3D gaze cursor: continuous calibration and end-point grasp control of robotic actuators

© 2016 IEEE.Eye movements are closely related to motor actions, and hence can be used to infer motor intentions. Additionally, eye movements are in some cases the only means of communication and interaction with the environment for paralysed and impaired patients with severe motor deficiencies. Despite this, eye-tracking technology still has a very limited use as a human-robot control interface and its applicability is highly restricted to 2D simple tasks that operate on screen based interfaces and do not suffice for natural physical interaction with the environment. We propose that decoding the gaze position in 3D space rather than in 2D results into a much richer spatial cursor signal that allows users to perform everyday tasks such as grasping and moving objects via gaze-based robotic teleoperation. Eye tracking in 3D calibration is usually slow - we demonstrate here that by using a full 3D trajectory for system calibration generated by a robotic arm rather than a simple grid of discrete points, gaze calibration in the 3 dimensions can be successfully achieved in short time and with high accuracy. We perform the non-linear regression from eye-image to 3D-end point using Gaussian Process regressors, which allows us to handle uncertainty in end-point estimates gracefully. Our telerobotic system uses a multi-joint robot arm with a gripper and is integrated with our in-house GT3D binocular eye tracker. This prototype system has been evaluated and assessed in a test environment with 7 users, yielding gaze-estimation errors of less than 1cm in the horizontal, vertical and depth dimensions, and less than 2cm in the overall 3D Euclidean space. Users reported intuitive, low-cognitive load, control of the system right from their first trial and were straightaway able to simply look at an object and command through a wink to grasp this object with the robot gripper

The Road to Quantum Computational Supremacy

We present an idiosyncratic view of the race for quantum computational supremacy. Google's approach and IBM challenge are examined. An unexpected side-effect of the race is the significant progress in designing fast classical algorithms. Quantum supremacy, if achieved, won't make classical computing obsolete.Comment: 15 pages, 1 figur

Quantum advantage by relational queries about physically realizable equivalence classes

Relational quantum queries are sometimes capable to effectively decide between collections of mutually exclusive elementary cases without completely resolving and determining those individual instances. Thereby the set of mutually exclusive elementary cases is effectively partitioned into equivalence classes pertinent to the respective query. In the second part of the paper, we review recent progress in theoretical certifications (relative to the assumptions made) of quantum value indeterminacy as a means to build quantum oracles for randomness.Comment: 8 Pages, one figure, invited contribution to TopHPC2019, Tehran, Iran, April 22-25, 201

Developing Integrated Clinical Pathways for the Management of Clinically Severe Adult Obesity: a Critique of NHS England Policy

Purpose of the Review: Pathways for obesity prevention and treatment are well documented, yet the prevalence of obesity is rising, and access to treatment (including bariatric surgery) is limited. This review seeks to assess the current integrated clinical pathway for obesity management in England and determine the major challenges. Recent Findings: Evidence for tier 2 (community-based lifestyle intervention) and tier 3 (specialist weight management services) is limited, and how it facilitates care and improve outcomes in tier 4 remains uncertain. Treatment access, rigidity in pathways, uncertain treatment outcomes and weight stigma seems to be major barriers to improved care. Summary: More emphasis must be placed on access to effective treatments, treatment flexibility, addressing stigma and ensuring treatment efficacy including long-term health outcomes. Prevention and treatment should both receive significant focus though should be considered to be largely separate pathways. A simplified system for weight management is needed to allow flexibility and the delivery of personalized care including post-bariatric surgery care for those who need it

