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The increasing necessity for fisheye cameras in fields such as robotics and autonomous driving has led to the proposal of various fisheye camera models. While the evolution of camera models has facilitated the development of diverse systems in the field, the lack of adaptation between different fisheye camera models means that recalibration is always necessary, which is cumbersome. This paper introduces a conversion tool for various previously proposed fisheye camera models. It is user-friendly, simple, yet extremely fast and accurate, offering conversion capabilities for a broader range of models compared to existing tools. We have verified that models converted using our system perform correctly in applications such as SLAM. By utilizing our system, researchers can obtain output parameters directly from input parameters without the need for an image set and any recalibration processes, thus serving as a bridge across different fisheye camera models in various research fields. We provide our system as an open source tool available at: https://github.com/eowjd0512/fisheye-calib-adapter, Comment: 8 pages, 4 figures

Neural networks trained with ERM (empirical risk minimization) sometimes learn unintended decision rules, in particular when their training data is biased, i.e., when training labels are strongly correlated with undesirable features. To prevent a network from learning such features, recent methods augment training data such that examples displaying spurious correlations (i.e., bias-aligned examples) become a minority, whereas the other, bias-conflicting examples become prevalent. However, these approaches are sometimes difficult to train and scale to real-world data because they rely on generative models or disentangled representations. We propose an alternative based on mixup, a popular augmentation that creates convex combinations of training examples. Our method, coined SelecMix, applies mixup to contradicting pairs of examples, defined as showing either (i) the same label but dissimilar biased features, or (ii) different labels but similar biased features. Identifying such pairs requires comparing examples with respect to unknown biased features. For this, we utilize an auxiliary contrastive model with the popular heuristic that biased features are learned preferentially during training. Experiments on standard benchmarks demonstrate the effectiveness of the method, in particular when label noise complicates the identification of bias-conflicting examples., Comment: NeurIPS 2022

Hyper-realistic face image generation and manipulation have givenrise to numerous unethical social issues, e.g., invasion of privacy,threat of security, and malicious political maneuvering, which re-sulted in the development of recent deepfake detection methods with the rising demands of deepfake forensics. Proposed deepfake detection methods to date have shown remarkable detection performance and robustness. However, none of the suggested deepfake detection methods assessed the performance of deepfakes with the facemask during the pandemic crisis after the outbreak of theCovid-19. In this paper, we thoroughly evaluate the performance of state-of-the-art deepfake detection models on the deepfakes with the facemask. Also, we propose two approaches to enhance the masked deepfakes detection: face-patch and face-crop. The experimental evaluations on both methods are assessed through the base-line deepfake detection models on the various deepfake datasets. Our extensive experiments show that, among the two methods, face-crop performs better than the face-patch, and could be a train method for deepfake detection models to detect fake faces with facemask in real world., Comment: This submission has been removed by arXiv administrators because the submitter did not have the authority to grant the license at the time of submission

Understanding the nature of charge density waves (CDW) in cuprate superconductors has been complicated by material specific differences. A striking example is the opposite doping dependence of the CDW ordering wavevector in La-based and Y-based compounds, the two families where charge ordering is strongest and best characterized. Here we report a combined resonant soft X-ray scattering (RSXS) and neutron scattering study of charge and spin density waves in isotopically enriched La$_{1.8-x}$ Eu$_{0.2}$ Sr$_{x}$ CuO$_{4}$ over a range of doping $0.07 \leq x \leq 0.20$. For all dopings studied by RSXS, we find that the CDW amplitude is approximately temperature-independent and develops well above experimentally accessible temperatures. Surprisingly, the CDW ordering wavevector shows a non-monotonic temperature dependence, with a sudden change occurring at temperatures near the SDW onset temperature. We describe this behavior with a Landau-Ginzburg theory for an incommensurate CDW in a metallic system with a finite charge compressibility and CDW-SDW coupling. Our Landau-Ginzburg analysis suggests that the ordering wavevector at high temperatures decreases with increased doping. This behavior is opposite to the trend at low temperatures and highly reminiscent of the doping dependence seen in YBa$_2$ Cu$_3$ O$_{6+\delta}$ , suggesting a common origin of the CDW in hole-doped cuprate superconductors., Comment: Manuscript submitted to PNAS; ArXiv version formatted in Revtex4-2; Supplementary Material included as appendices; 20 pages, 14 figures (6 in the main text), and 41 references

