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Teleportation with Multiple Accelerated Partners

Communications in Theoretical Physics 2015年第9期64卷 287-294页

作者： A.Sagheer H.Hamdoun N.Metwally Department of Computer Science Faculty of Computer Science and Information Technology King Faisal University Center for Artificial Intelligence and RObotics (CAIRO) Faculty of Science Aswan University Department of Mathematics College of Science University of Bahrain

As the current revolution in communication is underway, quantum teleportation can increase the level of security in quantum communication applications. In this paper, we present a quantum teleportation procedure that capable to teleport either accelerated or non-accelerated information through different quantum channels. These quantum channels are based on accelerated multi-qubit states, where each qubit of each of these channels represents a ***, these states are the W state, Greenberger–Horne–Zeilinger(GHZ) state, and the GHZ-like state. Here, we show that the fidelity of teleporting accelerated information is higher than the fidelity of teleporting non-accelerated information, both through a quantum channel that is based on accelerated state. Also, the comparison among the performance of these three channels shows that the degree of fidelity depends on type of the used channel, type of the measurement, and value of the acceleration. The result of comparison concludes that teleporting information through channel that is based on the GHZ state is more robust than teleporting information through channels that are based on the other two states. For future work, the proposed procedure can be generalized later to achieve communication through a wider quantum network.

关键词： non-inertial frames entanglement acceleration

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Studying bioluminescence flashes with the ANTARES deep Sea neutrino telescope

arXiv

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arXiv 2021年

作者： Reeb, Nico Hutschenreuter, S. Zehetner, P. Ensslin, T. Albert, A. Alves, S. André, M. Anghinolfi, M. Anton, G. Ardid, M. Aubert, J.-J. Aublin, J. Baret, B. Basa, S. Belhorma, B. Bendahman, M. Bertin, V. Biagi, S. Bissinger, M. Boumaaza, J. Bouta, M. Bouwhuis, M.C. Brânzaş, H. Bruijn, R. Brunner, J. Busto, J. Caiffi, B. Capone, A. Caramete, L. Carr, J. Carretero, V. Celli, S. Chabab, M. Chau, T.N. Chiarusi, T. Circella, M. Coleiro, A. Colomer-Molla, M. Coniglione, R. Coyle, P. Creusot, A. Díaz, A.F. de Wasseige, G. Deschamps, A. Distefano, C. Di Palma, I. Domi, A. Donzaud, C. Dornic, D. Drouhin, D. van Eeden, T. Enzenhöfer, A. Fermani, P. Ferrara, G. Filippini, F. Fusco, L. Gatelet, Y. Gay, P. Glotin, H. Gozzini, R. Ruiz, R. Gracia Graf, K. Guidi, C. Hallmann, S. van Haren, H. Heijboer, A.J. Hello, Y. Hernández-Rey, J.J. Hößl, J. Hofestädt, J. Huang, F. Illuminati, G. James, C.W. Jisse-Jung, B. de Jong, M. de Jong, P. Jongen, M. Kadler, M. Kalekin, O. Katz, U. Khan-Chowdhury, N.R. Kouchner, A. Kreykenbohm, I. Kulikovskiy, V. Lahmann, R. Le Breton, R. Lefèvre, D. Leonora, E. Levi, G. Lincetto, M. Lopez-Coto, D. Loucatos, S. Maderer, L. Manczak, J. Marcelin, M. Margiotta, A. Marinelli, A. Martínez-Mora, J.A. Melis, K. Migliozzi, P. Moussa, A. Muller, R. Nauta, L. Navas, S. Nezri, E. Fearraigh, B.Ó. Organokov, M. Pavalaş, G.E. Pellegrino, C. Perrin-Terrin, M. Piattelli, P. Pieterse, C. Poirè, C. Popa, V. Pradier, T. Randazzo, N. Reck, S. Riccobene, G. Romanov, A. Sánchez-Losa, A. Greus, F. Salesa Samtleben, D.F.E. Sanguineti, M. Sapienza, P. Schnabel, J. Schumann, J. Schüssler, F. Spurio, M. Stolarczyk, Th. Taiuti, M. Tingay, S.J. Vallage, B. van Elewyck, V. Versari, F. Viola, S. Vivolo, D. Wilms, J. Zavatarelli, S. Zegarelli, A. Zornoza, J.D. Zúñiga, J. Information Field Theory Group Max Planck Institute for Astrophysics Garching Germany Informatics 6 Chair of Robotics Artificial Intelligence and Real time Systems Technical University of Munich Garching Germany Department of Astrophysics IMAPP Radboud University Nijmegen Nijmegen Netherlands Department of Physics Ludwig-Maximilians University Munich Germany CERN Geneva Switzerland Université de Strasbourg CNRS IPHC UMR 7178 StrasbourgF-67000 France Université de Haute Alsace MulhouseF-68200 France IFIC - Instituto de Física Corpuscular CSIC Universitat de València c/ Catedrático José Beltrán 2 Paterna ValenciaE-46980 Spain Technical University of Catalonia Laboratory of Applied Bioacoustics Rambla Exposició Vilanova i la Geltrú Barcelona08800 Spain INFN - Sezione di Genova Via Dodecaneso 33 Genova16146 Italy Friedrich-Alexander-Universität Erlangen-Nürnberg Erlangen Centre for Astroparticle Physics Erwin-Rommel-Str. 1 Erlangen91058 Germany Universitat Politècnica de València C/ Paranimf 1 Gandia46730 Spain Aix Marseille Univ CNRS IN2P3 CPPM Marseille France Université de Paris CNRS Astroparticule et Cosmologie ParisF-75013 France Aix Marseille Univ CNRS CNES LAM Marseille France National Center for Energy Sciences and Nuclear Techniques B.P.1382 RabatR. P. 10001 Morocco University Mohammed V in Rabat Faculty of Sciences 4 av. Ibn Battouta B.P. 1014 R.P. Rabat10000 Morocco Via S. Sofia 62 Catania95123 Italy University Mohammed I Laboratory of Physics of Matter and Radiations B.P.717 Oujda6000 Morocco Nikhef Science Park Amsterdam Netherlands Institute of Space Science Bucharest MagureleRO-077125 Romania Universiteit van Amsterdam Instituut voor Hoge-Energie Fysica Science Park 105 Amsterdam1098 XG Netherlands INFN - Sezione di Roma P.le Aldo Moro 2 Roma00185 Italy Dipartimento di Fisica Università La Sapienza P.le Aldo Moro 2 Roma00185 Italy LPHEA Faculty of Science - Semlali Cadi Ayyad University P.O

