Using mixed-initiative human-robot interaction to bound performance in a search task

Mobile robots are increasingly used in dangerous domains, because they can keep humans out of harm’s way. Despite their advantages in hazardous environments, their general acceptance in other less dangerous domains has not been apparent and, even in dangerous environments, robots are often viewed as a “last-possible choice.” In order to increase the utility and acceptance of robots in hazardous domains researchers at the Idaho National Laboratory have both developed and tested novel mixed-initiative solutions that support the human-robot interactions. In a recent “dirty-bomb” experiment, participants exhibited different search strategies making it difficult to determine any performance benefits. This paper presents a method for categorizing the search patterns and shows that the mixed-initiative solution decreased the time to complete the task and decreased the performance spread between participants independent of prior training and of individual strategies used to accomplish the task

SIC~POVMs and Clifford groups in prime dimensions

We show that in prime dimensions not equal to three, each group covariant symmetric informationally complete positive operator valued measure (SIC~POVM) is covariant with respect to a unique Heisenberg--Weyl (HW) group. Moreover, the symmetry group of the SIC~POVM is a subgroup of the Clifford group. Hence, two SIC~POVMs covariant with respect to the HW group are unitarily or antiunitarily equivalent if and only if they are on the same orbit of the extended Clifford group. In dimension three, each group covariant SIC~POVM may be covariant with respect to three or nine HW groups, and the symmetry group of the SIC~POVM is a subgroup of at least one of the Clifford groups of these HW groups respectively. There may exist two or three orbits of equivalent SIC~POVMs for each group covariant SIC~POVM, depending on the order of its symmetry group. We then establish a complete equivalence relation among group covariant SIC~POVMs in dimension three, and classify inequivalent ones according to the geometric phases associated with fiducial vectors. Finally, we uncover additional SIC~POVMs by regrouping of the fiducial vectors from different SIC~POVMs which may or may not be on the same orbit of the extended Clifford group.Comment: 30 pages, 1 figure, section 4 revised and extended, published in J. Phys. A: Math. Theor. 43, 305305 (2010

Soil hydrologic grouping guide which soil and weather properties best estimate corn nitrogen need

Nitrogen fertilizer recommendations in corn (Zea mays L.) that match the economically optimal nitrogen fertilizer rate (EONR) are imperative for profitability and minimizing environmental degradation. However, the amount of soil N available for the crop depends on soil and weather factors, making it difficult to know the EONR from year-to-year and from field-to-field. Our objective was to explore, within the framework of hydrologic soil groups and drainage classifications (HGDC), which site-specific soil and weather properties best estimated corn N needs (i.e., EONR) for two application timings (at-planting and side-dress). Included in this investigation was a validation step using an independent dataset. Forty-nine N response trials conducted across the U.S. Midwest Corn Belt over three growing seasons (2014–2016) were used for recommendation model development, and 181 independent site-years were used for validation. For HGDC models, soil organic matter (SOM), clay content, and evenness of rainfall distribution before side-dress N application were the properties generally most helpful in predicting EONR. Using the validation data, model recommendations were within 34 kg N ha–1 of EONR for 37 and 42% of the sites with a root mean square error (RMSE) of 70 and 68 kg N ha–1 for at-planting and side-dress applications, respectively. Compared to state-specific recommendations, sites needing ha–1 or no N were better estimated with HGDC models. In contrast, for sites where EONR was \u3e150 kg N ha–1, HGDC models underestimated N needs compared to state specific. These results show HGDC groupings could aid in developing tools for N fertilizer recommendations

Membranes by the Numbers

Many of the most important processes in cells take place on and across membranes. With the rise of an impressive array of powerful quantitative methods for characterizing these membranes, it is an opportune time to reflect on the structure and function of membranes from the point of view of biological numeracy. To that end, in this article, I review the quantitative parameters that characterize the mechanical, electrical and transport properties of membranes and carry out a number of corresponding order of magnitude estimates that help us understand the values of those parameters.Comment: 27 pages, 12 figure

Analytic properties of the Landau gauge gluon and quark propagators

We explore the analytic structure of the gluon and quark propagators of Landau gauge QCD from numerical solutions of the coupled system of renormalized Dyson--Schwinger equations and from fits to lattice data. We find sizable negative norm contributions in the transverse gluon propagator indicating the absence of the transverse gluon from the physical spectrum. A simple analytic structure for the gluon propagator is proposed. For the quark propagator we find evidence for a mass-like singularity on the real timelike momentum axis, with a mass of 350 to 500 MeV. Within the employed Green's functions approach we identify a crucial term in the quark-gluon vertex that leads to a positive definite Schwinger function for the quark propagator.Comment: 42 pages, 16 figures, revtex; version to be published in Phys Rev

A mixed methods inquiry into the validity of data

This is an Open Access article distributed under the terms of the Creative Commons Attribution Licens

Search for the glueball candidates f0(1500) and fJ(1710) in gamma gamma collisions

Data taken with the ALEPH detector at LEP1 have been used to search for gamma gamma production of the glueball candidates f0(1500) and fJ(1710) via their decay to pi+pi-. No signal is observed and upper limits to the product of gamma gamma width and pi+pi- branching ratio of the f0(1500) and the fJ(1710) have been measured to be Gamma_(gamma gamma -> f0(1500)). BR(f0(1500)->pi+pi-) < 0.31 keV and Gamma_(gamma gamma -> fJ(1710)). BR(fJ(1710)->pi+pi-) < 0.55 keV at 95% confidence level.Comment: 10 pages, 3 figure

Search for supersymmetry with a dominant R-parity violating LQDbar couplings in e+e- collisions at centre-of-mass energies of 130GeV to 172 GeV

A search for pair-production of supersymmetric particles under the assumption that R-parity is violated via a dominant LQDbar coupling has been performed using the data collected by ALEPH at centre-of-mass energies of 130-172 GeV. The observed candidate events in the data are in agreement with the Standard Model expectation. This result is translated into lower limits on the masses of charginos, neutralinos, sleptons, sneutrinos and squarks. For instance, for m_0=500 GeV/c^2 and tan(beta)=sqrt(2) charginos with masses smaller than 81 GeV/c^2 and neutralinos with masses smaller than 29 GeV/c^2 are excluded at the 95% confidence level for any generation structure of the LQDbar coupling.Comment: 32 pages, 30 figure

Expected Performance of the ATLAS Experiment - Detector, Trigger and Physics

A detailed study is presented of the expected performance of the ATLAS detector. The reconstruction of tracks, leptons, photons, missing energy and jets is investigated, together with the performance of b-tagging and the trigger. The physics potential for a variety of interesting physics processes, within the Standard Model and beyond, is examined. The study comprises a series of notes based on simulations of the detector and physics processes, with particular emphasis given to the data expected from the first years of operation of the LHC at CERN