Ultrafast lasers are an increasingly important tool to control and stabilize emergent phases in quantum materials. Among a variety of possible excitation protocols, a particularly intriguing route is the direct light-engineering of microscopic electronic parameters, such as the electron hopping and the local Coulomb repulsion (Hubbard $U$). In this work, we use time-resolved x-ray absorption spectroscopy to demonstrate the light-induced renormalization of the Hubbard $U$ in a cuprate superconductor, La$_{1.905}$Ba$_{0.095}$CuO$_4$. We show that intense femtosecond laser pulses induce a substantial redshift of the upper Hubbard band, while leaving the Zhang-Rice singlet energy unaffected. By comparing the experimental data to time-dependent spectra of single- and three-band Hubbard models, we assign this effect to a $\sim140$ meV reduction of the onsite Coulomb repulsion on the copper sites. Our demonstration of a dynamical Hubbard $U$ renormalization in a copper oxide paves the way to a novel strategy for the manipulation of superconductivity, magnetism, as well as to the realization of other long-range-ordered phases in light-driven quantum materials., Comment: 13 pages, 7 figures

Recent discoveries of charge order and electronic nematic order in the iron-based superconductors and cuprates have pointed towards the possibility of nematic and charge fluctuations playing a role in the enhancement of superconductivity. The Ba1-xSrxNi2As2 system, closely related in structure to the BaFe2As2 system, has recently been shown to exhibit both types of ordering without the presence of any magnetic order. We report single crystal X-ray diffraction, resistance transport measurements, and magnetization of \BaSrLate, providing evidence that the previously reported incommensurate charge order with wavevector $(0,0.28,0)_{tet}$ in the tetragonal state of \BaNi~vanishes by this concentration of Sr substitution together with nematic order. Our measurements suggest that the nematic and incommensurate charge orders are closely tied in the tetragonal state, and show that the $(0,0.33,0)_{tri}$ charge ordering in the triclinic phase of BaNi2As2 evolves to become $(0,0.5,0)_{tri}$ charge ordering at $x$=0.65 before vanishing at $x$=0.71., Comment: 4 pages, 3 figures

Interlayer van der Waals (vdW) coupling is generic in two-dimensional materials such as graphene and transition metal dichalcogenides, which can induce very low-energy phonon modes. Using high-resolution inelastic hard x-ray scattering, we uncover the ultra-low energy phonon mode along the Cu-O bond direction in the high-$T_c$ cuprate (Bi,Pb)$_2$(Sr,La)$_2$CuO$_{6+\delta}$ (Bi2201). This mode is independent of temperature, while its intensity decreases with doping in accordance with an increasing c-axis lattice parameter. We compare the experimental results to first-principles density functional theory simulations and identify the observed mode as a van der Waals phonon, which arises from the shear motion of the adjacent Bi-O layers. This shows that Bi-based cuprate has similar vibrational properties as graphene and transition metal dichalcogenides, which can be exploited to engineer novel heterostructures.

Identifying what broken symmetries are present in the cuprates has become a major area of research. Many authors have reported evidence for so-called "$Q \sim 0$" order that involves broken inversion, mirror, chiral, or time-reversal symmetry that is uniform in space. Not all these observations are well understood and new experimental probes are needed. Here we use resonant soft x-ray scattering (RSXS) to search for $Q \sim 0$ order in Bi$_{2.1}$Sr$_{1.9}$CaCu$_2$O$_{8+x}$ (Bi-2212) by measuring the region of a forbidden Bragg peak, $(0,0,3)$, which is normally extinguished by symmetry but may become allowed on resonance if valence band order is present. Using circularly polarized light, we found that this reflection becomes allowed on the Cu $L_3$ resonance for temperatures $T_c < T < T^\ast$, though remains absent in linear polarization and at other temperatures. This observation suggests the existence of spatially uniform valence band order near the pseudogap temperature. In addition, we observed periodic oscillations in the specular reflectivity from the sample surface that resemble thin film interference fringes, though no known film is present. These fringes are highly resonant, appear in all polarizations, and exhibit a period that depends on the location where the beam strikes the sample surface. We speculate that these fringes arise from interaction between some intrinsic valence band instability and extrinsic structural surface morphologies of the material. Our study supports the existence of some kind of $Q \sim 0$ broken symmetry state in Bi-2212 at intermediate temperatures, and calls for further study using a microfocused beam that could disentangle microscopic effects from macroscopic heterogeneities., Comment: 9 pages, 4 figures