We develop a novel technique to exploit the extensive data sets provided by underwater neutrino telescopes to gain information on bioluminescence in the deep sea. The passive nature of the telescopes gives us the unique opportunity to infer information on bioluminescent organisms without actively interfering with them. We propose a statistical method that allows us to reconstruct the light emission of individual organisms, as well as their location and movement. A mathematical model is built to describe the measurement process of underwater neutrino telescopes and the signal generation of the biological organisms. The Metric Gaussian Variational Inference algorithm is used to reconstruct the model parameters using photon counts recorded by the neutrino detectors. We apply this method to synthetic data sets and data collected by the ANTARES neutrino telescope. The telescope is located 40 km off the French coast and fixed to the sea floor at a depth of 2475 m. The runs with synthetic data reveal that we can reliably model the emitted bioluminescent flashes of the organisms. Furthermore, we find that the spatial resolution of the localization of light sources highly depends on the configuration of the telescope. Precise measurements of the efficiencies of the detectors and the attenuation length of the water are crucial to reconstruct the light emission. Finally, the application to ANTARES data reveals the first precise localizations of bioluminescent organisms using neutrino telescope data. © 2021, CC BY.

关键词： Bioluminescence

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Search for non-standard neutrino interactions with the first six detection units of KM3NeT/ORCA

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Journal of Cosmology and Astroparticle Physics 2025年第2期2025卷 073-073页

