Visual Servoing for Nonholonomically Constrained Three Degree of Freedom Kinematic Systems

This paper addresses problems of robot navigation with nonholonomic motion constraints and perceptual cues arising from onboard visual servoing in partially engineered environments. We propose a general hybrid procedure that adapts to the constrained motion setting the standard feedback controller arising from a navigation function in the fully actuated case. This is accomplished by switching back and forth between moving down and across the associated gradient field toward the stable manifold it induces in the constrained dynamics. Guaranteed to avoid obstacles in all cases, we provide conditions under which the new procedure brings initial configurations to within an arbitrarily small neighborhood of the goal. We summarize simulation results on a sample of visual servoing problems with a few different perceptual models. We document the empirical effectiveness of the proposed algorithm by reporting the results of its application to outdoor autonomous visual registration experiments with the robot RHex guided by engineered beacons

THREE-DIMENSIONAL RECONSTRUCTION OF THE HUMAN MOTION BASED ON IMAGES FROM A SINGLE CAMERA

It is widely accepted that the photograms of two or more cameras are required for the spatial reconstruction of the human motion. Each projection of the spatial coordinates of a given anatomical point of the human body is described by two equations. Consequently, two or more cameras are necessary for at least three independent linear equations required to obtain the original three coordinates of the point from its projected positions. If n cameras are used in the reconstruction process 2n equations are available for that purpose. In this case more equations than unknowns are available, and the solution for the reconstruction must minimize the error in those equations. Regardless of the number of cameras available, no information of the biomechanical model is generally used during the reconstruction process. In this work, a biomechanical model of 16 segments is used to support the motion reconstruction. The kinematic equations that characterize the dependency between the Cartesian coordinates of the points describing each component of the biomechanical model are used together with the two equations describing their projection in each frame. The single triangle describing the lower torso is defined by three points corresponding to nine spatial coordinates. For a given frame of a single camera six independent linear equations are defined. The remaining three equations needed to the spatial reconstruction of the triangle are the kinematic constraint equations ensuring that the distance between each two points remains constant throughout the motion. The system of nonlinear equations defined in this form has multiple solutions. For each subsequent camera frame the same process is followed to obtain the multiple solutions of the triangle reconstruction. The motion of the triangle representing the lower torso is selected as the combination of the solutions of the independent frames that minimizes a given function, defined as a measure of the smoothness of the triangle motion, variation of its angular orientation or increment of its distance between frames. Only the two solutions for the motion corresponding to the lower values of the functional, evaluated during four frames, are kept. Assuming that the motion for both solutions is feasible for the remaining frames, the method proceeds with the reconstruction of the segments adjacent to the lower torso, followed by the segments adjacent to the first set and so forth. A branch of solutions is eliminated if it cannot proceed from one frame to the next, either because no solution is possible or because the reconstructed motion develops behind the camera. Finally the reconstruction of the full motion is obtained in an automatic form. The methodology is applied to a case of complex human body motion demonstrating that it is feasible to reconstruct the three dimensional human motion using the photograms of a single stationary camera and a consistent biomechanical model

Search for the doubly heavy baryon Ξbc+\it{\Xi}_{bc}^{+} decaying to J/ψΞc+J/\it{\psi} \it{\Xi}_{c}^{+}

A first search for the $\it{\Xi}_{bc}^{+}\to J/\it{\psi}\it{\Xi}_{c}^{+}$ decay is performed by the LHCb experiment with a data sample of proton-proton collisions, corresponding to an integrated luminosity of $9\,\mathrm{fb}^{-1}$ recorded at centre-of-mass energies of 7, 8, and $13\mathrm{\,Te\kern -0.1em V}$. Two peaking structures are seen with a local (global) significance of $4.3\,(2.8)$ and $4.1\,(2.4)$ standard deviations at masses of $6571\,\mathrm{Me\kern -0.1em V\!/}c^2$ and $6694\,\mathrm{Me\kern -0.1em V\!/}c^2$, respectively. Upper limits are set on the $\it{\Xi}_{bc}^{+}$ baryon production cross-section times the branching fraction relative to that of the $B_{c}^{+}\to J/\it{\psi} D_{s}^{+}$ decay at centre-of-mass energies of 8 and $13\mathrm{\,Te\kern -0.1em V}$, in the $\it{\Xi}_{bc}^{+}$ and in the $B_{c}^{+}$ rapidity and transverse-momentum ranges from 2.0 to 4.5 and 0 to $20\,\mathrm{Ge\kern -0.1em V\!/}c$, respectively. Upper limits are presented as a function of the $\it{\Xi}_{bc}^{+}$ mass and lifetime.Comment: All figures and tables, along with machine-readable versions and any supplementary material and additional information, are available at https://cern.ch/lhcbproject/Publications/p/LHCb-PAPER-2022-005.html (LHCb public pages

