Estimation of nonparametric regression models with a mixture of Berkson and classical errors

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A screw theory based approach to determining the identifiable parameters for calibration of parallel manipulators

Establishing complete, continuous and minimal error models is fundamentally significant for the calibration of robotic manipulators. Motivated by practical needs for models suited to coarse plus fine calibration strategies, this paper presents a screw theory based approach to determining the identifiable geometric errors of parallel manipulators at the model level. The paper first addresses two specific issues: (1) developing a simple approach that enables all encoder offsets to be retained in the minimal error model of serial kinematic chains; and (2) exploiting a fully justifiable criterion that allows the detection of the unidentifiable structural errors of parallel manipulators. Merging these two threads leads to a new, more rigorous formula for calculating precisely the number of identifiable geometric errors, including both encoder offsets and identifiable structural errors, of parallel manipulators. It shows that the identifiability of structural errors in parallel manipulators depends highly upon joint geometry and actuator arrangement of the limb involved. The process is used to determine the unidentifiable structural errors of two lower mobility parallel mechanisms to illustrate the effectiveness of the proposed approach

Benefits of physical activity not affected by air pollution: a prospective cohort study

BACKGROUND: Physical activity (PA) is beneficial to human health, whereas long-term exposure to air pollution is harmful. However, their combined effects remain unclear. We aimed to estimate the combined (interactive) mortality effects of PA and long-term exposure to fine particulate matter (PM2.5) among older adults in Hong Kong. METHODS: Participants aged ≥65 years from the Elderly Health Service Cohort (n = 66 820) reported their habitual PA at baseline (1998-2001) and were followed up till 31 December 2011. We used a satellite-based spatiotemporal model to estimate PM2.5 concentration at the residential address for each participant. We used Cox proportional hazards regression to assess the interaction between habitual PA and long-term exposure to PM2.5 on cardiovascular and respiratory mortality. We tested for additive interaction by estimating relative excess risk due to interaction and multiplicative interaction employing P-value for the interaction term. RESULTS: The death risks were inversely associated with a higher volume of PA and were positively associated with long-term exposure to PM2.5. The benefits of PA were more pronounced for participation in traditional Chinese exercise (e.g. Tai Chi) and aerobic exercise (e.g. cycling). We found little evidence of interaction between PA (volume and type) and long-term exposure to PM2.5 on either additive or multiplicative scales. CONCLUSIONS: In this cohort of older Chinese adults, PA may decrease the risk of mortality, be it in areas of relatively good or bad air quality. The beneficial mortality effects of habitual PA outweighed the detrimental effects of long-term exposure to air pollution in Hong Kong

Robust and clean Majorana zero mode in the vortex core of high-temperature superconductor (Li0.84Fe0.16)OHFeSe

The Majorana fermion, which is its own anti-particle and obeys non-abelian statistics, plays a critical role in topological quantum computing. It can be realized as a bound state at zero energy, called a Majorana zero mode (MZM), in the vortex core of a topological superconductor, or at the ends of a nanowire when both superconductivity and strong spin orbital coupling are present. A MZM can be detected as a zero-bias conductance peak (ZBCP) in tunneling spectroscopy. However, in practice, clean and robust MZMs have not been realized in the vortices of a superconductor, due to contamination from impurity states or other closely-packed Caroli-de Gennes-Matricon (CdGM) states, which hampers further manipulations of Majorana fermions. Here using scanning tunneling spectroscopy, we show that a ZBCP well separated from the other discrete CdGM states exists ubiquitously in the cores of free vortices in the defect free regions of (Li0.84Fe0.16)OHFeSe, which has a superconducting transition temperature of 42 K. Moreover, a Dirac-cone-type surface state is observed by angle-resolved photoemission spectroscopy, and its topological nature is confirmed by band calculations. The observed ZBCP can be naturally attributed to a MZM arising from this chiral topological surface states of a bulk superconductor. (Li0.84Fe0.16)OHFeSe thus provides an ideal platform for studying MZMs and topological quantum computing.Comment: 32 pages, 15 figures (supplementary materials included), accepted by PR

Edge Guided Reconstruction for Compressive Imaging

We propose EdgeCS—an edge guided compressive sensing reconstruction approach—to recover images of higher quality from fewer measurements than the current methods. Edges are important image features that are used in various ways in image recovery, analysis, and understanding. In compressive sensing, the sparsity of image edges has been successfully utilized to recover images. However, edge detectors have not been used on compressive sensing measurements to improve the edge recovery and subsequently the image recovery. This motivates us to propose EdgeCS, which alternatively performs edge detection and image reconstruction in a mutually beneficial way. The edge detector of EdgeCS is designed to faithfully return partial edges from intermediate image reconstructions even though these reconstructions may still have noise and artifacts. For complex-valued images, it incorporates joint sparsity between the real and imaginary components. EdgeCS has been implemented with both isotropic and anisotropic discretizations of total variation and tested on incomplete k-space (spectral Fourier) samples. It applies to other types of measurements as well. Experimental results on large-scale real/complex-valued phantom and magnetic resonance (MR) images show that EdgeCS is fast and returns high-quality images. For example, it exactly recovers the 256×256 Shepp–Logan phantom from merely 7 radial lines (3.03% k-space), which is impossible for most existing algorithms. It is able to accurately reconstruct a 512 × 512 MR image with 0.05 white noise from 20.87% radial samples. On complex-valued MR images, it obtains recoveries with faithful phases, which are important in many medical applications. Each of these tests took around 30 seconds on a standard PC. Finally, the algorithm is GPU friendly

Effect of Pnictogen Height on Spin Waves in Iron Pnictides

We use inelastic neutron scattering to study spin waves in the antiferromagnetic ordered phase of iron pnictide NaFeAs throughout the Brillouin zone. Comparing with the well-studied AFe2As2 (A=Ca, Sr, Ba) family, spin waves in NaFeAs have considerably lower zone boundary energies and more isotropic effective in-plane magnetic exchange couplings. These results are consistent with calculations from a combined density functional theory and dynamical mean field theory and provide strong evidence that pnictogen height controls the strength of electron-electron correlations and consequently the effective bandwidth of magnetic excitations

Model-Based Security Testing

Security testing aims at validating software system requirements related to security properties like confidentiality, integrity, authentication, authorization, availability, and non-repudiation. Although security testing techniques are available for many years, there has been little approaches that allow for specification of test cases at a higher level of abstraction, for enabling guidance on test identification and specification as well as for automated test generation. Model-based security testing (MBST) is a relatively new field and especially dedicated to the systematic and efficient specification and documentation of security test objectives, security test cases and test suites, as well as to their automated or semi-automated generation. In particular, the combination of security modelling and test generation approaches is still a challenge in research and of high interest for industrial applications. MBST includes e.g. security functional testing, model-based fuzzing, risk- and threat-oriented testing, and the usage of security test patterns. This paper provides a survey on MBST techniques and the related models as well as samples of new methods and tools that are under development in the European ITEA2-project DIAMONDS.Comment: In Proceedings MBT 2012, arXiv:1202.582