作者： Aiello, S. Albert, A. Alhebsi, A.R. Alshamsi, M. Alves Garre, S. Ambrosone, A. Ameli, F. Andre, M. Aphecetche, L. Ardid, M. Ardid, S. Aublin, J. Badaracco, F. Bailly-Salins, L. Bardačová, Z. Baret, B. Bariego-Quintana, A. Becherini, Y. Bendahman, M. Benfenati, F. Benhassi, M. Bennani, M. Benoit, D.M. Berbee, E. Bertin, V. Biagi, S. Boettcher, M. Bonanno, D. Bouasla, A.B. Boumaaza, J. Bouta, M. Bouwhuis, M. Bozza, C. Bozza, R.M. Brânzaş, H. Bretaudeau, F. Breuhaus, M. Bruijn, R. Brunner, J. Bruno, R. Buis, E. Buompane, R. Busto, J. Caiffi, B. Calvo, D. Capone, A. Carenini, F. Carretero, V. Cartraud, T. Castaldi, P. Cecchini, V. Celli, S. Cerisy, L. Chabab, M. Chen, A. Cherubini, S. Chiarusi, T. Circella, M. Clark, R. Cocimano, R. Coelho, J.A.B. Coleiro, A. Condorelli, A. Coniglione, R. Coyle, P. Creusot, A. Cuttone, G. Dallier, R. De Benedittis, A. De Martino, B. De Wasseige, G. Decoene, V. Del Rosso, I. Di Mauro, L.S. Di Palma, I. Díaz, A.F. Diego-Tortosa, D. Distefano, C. Domi, A. Donzaud, C. Dornic, D. Drakopoulou, E. Drouhin, D. Ducoin, J.-G. Dvornický, R. Eberl, T. Eckerová, E. Eddymaoui, A. van Eeden, T. Eff, M. van Eijk, D. El Bojaddaini, I. El Hedri, S. Ellajosyula, V. Enzenhöfer, A. Ferrara, G. Filipović, M.D. Filippini, F. Franciotti, D. Fusco, L.A. Gagliardini, S. Gal, T. García Méndez, J. Garcia Soto, A. Gatius Oliver, C. Geißelbrecht, N. Genton, E. Ghaddari, H. Gialanella, L. Gibson, B.K. Giorgio, E. Goos, I. Goswami, P. Gozzini, S.R. Gracia, R. Guidi, C. Guillon, B. Gutiérrez, M. Haack, C. van Haren, H. Heijboer, A. Hennig, L. Hernández-Rey, J.J. Idrissi Ibnsalih, W. Illuminati, G. Joly, D. de Jong, M. de Jong, P. Jung, B.J. Kistauri, G. Kopper, C. Kouchner, A. Kovalev, Y.Y. Kueviakoe, V. Kulikovskiy, V. Kvatadze, R. Labalme, M. Lahmann, R. Lamoureux, M. Larosa, G. Lastoria, C. Lazar, J. Lazo, A. Le Stum, S. Lehaut, G. Lemaître, V. Leonora, E. Lessing, N. Levi, G. Lindsey Clark, M. Longhitano, F. Magnani, F. Majumdar, J. Malerba, L. Mamedov, F. Manfreda, A. Marconi, M. Margiotta, A. Marinelli, A. Mar INFN Sezione di Catania INFN-CT Via Santa Sofia 64 Catania 95123 Italy Université de Strasbourg CNRS IPHC UMR 7178 Strasbourg F-67000 France Department of Physics Khalifa University PO Box 127788 Abu Dhabi 0000 United Arab Emirates Aix Marseille Univ CNRS IN2P3 CPPM Marseille France IFIC-Instituto de Física Corpuscular CSIC Universitat de València c/Catedrático José Beltrán 2 Paterna Valencia 46980 Spain INFN Sezione di Napoli Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli 80126 Italy Dip. Scienze Fisiche “E. Pancini” Università di Napoli “Federico II” Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli 80126 Italy INFN Sezione di Roma Piazzale Aldo Moro 2 Roma 00185 Italy Universitat Politècnica de Catalunya Laboratori d'Aplicacions Bioacústiques Centre Tecnològic de Vilanova i la Geltrú Avda. Rambla Exposició s/n Vilanova i la Geltrú 08800 Spain Subatech IMT Atlantique IN2P3-CNRS Nantes Université 4 rue Alfred Kastler — La Chantrerie BP Nantes 20722 44307 France Universitat Politècnica de València Instituto de Investigación para la Gestión Integrada de las Zonas Costeras C/ Paranimf 1 Gandia 46730 Spain Université Paris Cité CNRS Astroparticule et Cosmologie Paris F-75013 France Università di Genova Via Dodecaneso 33 Genova 16146 Italy INFN Sezione di Genova Via Dodecaneso 33 Genova 16146 Italy LPC CAEN Normandie Univ ENSICAEN UNICAEN CNRS IN2P3 6 boulevard Maréchal Juin Caen 14050 France Czech Technical University in Prague Institute of Experimental and Applied Physics Husova 240/5 Prague 110 00 Czech Republic Comenius University in Bratislava Department of Nuclear Physics and Biophysics Mlynska dolina F1 Bratislava 842 48 Slovakia INFN Sezione di Bologna v.le C. Berti-Pichat 6/2 Bologna 40127 Italy Università di Bologna Dipartimento di Fisica e Astronomia v.le C. Berti-Pichat 6/2 Bologna 40127 Italy Università degli Studi della Campania “Luigi Vanvitelli” Dipartime

