High-level environment representations for mobile robots

In most robotic applications we are faced with the problem of building a digital representation of the environment that allows the robot to autonomously complete its tasks. This internal representation can be used by the robot to plan a motion trajectory for its mobile base and/or end-effector. For most man-made environments we do not have a digital representation or it is inaccurate. Thus, the robot must have the capability of building it autonomously. This is done by integrating into an internal data structure incoming sensor measurements. For this purpose, a common solution consists in solving the Simultaneous Localization and Mapping (SLAM) problem. The map obtained by solving a SLAM problem is called ``metric'' and it describes the geometric structure of the environment. A metric map is typically made up of low-level primitives (like points or voxels). This means that even though it represents the shape of the objects in the robot workspace it lacks the information of which object a surface belongs to. Having an object-level representation of the environment has the advantage of augmenting the set of possible tasks that a robot may accomplish. To this end, in this thesis we focus on two aspects. We propose a formalism to represent in a uniform manner 3D scenes consisting of different geometric primitives, including points, lines and planes. Consequently, we derive a local registration and a global optimization algorithm that can exploit this representation for robust estimation. Furthermore, we present a Semantic Mapping system capable of building an \textit{object-based} map that can be used for complex task planning and execution. Our system exploits effective reconstruction and recognition techniques that require no a-priori information about the environment and can be used under general conditions

U(1)U(1) flavour symmetries as Peccei-Quinn symmetries

We investigate to what extent a generic, generation-dependent $U(1)$ symmetry acting on the quark Yukawa operators can reduce the number of free parameters by forcing some entries in the Yukawa matrices to vanish. The maximal reduction compatible with CP violation yields nine real parameters and one phase, which matches the number of physical observables, implying that such models have no free parameters. We derive a set of results: (i) the only possible structures have the form $M_4 \oplus M_5$, where the subscripts indicate the number of real parameters in the Yukawa matrices, (ii) there are only two inequivalent Yukawa structures, each one giving rise to six different models depending on quark flavour assignments, (iii) the $U(1)$ symmetries that generate these textures all have a QCD anomaly, and hence are Peccei-Quinn symmetries, reinforcing the idea of a possible connection between the quark flavour puzzle and the axion solution to the strong CP problem, (iv) in some cases the contributions to the QCD anomaly of two generations cancels out, and this opens the possibility that the axion coupling to nucleons could be strongly suppressed. Flavour-violating axion couplings to quarks are completely fixed, up to the axion decay constant, providing a non-trivial complementarity between low-energy flavour-violating processes and standard axion searches.Comment: v2: version accepted for publication in JHEP; figure 1 updated; minor additions; 23 pages, 1 figure. v1: 20 pages, 1 figur

Rigid tool affordance matching points of regard

In this abstract we briefly introduce the analysis of simple rigid object affordance by experimentally establishing the relation between the point of regard of subjects before grasping an object and the finger tip points of contact once the object is grasped. The analysis show that there is a strong relation between these data, in so justifying the hypothesis that people figures out how objects are afforded according to their functionality

Window for preferred axion models

We discuss phenomenological criteria for defining “axion windows,” namely regions in the parameter space of the axion-photon coupling where realistic models live. Currently, the boundaries of this region depend on somewhat arbitrary criteria, and it would be highly desirable to specify them in terms of precise phenomenological requirements. We first focus on hadronic axion models within post-inflationary scenarios, in which the initial abundance of the new vectorlike quarks Q is thermal. We classify their representations R Q by requiring that (i) the Q are sufficiently short lived to avoid issues with long-lived strongly interacting relics, (ii) the theory remains weakly coupled up to the Planck scale. The more general case of multiple R Q is also studied, and the absolute upper and lower bounds on the axion-photon coupling as a function of the axion mass is identified. Pre-inflationary scenarios in which the axion decay constant remains bounded as f a ≤ 5 × 10 11     GeV allow for axion-photon couplings only about 20% larger. Realistic Dine-Fischler-Srednicki-Zhitnitsky type of axion models also remain encompassed within the hadronic axion window. Some mechanisms that can allow to enhance the axion-photon coupling to values sizeably above the preferred window are discussed

Component-wise modeling of articulated objects

We introduce a novel framework for modeling articulated objects based on the aspects of their components. By decomposing the object into components, we divide the problem in smaller modeling tasks. After obtaining 3D models for each component aspect by employing a shape deformation paradigm, we merge them together, forming the object components. The final model is obtained by assembling the components using an optimization scheme which fits the respective 3D models to the corresponding apparent contours in a reference pose. The results suggest that our approach can produce realistic 3D models of articulated objects in reasonable time

