Motion Planning from Demonstrations and Polynomial Optimization for Visual Servoing Applications

Vision feedback control techniques are desirable for a wide range of robotics applications due to their robustness to image noise and modeling errors. However in the case of a robot-mounted camera, they encounter difficulties when the camera traverses large displacements. This scenario necessitates continuous visual target feedback during the robot motion, while simultaneously considering the robot's self- and external-constraints. Herein, we propose to combine workspace (Cartesian space) path-planning with robot teach-by-demonstration to address the visibility constraint, joint limits and “whole arm” collision avoidance for vision-based control of a robot manipulator. User demonstration data generates safe regions for robot motion with respect to joint limits and potential “whole arm” collisions. Our algorithm uses these safe regions to generate new feasible trajectories under a visibility constraint that achieves the desired view of the target (e.g., a pre-grasping location) in new, undemonstrated locations. Experiments with a 7-DOF articulated arm validate the proposed method.published_or_final_versio

High Precision Axial Coordinate Readout for an Axial 3-D PET Detector Module using a Wave Length Shifter Strip Matrix

We describe a novel method to extract the axial coordinate from a matrix of long axially oriented crystals, which is based on wavelength shifting plastic strips. The method allows building compact 3-D axial gamma detector modules for PET scanners with excellent 3-dimensional spatial, timing and energy resolution while keeping the number of readout channels reasonably low. A voxel resolution of about 10 mm3 is expected. We assess the performance of the method in two independent ways, using classical PMTs and G-APDs to read out the LYSO (LSO) scintillation crystals and the wavelength shifting strips. We observe yields in excess of 35 photoelectrons from the strips for a 511 keV gamma and reconstruct the axial coordinate with a precision of about 2.5 mm (FWHM)

Transverse Fresnel-Fizeau drag effects in strongly dispersive media

A light beam normally incident upon an uniformly moving dielectric medium is in general subject to bendings due to a transverse Fresnel-Fizeau light drag effect. In conventional dielectrics, the magnitude of this bending effect is very small and hard to detect. Yet, it can be dramatically enhanced in strongly dispersive media where slow group velocities in the m/s range have been recently observed taking advantage of the electromagnetically induced transparency (EIT) effect. In addition to the usual downstream drag that takes place for positive group velocities, we predict a significant anomalous upstream drag to occur for small and negative group velocities. Furthermore, for sufficiently fast speeds of the medium, higher order dispersion terms are found to play an important role and to be responsible for peculiar effects such as light propagation along curved paths and the restoration of the spatial coherence of an incident noisy beam. The physics underlying this new class of slow-light effects is thoroughly discussed

The yeast P5 type ATPase, Spf1, regulates manganese transport into the endoplasmic reticulum

The endoplasmic reticulum (ER) is a large, multifunctional and essential organelle. Despite intense research, the function of more than a third of ER proteins remains unknown even in the well-studied model organism Saccharomyces cerevisiae. One such protein is Spf1, which is a highly conserved, ER localized, putative P-type ATPase. Deletion of SPF1 causes a wide variety of phenotypes including severe ER stress suggesting that this protein is essential for the normal function of the ER. The closest homologue of Spf1 is the vacuolar P-type ATPase Ypk9 that influences Mn2+ homeostasis. However in vitro reconstitution assays with Spf1 have not yielded insight into its transport specificity. Here we took an in vivo approach to detect the direct and indirect effects of deleting SPF1. We found a specific reduction in the luminal concentration of Mn2+ in ∆spf1 cells and an increase following it’s overexpression. In agreement with the observed loss of luminal Mn2+ we could observe concurrent reduction in many Mn2+-related process in the ER lumen. Conversely, cytosolic Mn2+-dependent processes were increased. Together, these data support a role for Spf1p in Mn2+ transport in the cell. We also demonstrate that the human sequence homologue, ATP13A1, is a functionally conserved orthologue. Since ATP13A1 is highly expressed in developing neuronal tissues and in the brain, this should help in the study of Mn2+-dependent neurological disorders