KM3NeT/ORCA is an underwater neutrino telescope under construction in the Mediterranean Sea. Its primary scientific goal is to measure the atmospheric neutrino oscillation parameters and to determine the neutrino mass ordering. ORCA can constrain the oscillation parameters Δm ²₃₁ and θ ₂₃ by reconstructing the arrival direction and energy of multi-GeV neutrinos crossing the Earth. Searches for deviations from the Standard Model of particle physics in the forward scattering of neutrinos inside Earth matter, produced by Non-Standard Interactions, can be conducted by investigating distortions of the standard oscillation pattern of neutrinos of all flavours. This work reports on the results of the search for non-standard neutrino interactions using the first six detection units of ORCA and 433 kton-years of exposure. No significant deviation from standard interactions was found in a sample of 5828 events reconstructed in the 1 GeV-1 TeV energy range. The flavour structure of the non-standard coupling was constrained at 90% confidence level to be |ϵ_μτ | ≤ 5.4 × 10^-3, |ϵ_eτ | ≤ 7.4 × 10^-2, |ϵ_eμ | ≤ 5.6 × 10^-2 and -0.015 ≤ ϵ_ττ - ϵ_μμ ≤ 0.017. The results are comparable to the current most stringent limits placed on the parameters by other experiments. © 2025 The Author(s)

关键词： neutrino experiments neutrino properties solar and atmospheric neutrinos

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First searches for dark matter with the KM3NeT neutrino telescopes

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Journal of Cosmology and Astroparticle Physics 2025年第3期2025卷 058-058页

