Object and Landscape

In several recent projects we have been inspired by an investigation into the roots of the quintessential American building pattern of placing pavilions in the landscape. This pattern, which has dominated American home building

Comparing Computing Platforms for Deep Learning on a Humanoid Robot

The goal of this study is to test two different computing platforms with respect to their suitability for running deep networks as part of a humanoid robot software system. One of the platforms is the CPU-centered Intel NUC7i7BNH and the other is a NVIDIA Jetson TX2 system that puts more emphasis on GPU processing. The experiments addressed a number of benchmarking tasks including pedestrian detection using deep neural networks. Some of the results were unexpected but demonstrate that platforms exhibit both advantages and disadvantages when taking computational performance and electrical power requirements of such a system into account.Comment: 12 pages, 5 figure

Effective free energy for pinned membranes

We consider membranes adhered through specific receptor-ligand bonds. Thermal undulations of the membrane induce effective interactions between adhesion sites. We derive an upper bound to the free energy that is independent of interaction details. To lowest order in a systematic expansion we obtain two-body interactions which allow to map the free energy onto a lattice gas with constant density. The induced interactions alone are not strong enough to lead to a condensation of individual adhesion sites. A measure of the thermal roughness is shown to depend on the inverse square root of the density of adhesion sites, which is in good agreement with previous computer simulations.Comment: to appear as a Rapid Communication in Phys. Rev.

Mobility and Diffusion of a Tagged Particle in a Driven Colloidal Suspension

We study numerically the influence of density and strain rate on the diffusion and mobility of a single tagged particle in a sheared colloidal suspension. We determine independently the time-dependent velocity autocorrelation functions and, through a novel method, the response functions with respect to a small force. While both the diffusion coefficient and the mobility depend on the strain rate the latter exhibits a rather weak dependency. Somewhat surprisingly, we find that the initial decay of response and correlation functions coincide, allowing for an interpretation in terms of an 'effective temperature'. Such a phenomenological effective temperature recovers the Einstein relation in nonequilibrium. We show that our data is well described by two expansions to lowest order in the strain rate.Comment: submitted to EP

Linear response theory and transient fluctuation theorems for diffusion processes: a backward point of view

On the basis of perturbed Kolmogorov backward equations and path integral representation, we unify the derivations of the linear response theory and transient fluctuation theorems for continuous diffusion processes from a backward point of view. We find that a variety of transient fluctuation theorems could be interpreted as a consequence of a generalized Chapman-Kolmogorov equation, which intrinsically arises from the Markovian characteristic of diffusion processes

Current-Induced Spin Polarization in Gallium Nitride

Electrically generated spin polarization is probed directly in bulk GaN using Kerr rotation spectroscopy. A series of n-type GaN epilayers are grown in the wurtzite phase both by molecular beam epitaxy (MBE) and metalorganic chemical vapor deposition (MOCVD) with a variety of doping densities chosen to broadly modulate the transverse spin lifetime, T2*. The spin polarization is characterized as a function of electrical excitation energy over a range of temperatures. Despite weak spin-orbit interactions in GaN, a current-induced spin polarization (CISP) is observed in the material at temperatures of up to 200 K.Comment: 16 pages, 3 figure

Random pinning limits the size of membrane adhesion domains

Theoretical models describing specific adhesion of membranes predict (for certain parameters) a macroscopic phase separation of bonds into adhesion domains. We show that this behavior is fundamentally altered if the membrane is pinned randomly due to, e.g., proteins that anchor the membrane to the cytoskeleton. Perturbations which locally restrict membrane height fluctuations induce quenched disorder of the random-field type. This rigorously prevents the formation of macroscopic adhesion domains following the Imry-Ma argument [Y. Imry and S. K. Ma, Phys. Rev. Lett. 35, 1399 (1975)]. Our prediction of random-field disorder follows from analytical calculations, and is strikingly confirmed in large-scale Monte Carlo simulations. These simulations are based on an efficient composite Monte Carlo move, whereby membrane height and bond degrees of freedom are updated simultaneously in a single move. The application of this move should prove rewarding for other systems also.Comment: revised and extended versio

On Silicon Carbide Grains as the Carrier of the 21 Micron Emission Feature in Post-Asymptotic Giant Branch Stars

The mysterious 21mu emission feature seen in 12 proto-planetary nebulae (PPNe) remains unidentified since its first detection in 1989. Over a dozen of candidate materials have been proposed within the past decade, but none of them has received general acceptance. Very recently, silicon carbide (SiC) grains with impurities were suggested to be the carrier of this enigmatic feature, based on recent laboratory data that doped SiC grains exhibit a resonance at \~21mu. This proposal gains strength from the fact that SiC is a common dust species in carbon-rich circumstellar envelopes. However, SiC dust has a strong vibrational band at ~11.3mu. We show in this Letter that in order to be consistent with the observed flux ratios of the 11.3mu feature to the 21mu feature, the band strength of the 21mu resonance has to be very strong, too strong to be consistent with current laboratory measurements. But this does not yet readily rule out the SiC hypothesis since recent experimental results have demonstrated that the 21mu resonance of doped SiC becomes stronger as the C impurity increases. Further laboratory measurements of SiC dust with high fractions of C impurity are urgently needed to test the hypothesis of SiC as the carrier of the 21mu feature.Comment: 14 pages, 3 figures, accepted for publication in ApJ

A Real-Time Ball Detection Approach Using Convolutional Neural Networks

Ball detection is one of the most important tasks in the context of soccer-playing robots. The ball is a small moving object which can be blurred and occluded in many situations. Several neural network based methods with different architectures are proposed to deal with the ball detection. However, they are either neglecting to consider the computationally low resources of humanoid robots or highly depend on manually-tuned heuristic methods to extract the ball candidates. In this paper, we propose a new ball detection method for low-cost humanoid robots that can detect most soccer balls with a high accuracy rate of up to 97.17%. The proposed method is divided into two steps. First, some coarse regions that may contain a full ball are extracted using an iterative method employing an efficient integral image based feature. Then they are fed to a light-weight convolutional neural network to finalize the bounding box of a ball. We have evaluated the proposed approach using a comprehensive dataset and the experimental results show the efficiency of our method