Robot docking using mixtures of Gaussians

This paper applies the Mixture of Gaussians probabilistic model, combined with Expectation Maximization optimization to the task of summarizing three dimensionals range data for the mobile robot. This provides a flexible way of dealing with uncertainties in sensor information, and allows the introduction of prior knowledge into low-level perception modules. Problems with the basic approach were solved in several ways: the mixture of Gaussians was reparameterized to reflect the types of objects expected in the scene, and priors on model parameters were included in the optimization process. Both approaches force the optimization to find 'interesting' objects, given the sensor and object characteristics. A higher level classifier was used to interpret the results provided by the model, and to reject spurious solutions

Phenomenology of B -> pi pi, pi K Decays at O(alpha^2 beta_0) in QCD Factorization

We study O(alpha^2 beta_0) perturbative corrections to matrix elements entering two-body exclusive decays of the form B -> pi pi, pi K in the QCD factorization formalism, including chirally enhanced power corrections, and discuss the effect of these corrections on direct CP asymmetries, which receive their first contribution at O(alpha). We find that the O(alpha^2 beta_0) corrections are often as large as the O(alpha) corrections. We find large uncertainties due to renormalization scale dependence as well as poor knowledge of the non-perturbative parameters. We assess the effect of the perturbative corrections on the direct CP violation parameters of B -> pi^+ pi^-.Comment: 27 pages, 5 figures. Updated input parameters and added citations; expanded discussio

Composite Geometric Phase for Multipartite Entangled States

When an entangled state evolves under local unitaries, the entanglement in the state remains fixed. Here we show the dynamical phase acquired by an entangled state in such a scenario can always be understood as the sum of the dynamical phases of its subsystems. In contrast, the equivalent statement for the geometric phase is not generally true unless the state is separable. For an entangled state an additional term is present, the mutual geometric phase, that measures the change the additional correlations present in the entangled state make to the geometry of the state space. For $N$ qubit states we find this change can be explained solely by classical correlations for states with a Schmidt decomposition and solely by quantum correlations for W states.Comment: 4 pages, 1 figure, improved presentation, results and conclusions unchanged from v1. Accepted for publication in PR

Seismic Analysis of Spinney Mountain Dam

The Spinney Mountain Dam, now under construction in central Colorado, is a zoned earth embankment with a maximum height of 95 feet above foundation. Detailed geological investigations revealed rejuvenated sediments of nearby older faults, which have undergone tectonic movement within the past 13,000 to 30,000 years and hence are considered capable. Studies indicate the largest earthquake expected on the controlling fault would have a Richter Magnitude of about 6.2, implying peak ground accelerations at the site of about 0.6g and a 15-second duration of strong motion. Displacement on a branch of the main capable fault during such an event is estimated at four to six inches. Slope deformation analyses estimate a movement at the crest of the dam of not more than two inches horizontally and considerably less vertically, which would not result in a significant decrease in strength of the compacted soils. Reservoir induced seismicity is not considered to be a hazard

Optical spectroscopy of single quantum dots at tunable positive, neutral and negative charge states

We report on the observation of photoluminescence from positive, neutral and negative charge states of single semiconductor quantum dots. For this purpose we designed a structure enabling optical injection of a controlled unequal number of negative electrons and positive holes into an isolated InGaAs quantum dot embedded in a GaAs matrix. Thereby, we optically produced the charge states -3, -2, -1, 0, +1 and +2. The injected carriers form confined collective 'artificial atoms and molecules' states in the quantum dot. We resolve spectrally and temporally the photoluminescence from an optically excited quantum dot and use it to identify collective states, which contain charge of one type, coupled to few charges of the other type. These states can be viewed as the artificial analog of charged atoms such as H$^{-}$, H$^{-2}$, H$^{-3}$, and charged molecules such as H$_{2}^{+}$ and H$_{3}^{+2}$. Unlike higher dimensionality systems, where negative or positive charging always results in reduction of the emission energy due to electron-hole pair recombination, in our dots, negative charging reduces the emission energy, relative to the charge-neutral case, while positive charging increases it. Pseudopotential model calculations reveal that the enhanced spatial localization of the hole-wavefunction, relative to that of the electron in these dots, is the reason for this effect.Comment: 5 figure

Density of Phonon States in Superconducting FeSe as a Function of Temperature and Pressure