作者： Aiello, S. Albert, A. Alhebsi, A.R. Alshamsi, M. Alves Garre, S. Ambrosone, A. Ameli, F. Andre, M. Aphecetche, L. Ardid, M. Ardid, S. Aublin, J. Badaracco, F. Bailly-Salins, L. Bardačová, Z. Baret, B. Bariego-Quintana, A. Becherini, Y. Bendahman, M. Benfenati, F. Benhassi, M. Bennani, M. Benoit, D.M. Berbee, E. Bertin, V. Biagi, S. Boettcher, M. Bonanno, D. Bouasla, A.B. Boumaaza, J. Bouta, M. Bouwhuis, M. Bozza, C. Bozza, R.M. Brânzaş, H. Bretaudeau, F. Breuhaus, M. Bruijn, R. Brunner, J. Bruno, R. Buis, E. Buompane, R. Busto, J. Caiffi, B. Calvo, D. Capone, A. Carenini, F. Carretero, V. Cartraud, T. Castaldi, P. Cecchini, V. Celli, S. Cerisy, L. Chabab, M. Chen, A. Cherubini, S. Chiarusi, T. Circella, M. Clark, R. Cocimano, R. Coelho, J.A.B. Coleiro, A. Condorelli, A. Coniglione, R. Coyle, P. Creusot, A. Cuttone, G. Dallier, R. De Benedittis, A. De Martino, B. De Wasseige, G. Decoene, V. Del Rosso, I. Di Mauro, L.S. Di Palma, I. Díaz, A.F. Diego-Tortosa, D. Distefano, C. Domi, A. Donzaud, C. Dornic, D. Drakopoulou, E. Drouhin, D. Ducoin, J.-G. Dvornický, R. Eberl, T. Eckerová, E. Eddymaoui, A. van Eeden, T. Eff, M. van Eijk, D. El Bojaddaini, I. El Hedri, S. Ellajosyula, V. Enzenhöfer, A. Ferrara, G. Filipović, M.D. Filippini, F. Franciotti, D. Fusco, L.A. Gagliardini, S. Gal, T. García Méndez, J. Garcia Soto, A. Gatius Oliver, C. Geißelbrecht, N. Genton, E. Ghaddari, H. Gialanella, L. Gibson, B.K. Giorgio, E. Goos, I. Goswami, P. Gozzini, S.R. Gracia, R. Guidi, C. Guillon, B. Gutiérrez, M. Haack, C. van Haren, H. Heijboer, A. Hennig, L. Hernández-Rey, J.J. Idrissi Ibnsalih, W. Illuminati, G. Joly, D. de Jong, M. de Jong, P. Jung, B.J. Kistauri, G. Kopper, C. Kouchner, A. Kovalev, Y.Y. Kueviakoe, V. Kulikovskiy, V. Kvatadze, R. Labalme, M. Lahmann, R. Lamoureux, M. Larosa, G. Lastoria, C. Lazar, J. Lazo, A. Le Stum, S. Lehaut, G. Lemaître, V. Leonora, E. Lessing, N. Levi, G. Lindsey Clark, M. Longhitano, F. Magnani, F. Majumdar, J. Malerba, L. Mamedov, F. Manfreda, A. Marconi, M. Margiotta, A. Marinelli, A. Mar INFN Sezione di Catania (INFN-CT) Via Santa Sofia 64 Catania 95123 Italy Université de Strasbourg CNRS IPHC UMR 7178 Strasbourg F-67000 France Khalifa University Department of Physics PO Box 127788 Abu Dhabi 0000 United Arab Emirates Aix Marseille Univ CNRS IN2P3 CPPM Marseille France IFIC Instituto de Física Corpuscular (CSIC — Universitat de València) c/Catedrático José Beltrán 2 Valencia Paterna 46980 Spain INFN Sezione di Napoli Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli 80126 Italy Università di Napoli “Federico II” Dip. Scienze Fisiche “E. Pancini” Complesso Universitario di Monte S. Angelo Via Cintia ed. G Napoli 80126 Italy INFN Sezione di Roma Piazzale Aldo Moro 2 Roma 00185 Italy Universitat Politècnica de Catalunya Laboratori d'Aplicacions Bioacústiques Centre Tecnològic de Vilanova i la Geltrú Avda. Rambla Exposició s/n Vilanova i la Geltrú 08800 Spain Subatech IMT Atlantique IN2P3 CNRS Nantes Université 4 rue Alfred Kastler — La Chantrerie Nantes BP 20722 44307 France Universitat Politècnica de València Instituto de Investigación para la Gestión Integrada de las Zonas Costeras C/ Paranimf 1 Gandia 46730 Spain Université Paris Cité CNRS Astroparticule et Cosmologie Paris F-75013 France Università di Genova Via Dodecaneso 33 Genova 16146 Italy INFN Sezione di Genova Via Dodecaneso 33 Genova 16146 Italy LPC CAEN Normandie Univ ENSICAEN UNICAEN CNRS IN2P3 6 boulevard Maréchal Juin Caen 14050 France Czech Technical University in Prague Institute of Experimental and Applied Physics Husova 240/5 Prague 110 00 Czech Republic Comenius University in Bratislava Department of Nuclear Physics and Biophysics Mlynska dolina F1 Bratislava 842 48 Slovakia INFN Sezione di Bologna v.le C. Berti-Pichat 6/2 Bologna 40127 Italy Università di Bologna Dipartimento di Fisica e Astronomia v.le C. Berti-Pichat 6/2 Bologna 40127 Italy Università degli Studi della Campania “Luigi Vanvitelli” Dip

Indirect dark matter detection methods are used to observe the products of dark matter annihilations or decays originating from astrophysical objects where large amounts of dark matter are thought to accumulate. With neutrino telescopes, an excess of neutrinos is searched for in nearby dark matter reservoirs, such as the Sun and the Galactic Centre, which could potentially produce a sizeable flux of Standard Model particles. The KM3NeT infrastructure, currently under construction, comprises the ARCA and ORCA undersea Čerenkov neutrino detectors located at two different sites in the Mediterranean Sea, offshore of Italy and France, respectively. The two detector configurations are optimised for the detection of neutrinos of different energies, enabling the search for dark matter particles with masses ranging from a few GeV/c² to hundreds of TeV/c². In this work, searches for dark matter annihilations in the Galactic Centre and the Sun with data samples taken with the first configurations of both detectors are presented. No significant excess over the expected background was found in either of the two analyses. Limits on the velocity-averaged self-annihilation cross section of dark matter particles are computed for five different primary annihilation channels in the Galactic Centre. For the Sun, limits on the spin-dependent and spin-independent scattering cross sections of dark matter with nucleons are given for three annihilation channels. © 2025 The Author(s)

关键词： dark matter detectors neutrino astronomy neutrino detectors

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Fast kNN-based prediction for the trajectory of a thrown body

Fast kNN-based prediction for the trajectory of a thrown bod...

