ViTac: Feature Sharing between Vision and Tactile Sensing for Cloth Texture Recognition

Vision and touch are two of the important sensing modalities for humans and they offer complementary information for sensing the environment. Robots could also benefit from such multi-modal sensing ability. In this paper, addressing for the first time (to the best of our knowledge) texture recognition from tactile images and vision, we propose a new fusion method named Deep Maximum Covariance Analysis (DMCA) to learn a joint latent space for sharing features through vision and tactile sensing. The features of camera images and tactile data acquired from a GelSight sensor are learned by deep neural networks. But the learned features are of a high dimensionality and are redundant due to the differences between the two sensing modalities, which deteriorates the perception performance. To address this, the learned features are paired using maximum covariance analysis. Results of the algorithm on a newly collected dataset of paired visual and tactile data relating to cloth textures show that a good recognition performance of greater than 90% can be achieved by using the proposed DMCA framework. In addition, we find that the perception performance of either vision or tactile sensing can be improved by employing the shared representation space, compared to learning from unimodal data

Submillimeter satellite radiometer Final engineering report

All solid-state superheterodyne Dicke radiometer for submillimeter wavelength

Doping Dependence of Polaron Hopping Energies in La(1-x)Ca(x)MnO(3) (0<= x<= 0.15)

Measurements of the low-frequency (f<= 100 kHz) permittivity at T<= 160 K and dc resistivity (T<= 430 K) are reported for La(1-x)Ca(x)MnO(3) (0<= x<= 0.15). Static dielectric constants are determined from the low-T limiting behavior of the permittivity. The estimated polarizability for bound holes ~ 10^{-22} cm^{-3} implies a radius comparable to the interatomic spacing, consistent with the small polaron picture established from prior transport studies near room temperature and above on nearby compositions. Relaxation peaks in the dielectric loss associated with charge-carrier hopping yield activation energies in good agreement with low-T hopping energies determined from variable-range hopping fits of the dc resistivity. The doping dependence of these energies suggests that the orthorhombic, canted antiferromagnetic ground state tends toward an insulator-metal transition that is not realized due to the formation of the ferromagnetic insulating state near Mn(4+) concentration ~ 0.13.Comment: PRB in press, 5 pages, 6 figure

Regional grey matter volume and concentration in at-risk adolescents: Untangling associations with callous-unemotional traits and conduct disorder symptoms

Structural Magnetic Resonance Imaging studies have reported volume reductions in several brain regions implicated in social cognition and emotion recognition in juvenile antisocial populations. However, it is unclear whether these structural abnormalities are specifically related to antisocial features, or to co-occurring callous-unemotional (CU) traits. The present study employed voxel-based morphometry to assess both grey matter volume (GMV) and grey matter concentration (GMC) in a large representative at-risk sample of adolescents (n=134; mean age 17.7 yr), characterized by a broad range of CU trait and conduct disorder (CD) symptom scores. There was a significant interaction between CD symptom and CU trait scores in the prediction of GMV in the anterior insula, with a significant positive association between CU traits and GMV in youth low on CD symptoms only. In addition, we found a significant unique positive association between CD symptoms and GMC in the amygdala, and unique negative associations between CU traits and GMC in the amygdala and insula. These findings are in line with accumulating evidence of distinct associations of CD symptoms and CU traits with amygdala and insula GMC in juvenile antisocial populations

Noncanonical quantum optics

Modification of the right-hand-side of canonical commutation relations (CCR) naturally occurs if one considers a harmonic oscillator with indefinite frequency. Quantization of electromagnetic field by means of such a non-CCR algebra naturally removes the infinite energy of vacuum but still results in a theory which is very similar to quantum electrodynamics. An analysis of perturbation theory shows that the non-canonical theory has an automatically built-in cut-off but requires charge/mass renormalization already at the nonrelativistic level. A simple rule allowing to compare perturbative predictions of canonical and non-canonical theories is given. The notion of a unique vacuum state is replaced by a set of different vacua. Multi-photon states are defined in the standard way but depend on the choice of vacuum. Making a simplified choice of the vacuum state we estimate corrections to atomic lifetimes, probabilities of multiphoton spontaneous and stimulated emission, and the Planck law. The results are practically identical to the standard ones. Two different candidates for a free-field Hamiltonian are compared.Comment: Completely rewritten version of quant-ph/0002003v2. There are overlaps between the papers, but sections on perturbative calculations show the same problem from different sides, therefore quant-ph/0002003v2 is not replace