Cooling a nanomechanical resonator with quantum back-action

Quantum mechanics demands that the act of measurement must affect the measured object. When a linear amplifier is used to continuously monitor the position of an object, the Heisenberg uncertainty relationship requires that the object be driven by force impulses, called back-action. Here we measure the back-action of a superconducting single-electron transistor (SSET) on a radiofrequency nanomechanical resonator. The conductance of the SSET, which is capacitively coupled to the resonator, provides a sensitive probe of the latter's position;back-action effects manifest themselves as an effective thermal bath, the properties of which depend sensitively on SSET bias conditions. Surprisingly, when the SSET is biased near a transport resonance, we observe cooling of the nanomechanical mode from 550mK to 300mK-- an effect that is analogous to laser cooling in atomic physics. Our measurements have implications for nanomechanical readout of quantum information devices and the limits of ultrasensitive force microscopy (such as single-nuclear-spin magnetic resonance force microscopy). Furthermore, we anticipate the use of these backaction effects to prepare ultracold and quantum states of mechanical structures, which would not be accessible with existing technology.Comment: 28 pages, 7 figures; accepted for publication in Natur

Strong and Tunable Nonlinear Optomechanical Coupling in a Low-Loss System

A major goal in optomechanics is to observe and control quantum behavior in a system consisting of a mechanical resonator coupled to an optical cavity. Work towards this goal has focused on increasing the strength of the coupling between the mechanical and optical degrees of freedom; however, the form of this coupling is crucial in determining which phenomena can be observed in such a system. Here we demonstrate that avoided crossings in the spectrum of an optical cavity containing a flexible dielectric membrane allow us to realize several different forms of the optomechanical coupling. These include cavity detunings that are (to lowest order) linear, quadratic, or quartic in the membrane's displacement, and a cavity finesse that is linear in (or independent of) the membrane's displacement. All these couplings are realized in a single device with extremely low optical loss and can be tuned over a wide range in situ; in particular, we find that the quadratic coupling can be increased three orders of magnitude beyond previous devices. As a result of these advances, the device presented here should be capable of demonstrating the quantization of the membrane's mechanical energy.Comment: 12 pages, 4 figures, 1 tabl

Diabetic ketoacidosis and hyperglycemic hyperosmolar syndrome after renal transplantation in the United States

BACKGROUND: The incidence and risk factors for diabetic ketoacidosis (diabetic ketoacidosis) and hyperglycemic hyperosmolar syndrome (hyperglycemic hyperosmolar syndrome, previously called non-ketotic hyperosmolar coma) have not been reported in a national population of renal transplant (renal transplantation) recipients. METHODS: We performed a historical cohort study of 39,628 renal transplantation recipients in the United States Renal Data System between 1 July 1994 and 30 June 1998, followed until 31 Dec 1999. Outcomes were hospitalizations for a primary diagnosis of diabetic ketoacidosis (ICD-9 code 250.1x) and hyperglycemic hyperosmolar syndrome (code 250.2x). Cox Regression analysis was used to calculate adjusted hazard ratios for time to hospitalization for diabetic ketoacidosis or hyperglycemic hyperosmolar syndrome. RESULTS: The incidence of diabetic ketoacidosis and hyperglycemic hyperosmolar syndrome were 33.2/1000 person years (PY) and 2.7/1000 PY respectively for recipients with a prior diagnosis of diabetes mellitus (DM), and 2.0/1000 PY and 1.1/1000 PY in patients without DM. In Cox Regression analysis, African Americans (AHR, 2.71, 95 %CI, 1.96–3.75), females, recipients of cadaver kidneys, patients age 33–44 (vs. >55), more recent year of transplant, and patients with maintenance TAC (tacrolimus, vs. cyclosporine) had significantly higher risk of diabetic ketoacidosis. However, the rate of diabetic ketoacidosis decreased more over time in TAC users than overall. Risk factors for hyperglycemic hyperosmolar syndrome were similar except for the significance of positive recipient hepatitis C serology and non-significance of female gender. Both diabetic ketoacidosis (AHR, 2.44, 95% CI, 2.10–2.85, p < 0.0001) and hyperglycemic hyperosmolar syndrome (AHR 1.87, 95% CI, 1.22–2.88, p = 0.004) were independently associated with increased mortality. CONCLUSIONS: We conclude that diabetic ketoacidosis and hyperglycemic hyperosmolar syndrome were associated with increased risk of mortality and were not uncommon after renal transplantation. High-risk groups were identified