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Mediterranean Conference on Control and Automation (MED)

作者： Konstantin Mironov Martin Pongratz Faculty of Computer Science and Robotics Ufa State Aviation Technical University Ufa Russia Intsitute of Computer Technology Technische Universitaet Wien Vienna Austria

Robotic throwing and catching of objects is a promising way of material transportation. For successful catch of the flying object accurate prediction of its trajectory in the gripper workspace is required. While most state-of-the-art solutions use physical models to get a trajectory forecast we apply a predictor based on nearest neighbor regression, which does not require exact physical model of the motion. The challenge of such application consist in high volume of calculations that are needed to compare the current trajectory with examples from the database. This issue is critical as the prediction must be real-time. Two approaches for speeding up the procedure are discussed. One approach is based on fast allocation of the small subset from the entire dataset. The current trajectory is compared only with the trajectories from this subset. Another approach is based on the parallelization of computations using graphical processing units. Both approaches are evaluated and compared based on real trajectories. The parallelized version of the algorithm is implemented on the robotic catching system. It provide successful catch for up to 86 % of thrown objects.

关键词： Trajectory Robots Prediction algorithms Predictive models Transportation Grippers Databases

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Author Correction: Observation of an ultra-high-energy cosmic neutrino with KM3NeT

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Nature 2025年第8057期640卷 E3页

作者： S. Aiello R. Bruno G. Ferrara E. Leonora F. Longhitano N. Randazzo A. Sinopoulou I. Tosta e Melo A. Albert D. Drouhin T. Pradier A. R. Alhebsi S. Thoudam A. van Vliet M. Alshamsi V. Bertin M. Breuhaus J. Brunner J. Busto L. Cerisy P. Coyle B. De Martino D. Dornic J.-G. Ducoin A. Enzenhöfer S. Henry D. Joly S. Lancelin S. Le Stum N. Lumb F. Magnani C. Paries M. Perrin-Terrin G. Vannoye S. Alves Garre A. Bariego-Quintana D. Calvo V. Cecchini A. Garcia Soto S. R. Gozzini J. J. Hernández-Rey A. Lazo N. Lessing J. Palacios González E. J. Pastor Gomez J. Prado D. Real A. Šaina F. Salesa Greus A. Sánchez Losa J. D. Zornoza J. Zúñiga A. Ambrosone M. Bendahman M. Benhassi C. Bozza R. M. Bozza R. Buompane A. Condorelli A. De Benedittis L. A. Fusco L. Gialanella W. Idrissi Ibnsalih A. Manfreda A. Marinelli F. Marzaioli S. Mastroianni G. Miele P. Migliozzi M. L. Mitsou C. M. Mollo L. Morales-Gallegos M. R. Musone V. Oliviero C. Poirè I. C. Rea A. Simonelli B. Spisso D. Vivolo F. Ameli A. Capone S. Celli I. Di Palma S. Gagliardini M. Mastrodicasa C. A. Nicolau A. Tudorache A. Veutro A. Zegarelli M. Andre M. Anghinolfi F. Badaracco B. Caiffi V. Ellajosyula C. Guidi V. Kulikovskiy L. Malerba M. Marconi B. Ó Fearraigh V. Parisi A. Romanov M. Sanguineti M. Taiuti S. Zavatarelli L. Aphecetche F. Bretaudeau R. Dallier V. Decoene L. Martin M. Ardid S. Ardid J. García Méndez C. A. Quiroz-Rangel C. Argüelles N. Kamp A. Y. Wen H. Atmani J. Boumaaza A. Eddymaoui Y. Tayalati J. Aublin B. Baret Y. Becherini T. Cartraud J. A. B. Coelho A. Coleiro S. Colonges A. Creusot C. Donzaud M. Eff S. El Hedri I. Goos P. Goswami A. Ilioni A. Kouchner M. Lindsey Clark E. Oukacha S. Peña Martínez R. Pestes A. Sharma B. Trocmé V. Van Elewyck C. Verilhac I. Lhenry-Yvon L. Bailly-Salins M. Bennani B. Guillon M. Labalme C. Lastoria G. Lehaut I. Mozun Mateo V. Pestel A. Vacheret Z. Bardačová E. Eckerová F. Mamedov Y. Shitov I. Štekl R. Dvornický F. Šimkovic F. Benfenati Gualandi F. Carenini P. Castaldi T. Chiarusi I. Del Rosso G. Levi A. Margiotta R. Muller INFN Sezione di Catania (INFN-CT) Catania Italy INFN Laboratori Nazionali del Sud (LNS) Catania Italy Dipartimento di Fisica e Astronomia “Ettore Majorana” Università di Catania (INFN-CT) Catania Italy Université de Strasbourg CNRS IPHC UMR 7178 Strasbourg France Université de Haute Alsace Mulhouse France Department of Physics Khalifa University Abu Dhabi United Arab Emirates Aix Marseille Université CNRS/IN2P3 CPPM Marseille France IFIC - Instituto de Física Corpuscular (CSIC - Universitat de València) Paterna Spain INFN Sezione di Napoli Complesso Universitario di Monte S. Angelo Napoli Italy Università di Napoli “Federico II” Dip. Scienze Fisiche “E. Pancini” Complesso Universitario di Monte S. Angelo Napoli Italy Dipartimento di Matematica e Fisica Università degli Studi della Campania “Luigi Vanvitelli” Caserta Italy Dipartimento di Fisica Università di Salerno e INFN Gruppo Collegato di Salerno Fisciano Italy INFN Sezione di Roma Roma Italy Dipartimento di Fisica Università La Sapienza Roma Italy Laboratori d’Aplicacions Bioacústiques Centre Tecnològic de Vilanova i la Geltrú Universitat Politècnica de Catalunya Vilanova i la Geltrú Spain INFN Sezione di Genova Genova Italy Università di Genova Genova Italy LPC CAEN Normandie Université ENSICAEN UNICAEN CNRS/IN2P3 Caen France Subatech IMT Atlantique IN2P3-CNRS Nantes Université Nantes France Instituto de Investigación para la Gestión Integrada de las Zonas Costeras Universitat Politècnica de València Gandia Spain Department of Physics Harvard University Cambridge MA USA Laboratory for Particle Physics and Cosmology Lyman Laboratory Harvard University Cambridge MA USA Faculty of Sciences University Mohammed V in Rabat Rabat Morocco Institute of Applied Physics Mohammed VI Polytechnic University Ben Guerir Morocco Astroparticule et Cosmologie Université Paris Cité CNRS Paris France Institut Universitaire de France Paris France Institute of Experimental and Applied Physics