Measurement of CP asymmetries and branching fraction ratios of B− decays to two charm mesons

The $CP$ asymmetries of seven $B^-$ decays to two charm mesons are measured using data corresponding to an integrated luminosity of $9\text{fb}^{-1}$ of proton-proton collisions collected by the LHCb experiment. Decays involving a $D^{*0}$ or $D^{*-}_s$ meson are analysed by reconstructing only the $D^0$ or $D^-_s$ decay products. This paper presents the first measurement of $\mathcal{A}^{CP}(B^- \rightarrow D^{*-}_s D^0)$ and $\mathcal{A}^{CP}(B^- \rightarrow D^{-}_s D^{*0})$, and the most precise measurement of the other five $CP$ asymmetries. There is no evidence of $CP$ violation in any of the analysed decays. Additionally, two ratios between branching fractions of selected decays are measured.The CP asymmetries of seven B$^{−}$ decays to two charm mesons are measured using data corresponding to an integrated luminosity of 9 fb$^{−1}$ of proton-proton collisions collected by the LHCb experiment. Decays involving a D$^{*0}$ or ${D}_s^{\ast -}$ meson are analysed by reconstructing only the D$^{0}$ or ${D}_s^{-}$ decay products. This paper presents the first measurement of $\mathcal{A} ^{CP}$(B$^{−}$→${D}_s^{\ast -}$D$^{0}$) and $\mathcal{A} ^{CP}$(B$^{−}$→${D}_s^{-}$D$^{∗0}$), and the most precise measurement of the other five CP asymmetries. There is no evidence of CP violation in any of the analysed decays. Additionally, two ratios between branching fractions of selected decays are measured.[graphic not available: see fulltext]The $CP$ asymmetries of seven $B^-$ decays to two charm mesons are measured using data corresponding to an integrated luminosity of $9\text{ fb}^{-1}$ of proton-proton collisions collected by the LHCb experiment. Decays involving a $D^{*0}$ or $D^{*-}_s$ meson are analysed by reconstructing only the $D^0$ or $D^-_s$ decay products. This paper presents the first measurement of $\mathcal{A}^{CP}(B^- \rightarrow D^{*-}_s D^0)$ and $\mathcal{A}^{CP}(B^- \rightarrow D^{-}_s D^{*0})$, and the most precise measurement of the other five $CP$ asymmetries. There is no evidence of $CP$ violation in any of the analysed decays. Additionally, two ratios between branching fractions of selected decays are measured

Study of the doubly charmed tetraquark T+cc

Quantum chromodynamics, the theory of the strong force, describes interactions of coloured quarks and gluons and the formation of hadronic matter. Conventional hadronic matter consists of baryons and mesons made of three quarks and quark-antiquark pairs, respectively. Particles with an alternative quark content are known as exotic states. Here a study is reported of an exotic narrow state in the D0D0π+ mass spectrum just below the D*+D0 mass threshold produced in proton-proton collisions collected with the LHCb detector at the Large Hadron Collider. The state is consistent with the ground isoscalar T+cc tetraquark with a quark content of ccu⎯⎯⎯d⎯⎯⎯ and spin-parity quantum numbers JP = 1+. Study of the DD mass spectra disfavours interpretation of the resonance as the isovector state. The decay structure via intermediate off-shell D*+ mesons is consistent with the observed D0π+ mass distribution. To analyse the mass of the resonance and its coupling to the D*D system, a dedicated model is developed under the assumption of an isoscalar axial-vector T+cc state decaying to the D*D channel. Using this model, resonance parameters including the pole position, scattering length, effective range and compositeness are determined to reveal important information about the nature of the T+cc state. In addition, an unexpected dependence of the production rate on track multiplicity is observed

