Deep Learning in Robotics: A Review of Recent Research

Advances in deep learning over the last decade have led to a flurry of research in the application of deep artificial neural networks to robotic systems, with at least thirty papers published on the subject between 2014 and the present. This review discusses the applications, benefits, and limitations of deep learning vis-\`a-vis physical robotic systems, using contemporary research as exemplars. It is intended to communicate recent advances to the wider robotics community and inspire additional interest in and application of deep learning in robotics.Comment: 41 pages, 135 reference

Growth of a mat-forming photograph in the presence of UV radiation

Knowledge of the survival and growth of microorganisms in the presence of ultraviolet radiation is important for understanding the potential for life to exist in environments exposed to high fluxes of UV radiation. The growth of a mat-forming phototrophic prokaryote, Chloroflexus aurantiacus, was examined in the presence of continuous high UV irradiation under otherwise optimal growth conditions. Evidence was sought for an intrinsic ability to grow in the presence of UV radiation in a carefully chosen organism known to be unusually resistant to UV radiation, of ancient lineage among the phototrophs, to resemble ancient microfossils from the Precambrian, and to be a mat-former. It was assumed that even a high intrinsic UV resistance would be inadequate for survival and growth in the presence of very high UV fluxes, and iron (Fe3+) was selected as a common, abundant UV-absorbing substance that might protest microorganisms growing in or under iron-bearing sediments. The effectiveness of Fe(3+) was tested as a UV protective agent at low concentrations in thin layers. It was concluded that intrinsic UV resistance in some organisms may account for growth, not just survival, of these organisms when exposed to high UV fluxes under otherwise optimal growth conditions in an anoxic environment. It was also concluded that Fe(3+) bearing sediments of 1 mm or less in thickness may provide an adequate shield against high UV fluxes permitting the growth of microorganisms just below their surface. As long as growth conditions were met, then the evolution and development of microorganisms would not be hampered by high UV fluxes impinging upon the surface of iron-bearing sediments

Renormalization Group Study of the Intrinsic Finite Size Effect in 2D Superconductors

Vortices in a thin-film superconductor interact logarithmically out to a distance on the order of the two-dimensional (2D) magnetic penetration depth $\lambda_\perp$, at which point the interaction approaches a constant. Thus, because of the finite $\lambda_\perp$, the system exhibits what amounts to an {\it intrinsic} finite size effect. It is not described by the 2D Coulomb gas but rather by the 2D Yukawa gas (2DYG). To study the critical behavior of the 2DYG, we map the 2DYG to the massive sine-Gordon model and then perform a renormalization group study to derive the recursion relations and to verify that $\lambda_\perp$ is a relevant parameter. We solve the recursion relations to study important physical quantities for this system including the renormalized stiffness constant and the correlation length. We also address the effect of current on this system to explain why finite size effects are not more prevalent in experiments given that the 2D magnetic penetration depth is a relevant parameter.Comment: 8 pages inRevTex, 5 embedded EPS figure

Does the scatterometer see wind speed or friction velocity?

Studies of radar backscatter from the sea surface are referred either to the wind speed, U, or friction velocity, u(sub *). Bragg scattering theory suggests that these variations in backscatter are directly related to the height of the capillary-gravity waves modulated by the larger waves in tilt and by straining of the short wave field. The question then arises as to what characteristic of the wind field is most probably correlated with the wave number spectrum of the capillary-gravity waves. The justification for selecting U as the appropriate meteorological parameter to be associated with backscatter from L-band to Ku-band are reviewed. Both theoretical reasons and experimental evidence are used to demonstrate that the dominant parameter is U/C(lambda) where U is the wind speed at a height of about lambda/2 for waves having a phase speed of C(lambda)

A single mutation in the envelope protein modulates flavivirus antigenicity, stability, and pathogenesis

The structural flexibility or 'breathing' of the envelope (E) protein of flaviviruses allows virions to sample an ensemble of conformations at equilibrium. The molecular basis and functional consequences of virus conformational dynamics are poorly understood. Here, we identified a single mutation at residue 198 (T198F) of the West Nile virus (WNV) E protein domain I-II hinge that regulates virus breathing. The T198F mutation resulted in a ~70-fold increase in sensitivity to neutralization by a monoclonal antibody targeting a cryptic epitope in the fusion loop. Increased exposure of this otherwise poorly accessible fusion loop epitope was accompanied by reduced virus stability in solution at physiological temperatures. Introduction of a mutation at the analogous residue of dengue virus (DENV), but not Zika virus (ZIKV), E protein also increased accessibility of the cryptic fusion loop epitope and decreased virus stability in solution, suggesting that this residue modulates the structural ensembles sampled by distinct flaviviruses at equilibrium in a context dependent manner. Although the T198F mutation did not substantially impair WNV growth kinetics in vitro, studies in mice revealed attenuation of WNV T198F infection. Overall, our study provides insight into the molecular basis and the in vitro and in vivo consequences of flavivirus breathing

The elevation, slope, and curvature spectra of a wind roughened sea surface

The elevation, slope and curvature spectra are defined as a function of wave number and depend on the friction velocity. There are five wave number ranges of definition called the gravity wave-gravity equilibrium range, the isotropic turbulence range, the connecting range due to Leykin Rosenberg, the capillary range, and the viscous cutoff range. The higher wave number ranges are strongly wind speed dependent, and there is no equilibrium (or saturated) capillary range, at least for winds up to 30 meters/sec. Some properties of the angular variation of the spectra are also found. For high wave numbers, especially in the capillary range, the results are shown to be consistent with the Rayleigh-Rice backscattering theory (Bragg scattering), and certain properties of the angular variation are deduced from backscatter measurements

Understanding Occupational and Skill Demand in New Jersey's Health Care Industry

The health care industry in New Jersey employs almost 350,000 people. However, state, national, and international shortages of nurses is raising widespread concern in the industry. Jobs in the industry are changing in response to pressures to control costs and the demands of an increasingly consolidated industry. This report summarizes the skill, knowledge, and educational requirements of key health care occupations and identifies strategies for meeting the workforce challenges facing the industry

Some examples of deep structure of the Archean from geophysics

The development of Archean crust remains as one of the significant problems in earth science, and a major unknown concerning Archean terrains is the nature of the deep crust. The character of crust beneath granulite terrains is especially fascinating because granulites are generally interpreted to represent a deep crustal section. Magnetic data from this area can be best modeled with a magnetized wedge of older Archean rocks (granulitic gneisses) underlying the younger Archean greenstone terrain. The dip of the boundary based on magnetic modeling is the same as the dip of the postulated thrust-fault reflection. Thus several lines of evidence indicate that the younger Archean greenstone belt terrain is thrust above the ancient Minnesota Valley gneiss terrain, presumably as the greenstone belt was accreted to the gneiss terrain, so that the dipping reflection represents a suture zone. Seismic data from underneath the granulite-facies Minnesota gneiss terrain shows abundant reflections between 3 and 6 s, or about 9 to 20 km. These are arcuate or dipping multicyclic events indicative of layering

Understanding Occupational and Skill Demand in New Jersey's Finance Industry

The finance industry in New Jersey employs over 200,000 people. Many more workers benefit from the state's proximity to the finance industry in New York City. Jobs in the industry are evolving rapidly in response to national and global trends, such as deregulation, increasingly complex laws, and new technologies. As jobs change, skill requirements for both entry-level and incumbent workers increase. This report summarizes the skill, knowledge, and educational requirements of key finance occupations and identifies strategies for meeting the workforce challenges facing the industry