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Unified Treatment of Sparse and Dense Data in Graph-based Least Squares

Unified Treatment of Sparse and Dense Data in Graph-based Le...

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IEEE-RAS International Conference on Humanoid Robots

作者： Rene Wagner Udo Frese Berthold Bauml DLR Institute of Robotics and Mechatronics 82234 Wessling Germany Faculty 3 - Mathematics and Computer Science University of Bremen 28359 Bremen Germany

ISBN: (纸本)9781509047192

In this paper, we present a novel method of incorporating dense (e.g., depth, RGB-D) data in a general purpose least-squares graph optimization framework. Rather than employing a loosely coupled, layered design where dense data is first used to estimate a compact SE(3) transform which then forms a link in the optimization graph as in previous approaches [28, 10, 26], we use a tightly coupled approach that jointly optimizes over each individual (i.e. per-pixel) dense measurement (on the GPU) and all other traditional sparse measurements (on the CPU). Concretely, we use Kinect depth data and KinectFusion-style point-to-plane ICP measurements. In particular, this allows our approach to handle cases where neither dense, nor sparse measurements separately define all degrees of freedom (DoF) while taken together they complement each other and yield the overall maximum likelihood solution. Nowadays it is common practice to flexibly model various sensors, measurements and to be estimated variables in least-squares frameworks. Our intention is to extend this flexibility to applications with dense data. Computationally, the key is to combine the many dense measurements on the GPU efficiently and communicate only the results to the sparse framework on the CPU in a way that is mathematically equivalent to the full least-squares system. This results in <20 ms for a full optimization run. We evaluate our approach on a humanoid robot, where in a first experiment we fuse Kinect data and odometry in a laboratory setting, and in a second experiment we fuse with an unusual "sensor": using the embodiedness of the robot we estimate elasticities in the kinematic chain modeled as unknown, time-varying joint offsets while it moves its arms in front of a tabletop manipulation workspace. In both experiments only tightly coupled optimization will localize the robot correctly.

