceptual usability ratings over $10,000$ interface icons, by conducting a crowdsourcing study. We demonstrated that our framework could benefit UI designers' interface icon revision process with a wide range of professional experience. Moreover, the interface icons designed using our framework achieved better semantic distance and familiarity, verified by an additional online user study