The temperature and pressure dependence of the partial density of phonon states of iron atoms in superconducting Fe1.01Se was studied by 57Fe nuclear inelastic scattering (NIS). The high energy resolution allows for a detailed observation of spectral properties. A sharpening of the optical phonon modes and shift of all spectral features towards higher energies by ~4% with decreasing temperature from 296 K to 10 K was found. However, no detectable change at the tetragonal - orthorhombic phase transition around 100 K was observed. Application of a pressure of 6.7 GPa, connected with an increase of the superconducting temperature from 8 K to 34 K, results in an increase of the optical phonon mode energies at 296 K by ~12%, and an even more pronounced increase for the lowest-lying transversal acoustic mode. Despite these strong pressure-induced modifications of the phonon-DOS we conclude that the pronounced increase of Tc in Fe1.01Se with pressure cannot be described in the framework of classical electron-phonon coupling. This result suggests the importance of spin fluctuations to the observed superconductivity

Antitumor Monoclonal Antibodies Enhance Cross-Presentation of Cellular Antigens and the Generation of Myeloma-specific Killer T Cells by Dendritic Cells

The mechanism of antitumor effect of monoclonal antibodies (mAbs) is not fully understood. Here we show that coating myeloma cells with anti–syndecan-1 antibody promotes cross-presentation of cellular antigens by dendritic cells (DCs) to autologous T cells from healthy donors. The tumor cells treated with anti–syndecan-1 or isotype-matched control antibody were fed to HLA-mismatched monocyte-derived immature DCs. Tumor cell–loaded mature DCs induced a strong CD8+ T cell response that was specific for the cancer-testis (C-T) antigens expressed in the tumor. The CD8+ T cells killed peptide-pulsed targets, as well as myeloma tumor cells. Importantly, mAbs-coated tumor-loaded DCs were consistently superior to DCs loaded with peptides or dying cells for eliciting tumor-specific killer T cells. This enhanced cross-presentation was not due to enhanced tumor cell uptake or to DC maturation. When mixtures of NY-Eso-1-positive and -negative myeloma cells were captured by DCs, the anti–syndecan-1 antibody had to be on the NY-Eso-1-positive cells to elicit NY-Eso-1–specific response. Cross-presentation was inhibited by pretreatment of DCs with Fcγ receptor blocking antibodies. Targeting of mAb-coated tumors to DCs may contribute to the efficacy of tumor-reactive mAb and offers a new strategy for immunotherapy

Detection of X-ray galaxy clusters based on the Kolmogorov method

The detection of clusters of galaxies in large surveys plays an important part in extragalactic astronomy, and particularly in cosmology, since cluster counts can give strong constraints on cosmological parameters. X-ray imaging is in particular a reliable means to discover new clusters, and large X-ray surveys are now available. Considering XMM-Newton data for a sample of 40 Abell clusters, we show that their analysis with a Kolmogorov distribution can provide a distinctive signature for galaxy clusters. The Kolmogorov method is sensitive to the correlations in the cluster X-ray properties and can therefore be used for their identification, thus allowing to search reliably for clusters in a simple way

Wellbeing in brass bands : the benefits and challenges of group music making

The wellbeing impacts of group music making have been established by evidence-based research. However, studies have largely focused on one group music activity; singing in choirs. To what extent can these wellbeing impacts be considered representative of group music making? This paper presents a survey of wellbeing impacts in brass band players. A wellbeing survey was designed to obtain qualitative information as well as quantitative data for computing descriptive statistics regarding both positive and negative impacts of group music making on wellbeing. The survey was distributed via Brass Bands England and 346 adult brass band players reported self-perceived wellbeing impacts across 5 categories; physical, psychological, social, emotional and spiritual. Responses were analyzed through a descriptive statistical approach combined with an applied thematic analysis that identified the wellbeing impacts expressed by the performers, as well as their valence (positive vs. negative). Areas of overlap between choral practice and brass band work were identified, most notably in the categories of physical, psychological and social wellbeing; enhanced respiratory function and posture, reduced stress, improved general mental health, and regular social interaction. We also identified wellbeing themes that are less common in choral research, impacts relating to the brass bands’ physical demands, competitive tradition, community roles and cross-generational social structures. Based on findings, we created a visual model of group music making impacts across five wellbeing categories as a basis for future research. A wider appreciation of the relationships between group music making and wellbeing can be achieved by expanding the present research base to varied music ensembles and adapting the present model to emerging findings. Testing in this systematic way would enhance understanding of the general wellbeing impacts of group music making that might be accounted for by universal brain and body processes versus wellbeing impacts that may be unique to different ensemble types due to their particular performance styles, practice demands and traditions