关键词： Optimization Iterative closest point algorithm Kinematics Sensor fusion Robot sensing systems

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Intelligent adaptive precrash control for autonmous vehicle agents (CBR Engine & hybrid A∗ path planner)

Intelligent adaptive precrash control for autonmous vehicle ...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Bassant Mohamed Elbagoury Abdel-Badeeh M. Salem Luige Vladareanu Faculty of Computer & Information Sciences Ain Shams University Cairo Egypt Faculty of Computer & Information Science Ain Shams University Cairo Egypt Robotics and Mechatronics Department Institute of Solid Mechanics Romania

PreCrash problem of Intelligent Control of autonomous vehicles robot is a very complex problem, especially vehicle pre-crash scenariws and at points of intersections in real-time environmenta. This Paper presents a novel architecture of Intelligent adaptive control for autonomous vehicle agent that depends on Artificial Intelligence Techniques that applies case-based reasoning techniques, where Parallel CBR Engines are implemented for different scenarios' of PreCrash problem and sub-problems of intersection safety and collision avoidance, in the higher level of the controller and A* path planner for path planning and at lower-levels it also uses some features of autonomous vehicle dynamics. Moreover, the planner is enhanced by combination of Case-Based Planner. All modules are presented and discussed. Experimental results are conducted in the framework of Webots autonomous vehicle tool and overall results are good for the CBR Engine for Adaptive control and also for the hybrid Case-Based Planner, A* and D* motion planner along with conclusion and future work.

关键词： Autonomous vehicles Automobiles Engines Safety Heuristic algorithms Path planning

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Force control on antagonistic Twist-drive Actuator robot

Force control on antagonistic Twist-drive Actuator robot

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Takahiro Inoue Ryuichi Miyata Shinichi Hirai Faculty of Dept. Computer Science and System Engineering Okayama Prefectural Univ. Japan Graduate School of Computer Science and System Engineering Okayama Prefectural Univ. Japan Faculty of Dept. Robotics Ritsumeikan Univ. Japan

ISBN: (纸本)9781509037636

In recent researches relating to robotic fingers, a novel power transmission mechanism had been designed, and developed as Twist-drive Actuators or Twisted String Actuator systems (TSA). These actuation structures, state of the art, include compact designs, light-weight mechanical structures, inherent compliance, and variable gearing, resulting in the fabrication of anthropomorphic robotic hands. However, those studies mentioned position control of the joint, and focused on the control performance of the pulling forces of a twisted string. This paper, therefore, introduces a novel joint mechanism composed of an Antagonistically-twisted Round-belt Actuator (ARA), which is able to make rotating motion by means of contraction forces induced by twisting small-diameter elastic round-belts. A noteworthy point in this paper is that the ARA robot is extremely well-suited for contact force control, which is exerted on the tip of the single joint robot. First, we demonstrate the existence of hysteresis characteristics of static contraction forces induced by the round-belt twisting, in which three belts are simultaneously twisted at constant low-speed. In addition, there exists a stress relaxation phenomenon when strongly twisting the elastic round-belts. We reveal that such sorts of discontinuous and nonlinear properties do not influence control performance in either the contraction force on the belts or contact force on the tip of the robot. Finally, this paper clearly shows stable and accurate tracking performance of the contact force of the ARA robot. In these experiments, we newly develop a twin/triple-twisted round-belt structure for the agonist side actuator, thus enhancing the contact forces effectively.

关键词： CONTACT FORCE control performance Force control actuators Robot belts rotating motion terminal interface processor FOXC1 gene relaxation phenomenon Twisting visual tracking torsion Force Position control

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Design of a controller for stabilization of spherical robot's sideway oscillations

Design of a controller for stabilization of spherical robot'...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Kacper Landa Adam Krzysztof Pilat Master's student at Automatic Control and Robotics AGH University of Science and Technology Cracow Poland Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Cracow Poland

In this study, the dynamics and control aspects of a spherical rolling robot's lateral motion are investigated. An approximate, simplified to a single plane, mathematical model is derived using Lagrange equations to check stability of the system. Utilizing the fusion of sensor data, a precise orientation measurement is achieved. Document focuses on a synthesis of a PID controller reducing sideway oscillations that occur in motion of a spherical robot with internal pendulum mechanism.

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