How superconductivity interacts with charge or nematic order is one of the great unresolved issues at the center of research in quantum materials. Ba$_{1-x}$Sr$_{x}$Ni$_{2}$As$_{2}$ (BSNA) is a charge ordered pnictide superconductor recently shown to exhibit a six-fold enhancement of superconductivity due to nematic fluctuations near a quantum phase transition (at $x_c=0.7$). The superconductivity is, however, anomalous, with the resistive transition for $0.4 < x< x_c$ occurring at a higher temperature than the specific heat anomaly. Using x-ray scattering, we discovered a new charge density wave (CDW) in BSNA in this composition range. The CDW is commensurate with a period of two lattice parameters, and is distinct from the two CDWs previously reported in this material. We argue that the anomalous transport behavior arises from heterogeneous superconductivity nucleating at antiphase domain walls in this CDW. We also present new data on the incommensurate CDW, previously identified as being unidirectional, showing that is a rotationally symmetric, "4$Q$" state with $C_4$ symmetry. Our study establishes BSNA as a rare material containing three distinct CDWs, and an exciting testbed for studying coupling between CDW, nematic, and SC orders., Comment: 5 pages, 5 figures + supplemental material document

This research proposes a distributed switching control to secure multi-robot systems in the presence of cyberattacks. Two major types of cyberattack are considered: deception attack and denial of service (DoS) attack, which compromise the integrity and availability of resources, respectively. First, a residual-based attack detection scheme is introduced to identify the type of attacks. Then, a switching control is designed to neutralize the effect of the identified attacks, satisfying the performance guarantees required for state consensus among robots. For the type of a deception attack, coordination-free consensus protocols are designed to tune the weights of each robot in a way that uncompromised robots gain more weight than compromised robots. For the type of a DoS attack, leader-follower protocols that reconfigure the communication topology are utilized to transform the compromised robots into sub-robots following the leaders. The performance of the proposed approach is evaluated on the Robotarium multi-robot testbed. A full demonstration with extensive cases is available at https://youtu.be/eSj0XS2pdxI.

We use femtosecond resonant soft x-ray scattering to measure the ultrafast optical melting of charge-order correlations in La$_{1.875}$Ba$_{0.125}$CuO$_4$. By analyzing both the energy-resolved and energy-integrated order parameter dynamics, we find evidence of a short-lived nonequilibrium state, whose features are compatible with a sliding charge density wave coherently set in motion by the pump. This transient state exhibits shifts in both the quasielastic line energy and its wave vector, as expected from a classical Doppler effect. The wave vector change is indeed found to directly follow the pump propagation direction. These results demonstrate the existence of sliding charge order behavior in an unconventional charge density wave system and underscore the power of ultrafast optical excitation as a tool to coherently manipulate electronic condensates., Comment: 8 pages, 9 figures, 39 references

The electronic nematic phase, wherein electronic degrees of freedom lower the crystal rotational symmetry, is a common motif across a number of high-temperature superconductors. However, understanding the role and influence of nematicity and nematic fluctuations in Cooper pairing is often complicated by the coexistence of other orders, particularly long-range magnetic order. Here we report the enhancement of superconductivity in a model electronic nematic system absent of magnetism, and show that the enhancement is directly born out of strong nematic fluctuations emanating from a tuned quantum phase transition. We use elastoresistance measurements of the Ba$_{1-x}$Sr$_{x}$Ni$_2$As$_2$ substitution series to show that strontium substitution promotes an electronically driven $B_{1g}$ nematic order in this system, and that the complete suppression of that order to absolute zero temperature evokes a dramatic enhancement of the pairing strength, as evidenced by a sixfold increase in the superconducting transition temperature. The direct relation between enhanced pairing and nematic fluctuations in this model system, as well as the interplay with a unidirectional charge density wave order comparable to that found in the cuprates, offers a means to elucidate the role of nematicity in boosting superconductivity., Comment: 16 pages, 15 figures

Charge order is universal among high-T$_c$ cuprates but its relevance to superconductivity is not established. It is widely believed that, while static order competes with superconductivity, dynamic order may be favorable and even contribute to Cooper pairing. We use time-resolved resonant soft x-ray scattering to study the collective dynamics of the charge order in the prototypical cuprate, La$_{2-x}$Ba$_x$CuO$_4$. We find that, at energy scales $0.4$ meV $ \lesssim \omega \lesssim 2$ meV, the excitations are overdamped and propagate via Brownian-like diffusion. At energy scales below 0.4 meV the charge order exhibits dynamic critical scaling, displaying universal behavior arising from propagation of topological defects. Our study implies that charge order is dynamic, so may participate tangibly in superconductivity., Comment: 31 pages, 4 figures, 8 supplementary figures, revised paragraph formatting

