Qualitative design and implementation of human-robot spatial interactions

Despite the large number of navigation algorithms available for mobile robots, in many social contexts they often exhibit inopportune motion behaviours in proximity of people, often with very "unnatural" movements due to the execution of segmented trajectories or the sudden activation of safety mechanisms (e.g., for obstacle avoidance). We argue that the reason of the problem is not only the difficulty of modelling human behaviours and generating opportune robot control policies, but also the way human-robot spatial interactions are represented and implemented. In this paper we propose a new methodology based on a qualitative representation of spatial interactions, which is both flexible and compact, adopting the well-defined and coherent formalization of Qualitative Trajectory Calculus (QTC). We show the potential of a QTC-based approach to abstract and design complex robot behaviours, where the desired robot's behaviour is represented together with its actual performance in one coherent approach, focusing on spatial interactions rather than pure navigation problems

Treating AIDS-associated cerebral toxoplasmosis – pyrimethamine plus sulfadiazine compared with cotrimoxazole, and outcome with adjunctive glucocorticoids

We conducted a retrospective study of AIDS-associated cerebral toxoplasmosis. Eighteen patients received pyrimethamine plus sulfadiazine and 25 co-trimoxazole, with comparable baseline characteristics. There were no differences in clinical outcomes, but co-trimoxazole was better tolerated (p = 0.066). There was also a trend towards more deaths among patients who received glucocorticoids. South African Medical Journal Vol. 97 (10) 2007: pp. 956-95

A Nyström method for a class of integral equations on the real line with applications to scattering by diffraction gratings and rough surfaces

We propose a Nystr¨om/product integration method for a class of second kind integral equations on the real line which arise in problems of two-dimensional scalar and elastic wave scattering by unbounded surfaces. Stability and convergence of the method is established with convergence rates dependent on the smoothness of components of the kernel. The method is applied to the problem of acoustic scattering by a sound soft one-dimensional surface which is the graph of a function f, and superalgebraic convergence is established in the case when f is infinitely smooth. Numerical results are presented illustrating this behavior for the case when f is periodic (the diffraction grating case). The Nystr¨om method for this problem is stable and convergent uniformly with respect to the period of the grating, in contrast to standard integral equation methods for diffraction gratings which fail at a countable set of grating periods

Large Extra Dimension Effects on the Spin Configuration of the Top Quark Pair at e^+ e^- Colliders

Large extra dimension effects on the spin configuration of the top quark pair at the $e^+ e^-\to t\bar{t}$ process are studied. It is shown that the TeV scale quantum gravity effects cause significant deviations from the Standard Model predictions for the spin configuration in the off-diagonal basis: they lead to substantial cross sections of the like-spin states of the top quark pair, which vanish in the SM; they weaken the pure dominance of the processes, the Up-Down (Down-Up) spin states for the left-handed (right-handed) beam. In addition it is shown that the angular cut $-0.5<\cos\theta<0$ is very effective to determine the sign of the quantum gravity corrections.Comment: A discussion on the angular distribution is added with a tabl

Reconstructing Bohr's Reply to EPR in Algebraic Quantum Theory

Halvorson and Clifton have given a mathematical reconstruction of Bohr's reply to Einstein, Podolsky and Rosen (EPR), and argued that this reply is dictated by the two requirements of classicality and objectivity for the description of experimental data, by proving consistency between their objectivity requirement and a contextualized version of the EPR reality criterion which had been introduced by Howard in his earlier analysis of Bohr's reply. In the present paper, we generalize the above consistency theorem, with a rather elementary proof, to a general formulation of EPR states applicable to both non-relativistic quantum mechanics and algebraic quantum field theory; and we clarify the elements of reality in EPR states in terms of Bohr's requirements of classicality and objectivity, in a general formulation of algebraic quantum theory.Comment: 13 pages, Late

The PML for rough surface scattering

In this paper we investigate the use of the perfectly matched layer (PML) to truncate a time harmonic rough surface scattering problem in the direction away from the scatterer. We prove existence and uniqueness of the solution of the truncated problem as well as an error estimate depending on the thickness and composition of the layer. This global error estimate predicts a linear rate of convergence (under some conditions on the relative size of the real and imaginary parts of the PML function) rather than the usual exponential rate. We then consider scattering by a half-space and show that the solution of the PML truncated problem converges globally at most quadratically (up to logarithmic factors), providing support for our general theory. However we also prove exponential convergence on compact subsets. We continue by proposing an iterative correction method for the PML truncated problem and, using our estimate for the PML approximation, prove convergence of this method. Finally we provide some numerical results in 2D.(C) 2008 IMACS. Published by Elsevier B.V. All rights reserved

MIPS: The Multiband Imaging Photometer for SIRTF

The Multiband Imaging Photometer for SIRTF (MIPS) is to be designed to reach as closely as possible the fundamental sensitivity and angular resolution limits for SIRTF over the 3 to 700μm spectral region. It will use high performance photoconductive detectors from 3 to 200μm with integrating JFET amplifiers. From 200 to 700μm, the MIPS will use a bolometer cooled by an adiabatic demagnetization refrigerator. Over much of its operating range, the MIPS will make possible observations at and beyond the conventional Rayleigh diffraction limit of angular resolution

Four-Fermi Effective Operators in Top-Quark Production and Decay

Effects of four-Fermi-type new interactions are studied in top-quark pair production and their subsequent decays at future e^+e^- colliders. Secondary-lepton-energy distributions are calculated for arbitrary longitudinal beam polarizations. An optimal-observables procedure is applied for the determination of new parameters.Comment: Polarized e^- plus unpolarized e^+ collisions were include

Top Production in Hadron-Hadron Collisions and Anomalous Top-Gluon Couplings

We discuss the influence of anomalous tbar-t-G couplings on total and differential tbar-t production cross sections in hadron-hadron collisions. We study in detail the effects of a chromoelectric and a chromomagnetic dipole moment, d' and \mu', of the top quark. In the d'-\mu' plane, we find a whole region where the anomalous couplings give a zero net contribution to the total top production rate. In differential cross sections, the anomalous moments have to be quite sizable to give measurable effects. We estimate the values of d' and \mu' which are allowed by the present Tevatron experimental results on top production. A chromoelectric dipole moment of the top violates CP invariance. We discuss a simple CP-odd observable which allows for a direct search for CP violation in top production.Comment: footnote pg. 4 changed, acknowledgments extende