Brazilian Flora 2020: Leveraging the power of a collaborative scientific network

International audienceThe shortage of reliable primary taxonomic data limits the description of biological taxa and the understanding of biodiversity patterns and processes, complicating biogeographical, ecological, and evolutionary studies. This deficit creates a significant taxonomic impediment to biodiversity research and conservation planning. The taxonomic impediment and the biodiversity crisis are widely recognized, highlighting the urgent need for reliable taxonomic data. Over the past decade, numerous countries worldwide have devoted considerable effort to Target 1 of the Global Strategy for Plant Conservation (GSPC), which called for the preparation of a working list of all known plant species by 2010 and an online world Flora by 2020. Brazil is a megadiverse country, home to more of the world's known plant species than any other country. Despite that, Flora Brasiliensis, concluded in 1906, was the last comprehensive treatment of the Brazilian flora. The lack of accurate estimates of the number of species of algae, fungi, and plants occurring in Brazil contributes to the prevailing taxonomic impediment and delays progress towards the GSPC targets. Over the past 12 years, a legion of taxonomists motivated to meet Target 1 of the GSPC, worked together to gather and integrate knowledge on the algal, plant, and fungal diversity of Brazil. Overall, a team of about 980 taxonomists joined efforts in a highly collaborative project that used cybertaxonomy to prepare an updated Flora of Brazil, showing the power of scientific collaboration to reach ambitious goals. This paper presents an overview of the Brazilian Flora 2020 and provides taxonomic and spatial updates on the algae, fungi, and plants found in one of the world's most biodiverse countries. We further identify collection gaps and summarize future goals that extend beyond 2020. Our results show that Brazil is home to 46,975 native species of algae, fungi, and plants, of which 19,669 are endemic to the country. The data compiled to date suggests that the Atlantic Rainforest might be the most diverse Brazilian domain for all plant groups except gymnosperms, which are most diverse in the Amazon. However, scientific knowledge of Brazilian diversity is still unequally distributed, with the Atlantic Rainforest and the Cerrado being the most intensively sampled and studied biomes in the country. In times of “scientific reductionism”, with botanical and mycological sciences suffering pervasive depreciation in recent decades, the first online Flora of Brazil 2020 significantly enhanced the quality and quantity of taxonomic data available for algae, fungi, and plants from Brazil. This project also made all the information freely available online, providing a firm foundation for future research and for the management, conservation, and sustainable use of the Brazilian funga and flora

Measurement of psi (2S) production cross-sections in proton-proton collisions at v s=7 and 13 TeV

The cross-sections of \u3c8(2 S) meson production in proton-proton collisions at s=13TeV are measured with a data sample collected by the LHCb detector corresponding to an integrated luminosity of 275pb-1. The production cross-sections for prompt \u3c8(2 S) mesons and those for \u3c8(2 S) mesons from b-hadron decays (\u3c8(2S)-from-b) are determined as functions of the transverse momentum, pT, and the rapidity, y, of the \u3c8(2 S) meson in the kinematic range 2<20GeV/c and 2.0 < y< 4.5. The production cross-sections integrated over this kinematic region are \u3c3(prompt\u3c8(2S),13TeV)=1.430\ub10.005(stat)\ub10.099(syst)\u3bcb,\u3c3(\u3c8(2S)-from-b,13TeV)=0.426\ub10.002(stat)\ub10.030(syst)\u3bcb.A new measurement of \u3c8(2 S) production cross-sections in pp collisions at s=7TeV is also performed using data collected in 2011, corresponding to an integrated luminosity of 614pb-1. The integrated production cross-sections in the kinematic range 3.5<14GeV/c and 2.0 < y< 4.5 are \u3c3(prompt\u3c8(2S),7TeV)=0.471\ub10.001(stat)\ub10.025(syst)\u3bcb,\u3c3(\u3c8(2S)-from-b,7TeV)=0.126\ub10.001(stat)\ub10.008(syst)\u3bcb.All results show reasonable agreement with theoretical calculations

Measurement of the eta(c)(1S) production cross-section in p p collisions at root s=13TeV

Using a data sample corresponding to an integrated luminosity of 2.0 fb-1, collected by the LHCb experiment, the production of the \u3b7c(1 S) state in proton\u2013proton collisions at a centre-of-mass energy of s=13TeV is studied in the rapidity range 2.0 < y< 4.5 and in the transverse momentum range 6.5<14.0GeV. The cross-section for prompt production of \u3b7c(1 S) mesons relative to that of the J/ \u3c8 meson is measured using the pp\uaf decay mode and is found to be \u3c3\u3b7c(1S)/\u3c3J/\u3c8=1.69\ub10.15\ub10.10\ub10.18. The quoted uncertainties are, in order, statistical, systematic and due to uncertainties on the branching fractions of the J/\u3c8\u2192pp\uaf and \u3b7c\u2192pp\uaf decays. The prompt \u3b7c(1 S) production cross-section is determined to be \u3c3\u3b7c(1S)=1.26\ub10.11\ub10.08\ub10.14\u3bcb, where the last uncertainty includes that on the J/ \u3c8 meson cross-section. The ratio of the branching fractions of b-hadron decays to the \u3b7c(1 S) and J/ \u3c8 states is measured to be Bb\u2192\u3b7cX/Bb\u2192J/\u3c8X=0.48\ub10.03\ub10.03\ub10.05, where the last uncertainty is due to those on the branching fractions of the J/\u3c8\u2192pp\uaf and \u3b7c\u2192pp\uaf decays. The difference between the J/ \u3c8 and \u3b7c(1 S) masses is also determined to be 113.0\ub10.7\ub10.1MeV, which is the most precise single measurement of this quantity to date