arXiv subjects

Robert Cook

Publications and source records attributed to Robert Cook.

3 recordsLinked to original sources

arXiv2026

OHRID-Retail: An Open Multimodal Dataset of Human Activity in Retail Environments

Open datasets describing human behavior in environments shared with mobile robots remain limited, particularly for retail activities that combine locomotion, reaching, object handling, and robot guided movement. This paper introduces OHRID Retail, an open, human centered multimodal dataset collected from 16 healthy adults performing a simulated shelf picking task under three within participant conditions: no robot, low speed robot guidance, and high speed robot guidance. Each participant completed two trials per condition. Whole body kinematics were recorded using 17 Xsens Awinda inertial sensors and muscle activity was measured at 10 locations using Delsys Trigno surface electromyography sensors. Descriptive analyses demonstrate variation in whole body movement intensity and muscle activation across robot interaction conditions and body locations. OHRID Retail provides openly available raw recordings, processed measures, documentation, and reproducible analysis resources. The dataset can support research in human activity recognition, multimodal sensor fusion, occupational biomechanics, ergonomics, human aware robot navigation, and human robot interaction in retail and related shared environments.

cs.RO↗

arXiv2018

Input-output theory for superconducting and photonic circuits that contain weak retro-reflections and other weak pseudo-cavities

Input-output theory is invaluable for treating superconducting and photonic circuits connected by transmission lines or waveguides. However, this theory cannot in general handle situations in which retro-reflections from circuit components or configurations of beam-splitters create loops for the traveling-wave fields that connect the systems. Here, building upon the network-contraction theory of Gough and James [Commun. Math. Phys. 287, 1109 (2009)], we provide a compact and powerful method to treat any circuit that contains such loops so long as the effective cavities formed by the loops are sufficiently weak. Essentially all present-day on-chip superconducting and photonic circuits will satisfy this weakness condition so long as the reflectors that form the loops are not especially highly reflecting. As an example we analyze the problem of transmitting entanglement between two qubits connected by a transmission line with imperfect circulators, a problem for which the new method is essential. We obtain a full solution for the optimal receiver given that the sender employs a simple turn on/turn off. This solution shows that near-perfect transmission is possible even with significant retro-reflections.

quant-ph↗

arXiv2009

Measurements of Si Hybrid CMOS X-Ray Detector Characteristics

The development of Hybrid CMOS Detectors (HCDs) for X-Ray telescope focal planes will place them in con- tention with CCDs on future satellite missions due to their faster frame rates, flexible readout scenarios, lower power consumption, and inherent radiation hardness. CCDs have been used with great success on the current generation of X-Ray telescopes (e.g. Chandra, XMM, Suzaku, and Swift). However their bucket-brigade read-out architecture, which transfers charge across the chip with discrete component readout electronics, results in clockrate limited readout speeds that cause pileup (saturation) of bright sources and an inherent susceptibility to radiation induced displacement damage that limits mission lifetime. In contrast, HCDs read pixels with low power, on-chip multiplexer electronics in a random access fashion. Faster frame rates achieved with multi-output readout design will allow the next generation's larger effective area telescopes to observe bright sources free of pileup. Radiation damaged lattice sites effect a single pixel instead of an entire row. Random access, multi-output readout will allow for novel readout modes such as simultaneous bright-source-fast/whole-chip-slow readout. In order for HCDs to be useful as X-Ray detectors, they must show noise and energy resolution performance similar to CCDs while retaining advantages inherent to HCDs. We will report on readnoise, conversion gain, and energy resolution measurements of an X-Ray enhanced Teledyne HAWAII-1RG (H1RG) HCD and describe techniques of H1RG data reduction.

astro-ph.IM↗