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Mid-infrared (MIR) spectrometers are invaluable tools for molecular fingerprinting and hyper-spectral imaging. Among the available spectroscopic approaches, GHz MIR dual-comb absorption spectrometers have the potential to simultaneously combine the high-speed, high spectral resolution, and broad optical bandwidth needed to accurately study complex, transient events in chemistry, combustion, and microscopy. However, such a spectrometer has not yet been demonstrated due to the lack of GHz MIR frequency combs with broad and full spectral coverage. Here, we introduce the first broadband MIR frequency comb laser platform at 1 GHz repetition rate that achieves spectral coverage from 3 to 13 {\mu}m. This frequency comb is based on a commercially available 1.56 {\mu}m mode-locked laser, robust all-fiber Er amplifiers and intra-pulse difference frequency generation (IP-DFG) of few-cycle pulses in \c{hi}(2) nonlinear crystals. When used in a dual comb spectroscopy (DCS) configuration, this source will simultaneously enable measurements with {\mu}s time resolution, 1 GHz (0.03 cm-1) spectral point spacing and a full bandwidth of >5 THz (>166 cm-1) anywhere within the MIR atmospheric windows. This represents a unique spectroscopic resource for characterizing fast and non-repetitive events that are currently inaccessible with other sources.

Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Deformable objects are common in our daily lives, e.g., wires, clothes, bed sheets, etc., and are significantly more difficult to model than rigid objects. In this study, we investigate vision-based manipulation of linear flexible objects such as cables. We propose a geometric modeling method that is based on visual feedback to develop a general representation of the linear flexible object that is subject to gravity. The model characterizes the shape of the object by combining the curvatures on two projection planes. In this approach, we achieve tracking of the position and orientation (pose) of a cable-like object, the pose of its tip, and the pose of the selected grasp point on the object, which enables closed-loop manipulation of the object. We demonstrate the feasibility of our approach by completing the Plug Task used in the 2015 DARPA Robotics Challenge Finals, which involves unplugging a power cable from one socket and plugging it into another. Experiments show that we can successfully complete the task autonomously within 30 seconds.

A bstract We present a search for the charged lepton-flavor-violating decays ϒ(1 S ) → ℓ ± ℓ ′ ∓ and radiative charged lepton-flavour-violating decays ϒ(1 S ) → γ ℓ ± ℓ ′ ∓ [ ℓ , ℓ ′ = e, μ, τ ] using the 158 million ϒ(2 S ) sample collected by the Belle detector at the KEKB collider. This search uses ϒ(1 S ) mesons produced in ϒ(2 S ) → π + π − ϒ(1 S ) transitions. We do not find any significant signal, so we provide upper limits on the branching fractions at the 90% confidence level.

A bstract We present the first measurement of the branching fraction of the singly Cabibbo-suppressed (SCS) decay $$ {\Lambda}_c^{+} $$ Λ c + → pη ′ with η ′ → ηπ + π − , using a data sample corresponding to an integrated luminosity of 981 fb − 1 , collected by the Belle detector at the KEKB e + e − asymmetric-energy collider. A significant $$ {\Lambda}_c^{+} $$ Λ c + → pη ′ signal is observed for the first time with a signal significance of 5.4 σ . The relative branching fraction with respect to the normalization mode $$ {\Lambda}_c^{+} $$ Λ c + → pK − π + is measured to be $$ \frac{\mathcal{B}\left({\Lambda}_c^{+}\to p\eta^{\prime}\right)}{\mathcal{B}\left({\Lambda}_c^{+}\to {pK}^{-}{\pi}^{+}\right)}=\left(7.54\pm 1.32\pm 0.73\right)\times {10}^{-3}, $$ B Λ c + → pη ′ B Λ c + → pK − π + = 7.54 ± 1.32 ± 0.73 × 10 − 3 , where the uncertainties are statistical and systematic, respectively. Using the world-average value of $$ \mathcal{B}\left({\Lambda}_c^{+}\to {pK}^{-}{\pi}^{+}\right) $$ B Λ c + → pK − π + = (6 . 28 ± 0 . 32) × 10 − 2 , we obtain $$ \mathcal{B}\left({\Lambda}_c^{+}\to p\eta^{\prime}\right)=\left(4.73\pm 0.82\pm 0.46\pm 0.24\right)\times {10}^{-4}, $$ Bmore »Λ c + → pη ′ = 4.73 ± 0.82 ± 0.46 ± 0.24 × 10 − 4 , where the uncertainties are statistical, systematic, and from $$ \mathcal{B}\left({\Lambda}_c^{+}\to {pK}^{-}{\pi}^{+}\right) $$ B Λ c + → pK − π + , respectively.« less