The crucial importance of the t2gt_{2g}--ege_g hybridization in transition metal oxides

We studied the influence of the trigonal distortion of the regular octahedron along the (111) direction, found in the $\rm CoO_2$ layers. Under such a distortion the $t_{2g}$ orbitals split into one $a_{1g}$ and two degenerated $e_g^\prime$ orbitals. We focused on the relative order of these orbitals. Using quantum chemical calculations of embedded clusters at different levels of theory, we analyzed the influence of the different effects not taken into account in the crystalline field theory; that is metal-ligand hybridization, long-range crystalline field, screening effects and orbital relaxation. We found that none of them are responsible for the relative order of the $t_{2g}$ orbitals. In fact, the trigonal distortion allows a mixing of the $t_{2g}$ and $e_g$ orbitals of the metallic atom. This hybridization is at the origin of the $a_{1g}$--$e_g^\prime$ relative order and of the incorrect prediction of the crystalline field theory

Real-time 3D Tracking of Articulated Tools for Robotic Surgery

In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in real-time tracking of articulated tools. Most algorithms are tailored for offline processing with pre-recorded videos. In this paper, we propose a real-time 3D tracking method for articulated tools in robotic surgery. The proposed method is based on the CAD model of the tools as well as robot kinematics to generate online part-based templates for efficient 2D matching and 3D pose estimation. A robust verification approach is incorporated to reject outliers in 2D detections, which is then followed by fusing inliers with robot kinematic readings for 3D pose estimation of the tool. The proposed method has been validated with phantom data, as well as ex vivo and in vivo experiments. The results derived clearly demonstrate the performance advantage of the proposed method when compared to the state-of-the-art.Comment: This paper was presented in MICCAI 2016 conference, and a DOI was linked to the publisher's versio

Ultrafast non-linear optical signal from a single quantum dot: exciton and biexciton effects

We present results on both the intensity and phase-dynamics of the transient non-linear optical response of a single quantum dot (SQD). The time evolution of the Four Wave Mixing (FWM) signal on a subpicosecond time scale is dominated by biexciton effects. In particular, for the cross-polarized excitation case a biexciton bound state is found. In this latter case, mean-field results are shown to give a poor description of the non-linear optical signal at small times. By properly treating exciton-exciton effects in a SQD, coherent oscillations in the FWM signal are clearly demonstrated. These oscillations, with a period corresponding to the inverse of the biexciton binding energy, are correlated with the phase dynamics of the system's polarization giving clear signatures of non-Markovian effects in the ultrafast regime.Comment: 10 pages, 3 figure

Phase distortions of attosecond pulses produced by resonance-enhanced high harmonic generation

Resonant enhancement of high harmonic generation can be obtained in plasmas containing ions with strong radiative transitions resonant with harmonic orders. The mechanism for this enhancement is still debated. We perform the first temporal characterization of the attosecond emission from a tin plasma under near-resonant conditions for two different resonance detunings. We show that the resonance considerably changes the relative phase of neighbouring harmonics. For very small detunings, their phase locking may even be lost, evidencing strong phase distortions in the emission process and a modified attosecond structure. These features are well reproduced by our simulations, allowing their interpretation in terms of the phase of the recombination dipole moment

Augmented reality applications for cultural heritage using Kinect

AbstractThis paper explores the use of data from the Kinect sensor for performing augmented reality, with emphasis on cultural heritage applications. It is shown that the combination of depth and image correspondences from the Kinect can yield a reliable estimate of the location and pose of the camera, though noise from the depth sensor introduces an unpleasant jittering of the rendered view. Kalman filtering of the camera position was found to yield a much more stable view. Results show that the system is accurate enough for in situ augmented reality applications. Skeleton tracking using Kinect data allows the appearance of participants to be augmented, and together these facilitate the development of cultural heritage applications.</jats:p

iPose: Instance-Aware 6D Pose Estimation of Partly Occluded Objects

We address the task of 6D pose estimation of known rigid objects from single input images in scenarios where the objects are partly occluded. Recent RGB-D-based methods are robust to moderate degrees of occlusion. For RGB inputs, no previous method works well for partly occluded objects. Our main contribution is to present the first deep learning-based system that estimates accurate poses for partly occluded objects from RGB-D and RGB input. We achieve this with a new instance-aware pipeline that decomposes 6D object pose estimation into a sequence of simpler steps, where each step removes specific aspects of the problem. The first step localizes all known objects in the image using an instance segmentation network, and hence eliminates surrounding clutter and occluders. The second step densely maps pixels to 3D object surface positions, so called object coordinates, using an encoder-decoder network, and hence eliminates object appearance. The third, and final, step predicts the 6D pose using geometric optimization. We demonstrate that we significantly outperform the state-of-the-art for pose estimation of partly occluded objects for both RGB and RGB-D input

Real-Time Non-Rigid Surface Detection

On-line diagnostics of power system components is an important area since it allows the diagnostics to be performed at regular intervals during the normal operation of the components. This combined with reliability centered maintenance could lead to reduced customer outages. In this thesis the on-line diagnostic methods for medium voltage cross-linked polyethylene (XLPE) cables are investigated based on Time Domain Reflectometry (TDR). Degradation of XLPE insulated power cables by water-trees (WT) is a primary cause of failure of these cables. The detection of WT and information about the severity of the degradation can be obtained with off-line measurements using dielectric spectroscopy.  In many situations only a limited part of the cable may be degraded by the WT. In such a situation a method for localization of this WT section would be desirable. The developed high frequency measurements superimposed on HV system is presented. It was used to measure the propagation constant of the WT aged cables as a function of the applied HV. This was done in order to study the diagnostic criteria, which could be used for on-line TDR diagnostics of WT aged cables. A physically based dielectric model of WT was developed in order to explain qualitatively and quantitatively the permittivity and loss of WT at different frequencies and voltages. The sensors applicable for the on-line TDR were investigated in terms of sensitivity and bandwidth. High frequency models were built and the simulation results in frequency and time domains were verified by measurements. The developed on-line TDR systems are presented. Their applicability to detect water penetration under the cable sheath and localize the broken screen wires was investigated during the measurements in laboratory environment. The results of field measurements with on-line TDR are presented. Variations due to load cycling of the cable were observed, where an increase in the cable temperature cause an increase of the pulse propagation velocity in the cable. The temperature dependent wave propagation in the cable is investigated and explained by modeling.QC 20100709</p