Two-Stage Transfer Learning for Heterogeneous Robot Detection and 3D Joint Position Estimation in a 2D Camera Image using CNN

Collaborative robots are becoming more common on factory floors as well as regular environments, however, their safety still is not a fully solved issue. Collision detection does not always perform as expected and collision avoidance is still an active research area. Collision avoidance works well for fixed robot-camera setups, however, if they are shifted around, Eye-to-Hand calibration becomes invalid making it difficult to accurately run many of the existing collision avoidance algorithms. We approach the problem by presenting a stand-alone system capable of detecting the robot and estimating its position, including individual joints, by using a simple 2D colour image as an input, where no Eye-to-Hand calibration is needed. As an extension of previous work, a two-stage transfer learning approach is used to re-train a multi-objective convolutional neural network (CNN) to allow it to be used with heterogeneous robot arms. Our method is capable of detecting the robot in real-time and new robot types can be added by having significantly smaller training datasets compared to the requirements of a fully trained network. We present data collection approach, the structure of the multi-objective CNN, the two-stage transfer learning training and test results by using real robots from Universal Robots, Kuka, and Franka Emika. Eventually, we analyse possible application areas of our method together with the possible improvements.Comment: 6+n pages, ICRA 2019 submissio

Anisotropic straining of graphene using micropatterned SiN membranes

We use micro-Raman spectroscopy to study strain profiles in graphene monolayers suspended over SiN membranes micropatterned with holes of non-circular geometry. We show that a uniform differential pressure load $\Delta P$ over elliptical regions of free-standing graphene yields measurable deviations from hydrostatic strain conventionally observed in radially-symmetric microbubbles. The top hydrostatic strain $\bar{\varepsilon}$ we observe is estimated to be $\approx0.7\%$ for $\Delta P = 1\,{\rm bar}$ in graphene clamped to elliptical SiN holes with axis $40$ and $20\,{\rm \mu m}$. In the same configuration, we report a $G_\pm$ splitting of $10\,{\rm cm^{-1}}$ which is in good agreement with the calculated anisotropy $\Delta\varepsilon \approx 0.6\%$ for our device geometry. Our results are consistent with the most recent reports on the Gr\"uneisen parameters. Perspectives for the achievement of arbitrary strain configurations by designing suitable SiN holes and boundary clamping conditions are discussed.Comment: 8 pages, 6 figure (including SI

The response of a neutral atom to a strong laser field probed by transient absorption near the ionisation threshold

We present transient absorption spectra of an extreme ultraviolet attosecond pulse train in helium dressed by an 800 nm laser field with intensity ranging from $2times10^{12}$ W/cm$^2$ to $2times10^{14}$ W/cm$^2$. The energy range probed spans 16-42 eV, straddling the first ionisation energy of helium (24.59 eV). By changing the relative polarisation of the dressing field with respect to the attosecond pulse train polarisation we observe a large change in the modulation of the absorption reflecting the vectorial response to the dressing field. With parallel polarized dressing and probing fields, we observe significant modulations with periods of one half and one quarter of the dressing field period. With perpendicularly polarized dressing and probing fields, the modulations of the harmonics above the ionisation threshold are significantly suppressed. A full-dimensionality solution of the single-atom time-dependent Schr odinger equation obtained using the recently developed ab-initio time-dependent B-spline ADC method reproduce some of our observations

Transport in strongly-coupled graphene-LaAlO3/SrTiO3 hybrid systems

We report on the transport properties of hybrid devices obtained by depositing graphene on a LaAlO3/SrTiO3 oxide junction hosting a 4 nm-deep two-dimensional electron system. At low graphene-oxide inter-layer bias the two electron systems are electrically isolated, despite their small spatial separation, and very efficient reciprocal gating is shown. A pronounced rectifying behavior is observed for larger bias values and ascribed to the interplay between electrostatic depletion and tunneling across the LaAlO3 barrier. The relevance of these results in the context of strongly-coupled bilayer systems is discussed.Comment: 10 pages, 3 figure

Measurement of sulfur L2,3 and carbon K edge XANES in a polythiophene film using a high harmonic supercontinuum

We use a high harmonic generated supercontinuum in the soft X-ray region to measure X-ray absorption near edge structure (XANES) spectra in polythiophene (poly(3-hexylthiophene)) films at multiple absorption edges. A few-cycle carrier-envelope phase-stable laser pulse centered at 1800 nm was used to generate a stable soft X-ray supercontinuum, with amplitude gating limiting the generated pulse duration to a single optical half-cycle. We report a quantitative transmission measurement of the sulfur L2,3 edge over the range 160-200 eV and the carbon K edge from 280 to 330 eV. These spectra show all the features previously reported in the XANES spectra of polythiophene, but for the first time they are measured with a source that has an approximately 1 fs pulse duration. This study opens the door to measurements that can fully time-resolve the photoexcited electronic dynamics in these systems

Magneto-optic transmittance modulation observed in a hybrid graphene-split ring resonator terahertz metasurface

By placing a material in close vicinity of a resonant optical element, its intrinsic optical response can be tuned, possibly to a wide extent. Here, we show that a graphene monolayer, spaced a few tenths of nanometers from a split ring resonator metasurface, exhibits a magneto-optical response which is strongly influenced by the presence of the metasurface itself. This hybrid system holds promises in view of thin optical modulators, polarization rotators, and nonreciprocal devices, in the technologically relevant terahertz spectral range. Moreover, it could be chosen as the playground for investigating the cavity electrodynamics of Dirac fermions in the quantum regime.The work was supported in part by the European Union Graphene Flagship under grant agreement n° 604391.This is the author accepted manuscript. The final version is available from AIP via http://dx.doi.org/10.1063/1.493170