Covert symmetries in the neutrino mass matrix

The flavour neutrino puzzle is often addressed by considering neutrino mass matrices m with a certain number of vanishing entries (mij = 0 for some values of the indices), since a reduction in the number of free parameters increases the predictive power. Symmetries that can enforce textures zero can also enforce a more general type of conditions f(mij) = 0 with f some function of the matrix elements mij. In this case m can have all entries non-vanishing with no reduction in its predictive power. We classify all generation-dependent U(1) symmetries which, in the presence of two leptonic Higgs doublets, can reduce the number of independent high-energy parameters of type-I seesaw to the minimum number compatible with non-vanishing neutrino mixings and CP violation. These symmetries are broken above the scale where the effective operator is generated and can thus remain covert, in the sense that no explicit evidence of the symmetry can be read off the neutrino mass matrix, and different symmetries can give rise to the same low-energy structure. We find that only two cases are viable: one yields a structure with two zero-textures already considered in the literature, the other has no zero-textures and has never been considered before. It predicts normal ordering, a lightest neutrino mass ∼ 10 meV, a Dirac phase δ ∼ 3π2 and definite values for the Majorana phases

Loss of phosphoserine polar group asymmetry and inhibition of cholesterol transport in Jurkat cells treated with cholesterylphosphoserine

Abstract Cholesterylphosphoserine (CPHS) is a synthetic ester of cholesterol showing immunosuppressive activity. In the present study, we have used the T cell line Jurkat to investigate its mechanism of action. CPHS incorporates into cells reaching a molar ratio of 0.23 and 3.9 with the total phospholipid and cholesterol content, without inducing necrosis or apoptosis. CPHS incorporation elicits a dose-dependent binding of fluorescein isothiocyanate-labeled annexin V, suggesting that the steroid distributes in the external leaflet of plasma membrane exposing the phosphoserine group to the external cell environment and inserting the steroid ring into the phospholipid bilayer. In agreement with a preferential steroid association with sphingolipids, CPHS is included in a Triton X-100-insoluble complex when mixed with sphingomyelin and cholesterol. CPHS incorporation inhibits the esterification of low density lipoprotein (LDL)-derived cholesterol, producing a minor influence on the endogenous synthesis of cholesterol and on the acyl-CoA:cholesterol acyltransferase activity. In this effect, CPHS is as potent as progesterone (IC50 of 3.5 μ m ). It is concluded that the insertion of cholesterylphosphoserine (CPHS) in the Jurkat plasma membrane neutralizes the asymmetric distribution of the phosphoserine group and inhibits the movement of cholesterol to the endoplasmic reticulum. As CPHS is a negatively charged steroid, this last effect may be linked to the perturbation of sphingolipid/cholesterol-based microdomains, proposed to play a role in cholesterol trafficking.—Cusinato, F., W. Habeler, F. Calderazzo, F. Nardi, and A. Bruni. Loss of phosphoserine polar group asymmetry and inhibition of cholesterol transport in Jurkat cells treated with cholesterylphosphoserine

Solar axions cannot explain the XENON1T excess

We argue that the interpretation in terms of solar axions of the recent XENON1T excess is not tenable when confronted with astrophysical observations of stellar evolution. We discuss the reasons why the emission of a flux of solar axions sufficiently intense to explain the anomalous data would radically alter the distribution of certain type of stars in the color-magnitude diagram in first place, and would also clash with a certain number of other astrophysical observables. Quantitatively, the significance of the discrepancy ranges from $3.3\sigma$ for the rate of period change of pulsating White Dwarfs, and exceedes $19\sigma$ for the $R$-parameter and for $M_{I,{\rm TRGB}}$.Comment: 6 pages, 2 figures, 1 table. Version accepted for publication on PR

Axion-electron decoupling in nucleophobic axion models

The strongest upper bounds on the axion mass come from astrophysical observations like the neutrino burst duration of SN1987A, which depends on the axion couplings to nucleons, or the white-dwarf cooling rates and red-giant evolution, which involve the axion-electron coupling. It has been recently argued that in variants of Dine-Fischler-Srednicki-Zhitnitsky (DFSZ) models with generation-dependent Peccei-Quinn charges an approximate axion-nucleon decoupling can occur, strongly relaxing the SN1987A bound. However, as in standard DFSZ models, the axion remains in general coupled to electrons, unless an ad hoc cancellation is engineered. Here we show that axion-electron decoupling can be implemented without extra tunings in DFSZ-like models with three Higgs doublets. Remarkably, the numerical value of the quark mass ratio m u / m d ∼ 1 / 2 is crucial to open up this possibility