Spectral Subtraction of Robot Motion Noise for Improved Event Detection in Tactile Acceleration Signals

New robots for teleoperation and autonomous manipulation are increasingly being equipped with high-bandwidth accelerometers for measuring the transient vibrational cues that occur during con- tact with objects. Unfortunately, the robot\u27s own internal mechanisms often generate significant high-frequency accelerations, which we term ego-vibrations. This paper presents an approach to characterizing and removing these signals from acceleration measurements. We adapt the audio processing technique of spectral subtraction over short time windows to remove the noise that is estimated to occur at the robot\u27s present joint velocities. Implementation for the wrist roll and gripper joints on a Willow Garage PR2 robot demonstrates that spectral subtraction significantly increases signal-to-noise ratio, which should improve vibrotactile event detection in both teleoperation and autonomous robotics

Fabrication of high quality plan-view TEM specimens using the focused ion beam

We describe a technique using a focused ion beam instrument to fabricate high quality plan-view specimens for transmission electron microscopy studies. The technique is simple, site-specific and is capable of fabricating multiple large, >100 μm2 electron transparent windows within epitaxially-grown thin films. A film of La0.67Sr0.33MnO3 is used to demonstrate the technique and its structural and functional properties are surveyed by high resolution imaging, electron spectroscopy, atomic force microscopy and Lorentz electron microscopy. The window is demonstrated to have good thickness uniformity and a low defect density that does not impair the film’s Curie temperature. The technique will enable the study of in–plane structural and functional properties of a variety of epitaxial thin film systems

Dynamical electron transport through a nanoelectromechanical wire in a magnetic field

We investigate dynamical transport properties of interacting electrons moving in a vibrating nanoelectromechanical wire in a magnetic field. We have built an exactly solvable model in which electric current and mechanical oscillation are treated fully quantum mechanically on an equal footing. Quantum mechanically fluctuating Aharonov-Bohm phases obtained by the electrons cause nontrivial contribution to mechanical vibration and electrical conduction of the wire. We demonstrate our theory by calculating the admittance of the wire which are influenced by the multiple interplay between the mechanical and the electrical energy scales, magnetic field strength, and the electron-electron interaction

A systematic study of J/psi suppression in cold nuclear matter

Based on a Glauber model, a statistical analysis of all mid-rapidity J/psi hadroproduction and leptoproduction data on nuclear targets is carried out. This allows us to determine the J/psi-nucleon inelastic cross section, whose knowledge is crucial to interpret the J/psi suppression observed in heavy-ion collisions, at SPS and at RHIC. The values of sigma are extracted from each experiment. A clear tension between the different data sets is reported. The global fit of all data gives sigma=3.4+/-0.2 mb, which is significantly smaller than previous estimates. A similar value, sigma=3.5+/-0.2 mb, is obtained when the nDS nuclear parton densities are included in the analysis, although we emphasize that the present uncertainties on gluon (anti)shadowing do not allow for a precise determination of sigma. Finally, no significant energy dependence of the J/psi-N interaction is observed, unless strong nuclear modifications of the parton densities are assumed.Comment: 25 pages, 5 figure

Measurement of MW+ - MW- at LHC

This paper is the second of the series of papers proposing dedicated strategies for precision measurements of the Standard Model parameters at the LHC. The common feature of these strategies is their robustness with respect to the systematic measurement and modeling error sources. Their impact on the precision of the measured parameters is reduced using dedicated observables and dedicated measurement procedures which exploit flexibilities of the collider and detector running modes. In the present paper we focus our attention on the measurement of the charge asymmetry of the W-boson mass. This measurement is of primordial importance for the LHC experimental program, both as a direct test of the charge-sign-independent coupling of the W-bosons to the matter particles and as a necessary first step towards the precision measurement of the charge-averaged W-boson mass. We propose and evaluate the LHC-specific strategy to measure the mass difference between the positively and negatively charged W-bosons, MW+ - MW-. We show that its present precision can be improved at the LHC by a factor of 20. We argue that such a precision is beyond the reach of the standard measurement and calibration methods imported to the LHC from the Tevatron program.Comment: 39 pages, 8 figure

TrustedPals: Secure Multiparty Computation Implemented with Smart Cards

We study the problem of Secure Multi-party Computation (SMC) in a model where individual processes contain a tamper-proof security module, and introduce the TrustedPals framework, an efficient smart card based implementation of SMC for any number of participating entities in such a model. Security modules can be trusted by other processes and can establish secure channels between each other. However, their availability is restricted by their host, that is, a corrupted party can stop the computation of its own security module as well as drop any message sent by or to its security module. We show that in this model SMC can be implemented by reducing it to a fault-tolerance problem at the level of security modules. Since the critical part of the computation can be executed locally on the smart card, we can compute any function securely with a protocol complexity which is polynomial only in the number of processes (that is, the complexity does not depend on the function which is computed), in contrast to previous approaches

Haptography: Capturing and Recreating the Rich Feel of Real Surfaces

Haptic interfaces, which allow a user to touch virtual and remote environments through a hand-held tool, have opened up exciting new possibilities for applications such as computer-aided design and robot-assisted surgery. Unfortunately, the haptic renderings produced by these systems seldom feel like authentic re-creations of the richly varied surfaces one encounters in the real world. We have thus envisioned the new approach of haptography, or haptic photography, in which an individual quickly records a physical interaction with a real surface and then recreates that experience for a user at a different time and/or place. This paper presents an overview of the goals and methods of haptography, emphasizing the importance of accurately capturing and recreating the high frequency accelerations that occur during tool-mediated interactions. In the capturing domain, we introduce a new texture modeling and synthesis method based on linear prediction applied to acceleration signals recorded from real tool interactions. For recreating, we show a new haptography handle prototype that enables the user of a Phantom Omni to feel fine surface features and textures

Partial wave analysis of J/\psi \to \gamma \phi \phi

Using $5.8 \times 10^7 J/\psi$ events collected in the BESII detector, the radiative decay $J/\psi \to \gamma \phi \phi \to \gamma K^+ K^- K^0_S K^0_L$ is studied. The $\phi\phi$ invariant mass distribution exhibits a near-threshold enhancement that peaks around 2.24 GeV/$c^{2}$. A partial wave analysis shows that the structure is dominated by a $0^{-+}$ state ($\eta(2225)$) with a mass of $2.24^{+0.03}_{-0.02}{}^{+0.03}_{-0.02}$ GeV/$c^{2}$ and a width of $0.19 \pm 0.03^{+0.06}_{-0.04}$ GeV/$c^{2}$. The product branching fraction is: $Br(J/\psi \to \gamma \eta(2225))\cdot Br(\eta(2225)\to \phi\phi) = (4.4 \pm 0.4 \pm 0.8)\times 10^{-4}$.Comment: 11 pages, 4 figures. corrected proof for journa