Spin-Orbit Interaction Enhanced Fractional Quantum Hall States in the Second Landau Level

We study the fractional quantum Hall effect at filling fractions 7/3 and 5/2 in the presence of the spin-orbit interaction, using the exact diagonalization method and the density matrix renormalization group (DMRG) method in a spherical geometry. Trial wave functions at these fillings are the Laughlin state and the Moore-Reed-Pfaffian state. The ground state excitation energy gaps and pair-correlation functions at fractional filling factor 7/3 and 5/2 in the second Landau level are calculated. We find that the spin-orbit interaction stabilizes the fractional quantum Hall states.Comment: 4pages, 4figure

First results from the CERN Axion Solar Telescope (CAST)

Hypothetical axion-like particles with a two-photon interaction would be produced in the Sun by the Primakoff process. In a laboratory magnetic field (``axion helioscope'') they would be transformed into X-rays with energies of a few keV. Using a decommissioned LHC test magnet, CAST has been running for about 6 months during 2003. The first results from the analysis of these data are presented here. No signal above background was observed, implying an upper limit to the axion-photon coupling < 1.16 10^{-10} GeV^-1 at 95% CL for m_a <~0.02 eV. This limit is comparable to the limit from stellar energy-loss arguments and considerably more restrictive than any previous experiment in this axion mass range.Comment: 4 pages, accepted by PRL. Final version after the referees comment

The CAST Time Projection Chamber

One of the three X-ray detectors of the CAST experiment searching for solar axions is a Time Projection Chamber (TPC) with a multi-wire proportional counter (MWPC) as a readout structure. Its design has been optimized to provide high sensitivity to the detection of the low intensity X-ray signal expected in the CAST experiment. A low hardware threshold of 0.8 keV is safely set during normal data taking periods, and the overall efficiency for the detection of photons coming from conversion of solar axions is 62 %. Shielding has been installed around the detector, lowering the background level to 4.10 x 10^-5 counts/cm^2/s/keV between 1 and 10 keV. During phase I of the CAST experiment the TPC has provided robust and stable operation, thus contributing with a competitive result to the overall CAST limit on axion-photon coupling and mass.Comment: 19 pages, 11 figures and images, submitted to New Journal of Physic

A segmented Hybrid Photon Detector with integrated auto-triggering front-end electronics for a PET scanner

We describe the design, fabrication and test results of a segmented Hybrid Photon Detector with integrated auto-triggering front-end electronics. Both the photodetector and its VLSI readout electronics are custom designed and have been tailored to the requirements of a recently proposed novel geometrical concept of a Positron Emission Tomograph. Emphasis is put on the PET specific features of the device. The detector has been fabricated in the photocathode facility at CERN

BMD loci contribute to ethnic and developmental differences in skeletal fragility across populations: Assessment of evolutionary selection pressures

Bone mineral density (BMD) is a highly heritable trait used both for the diagnosis of osteoporosis in adults and to assess bone health in children. Ethnic differences in BMD have been documented, with markedly higher levels in individuals of African descent, which partially explain disparity in osteoporosis risk across populations. To date, 63 independent genetic variants have been associated with BMD in adults of Northern-European ancestry. Here, we demonstrate that at least 61 of these variants are predictive of BMD early in life by studying their compound effect within two multiethnic pediatric cohorts. Furthermore, we show that within these cohorts and across populations worldwide the frequency of those alleles associated with increased BMD is systematically elevated in individuals of Sub-Saharan African ancestry. The amount of differentiation in the BMD genetic scores among Sub-Saharan and non-Sub-Saharan populations together with neutrality tests, suggest that these allelic differences are compatible with the hypothesis of selective pressures acting on the genetic determinants of BMD. These findings constitute an explorative contribution to the role of selection on ethnic BMD differences and likely a new example of polygenic adaptation acting on a human trait