Recently it has been noticed that the Fermi-LAT data of gamma-rays from some galactic pulsars and supernova remnants reveal spectral modulations that might be explained by the conversion of photons to ALPs (axion-like particles) induced by the conventional ALP coupling to photon in the presence of galactic magnetic fields. However the corresponding ALP mass and coupling are in a severe tension with the observational constraints from CAST, SN1987A, and other gamma-ray observations. Motivated by this, we examine an alternative possibility that those spectral modulations are explained by other type of ALP coupling involving both the ordinary photon and a massless dark photon, when nonzero background dark photon gauge fields are assumed. We find that our scheme results in oscillations among the photon, ALP, and dark photon, which can explain the gamma-ray spectral modulations of galactic pulsars or supernova remnants, while satisfying the known observational constraints., Comment: 12 pages, 3 figures. v3: realization of background dark photon gauge fields included; v4: PRD accepted version, figures updated, chi-square analysis presented in Sec. III, observational constraints revisited in Sec. IV C and D

Ba(Ni$_{1-x}$Co$_x$)$_2$As$_2$ is a structural homologue of the pnictide high temperature superconductor, Ba(Fe$_{1-x}$Co$_x$)$_2$As$_2$, in which the Fe atoms are replaced by Ni. Superconductivity is highly suppressed in this system, reaching a maximum $T_c$ = 2.3 K, compared to 24 K in its iron-based cousin, and the origin of this $T_c$ suppression is not known. Using x-ray scattering, we show that Ba(Ni$_{1-x}$Co$_x$)$_2$As$_2$ exhibits a unidirectional charge density wave (CDW) at its triclinic phase transition. The CDW is incommensurate, exhibits a sizable lattice distortion, and is accompanied by the appearance of $\alpha$ Fermi surface pockets in photoemission [B. Zhou et al., Phys. Rev. B 83, 035110 (2011)], suggesting it forms by an unconventional mechanism. Co doping suppresses the CDW, paralleling the behavior of antiferromagnetism in iron-based superconductors. Our study demonstrates that pnictide superconductors can exhibit competing CDW order, which may be the origin of $T_c$ suppression in this system.

In this paper, we present a directional antenna-based leader-follower robotic relay system capable of building end-to-end communication in complicated and dynamically changing environments. The proposed system consists of multiple networked robots - one is a mobile end node and the others are leaders or followers acting as radio relays. Every follower uses directional antennas to relay a communication radio and to estimate the location of the leader robot as a sensory device. For bearing estimation, we employ a weight centroid algorithm (WCA) and present a theoretical analysis of the use of WCA for this work. Using a robotic convoy method, we develop online, distributed control strategies that satisfy the scalability requirements of robotic network systems and enable cooperating robots to work independently. The performance of the proposed system is evaluated by conducting extensive real-world experiments that successfully build actual communication between two end nodes.

In this paper, we propose a fault detection and isolation based attack-aware multi-sensor integration algorithm for the detection of cyberattacks in autonomous vehicle navigation systems. The proposed algorithm uses an extended Kalman filter to construct robust residuals in the presence of noise, and then uses a parametric statistical tool to identify cyberattacks. The parametric statistical tool is based on the residuals constructed by the measurement history rather than one measurement at a time in the properties of discrete-time signals and dynamic systems. This approach allows the proposed multi-sensor integration algorithm to provide quick detection and low false alarm rates for applications in dynamic systems. An example of INS/GNSS integration of autonomous navigation systems is presented to validate the proposed algorithm by using a software-in-the-loop simulation., Comment: "Copyright 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works."

We study gravitational-wave production from bubble collisions in a cosmic first-order phase transition, focusing on the possibility of model separation by the bubble nucleation rate dependence of the resulting gravitational-wave spectrum. By using the method of relating the spectrum with the two-point correlator of the energy-momentum tensor $\left< T(x)T(y) \right>$, we first write down analytic expressions for the spectrum with a Gaussian correction to the commonly used nucleation rate, $\Gamma \propto e^{\beta t}\rightarrow e^{\beta t-\gamma^2t^2}$, under the thin-wall and envelope approximations. Then we quantitatively investigate how the spectrum changes with the size of the Gaussian correction. It is found that the spectral shape shows ${\mathcal O}(10)\%$ deviation from $\Gamma \propto e^{\beta t}$ case for some physically motivated scenarios. We also briefly discuss detector sensitivities required to distinguish different spectral shapes., Comment: 36 pages, 13 figures, 1 figure from arXiv:1605.01403

X-ray diffraction was employed to study the evolution of the charge density wave (CDW) in CuxTiSe2 as a function of copper intercalation in order to clarify the relationship between the CDW and superconductivity. The results show a CDW incommensuration arising at an intercalation value coincident with the onset of superconductivity at around x=0.055(5). Additionally, it was found that the charge density wave persists to higher intercalant concentrations than previously assumed, demonstrating that the CDW does not terminate inside the superconducting dome. A charge density wave peak was observed in samples up to x=0.091(6), the highest copper concentration examined in this study. The phase diagram established in this work suggests that charge density wave incommensuration may play a role in the formation of the superconducting state., Comment: 5 pages, 4 figures