Information and thermodynamics: Experimental verification of Landauer's erasure principle

We present an experiment in which a one-bit memory is constructed, using a system of a single colloidal particle trapped in a modulated double-well potential. We measure the amount of heat dissipated to erase a bit and we establish that in the limit of long erasure cycles the mean dissipated heat saturates at the Landauer bound, i.e. the minimal quantity of heat necessarily produced to delete a classical bit of information. This result demonstrates the intimate link between information theory and thermodynamics. To stress this connection we also show that a detailed Jarzynski equality is verified, retrieving the Landauer's bound independently of the work done on the system. The experimental details are presented and the experimental errors carefully discusse

Asymptotic Exit Location Distributions in the Stochastic Exit Problem

Consider a two-dimensional continuous-time dynamical system, with an attracting fixed point $S$. If the deterministic dynamics are perturbed by white noise (random perturbations) of strength $\epsilon$, the system state will eventually leave the domain of attraction $\Omega$ of $S$. We analyse the case when, as $\epsilon\to0$, the exit location on the boundary $\partial\Omega$ is increasingly concentrated near a saddle point $H$ of the deterministic dynamics. We show that the asymptotic form of the exit location distribution on $\partial\Omega$ is generically non-Gaussian and asymmetric, and classify the possible limiting distributions. A key role is played by a parameter $\mu$, equal to the ratio $|\lambda_s(H)|/\lambda_u(H)$ of the stable and unstable eigenvalues of the linearized deterministic flow at $H$. If $\mu<1$ then the exit location distribution is generically asymptotic as $\epsilon\to0$ to a Weibull distribution with shape parameter $2/\mu$, on the $O(\epsilon^{\mu/2})$ length scale near $H$. If $\mu>1$ it is generically asymptotic to a distribution on the $O(\epsilon^{1/2})$ length scale, whose moments we compute. The asymmetry of the asymptotic exit location distribution is attributable to the generic presence of a `classically forbidden' region: a wedge-shaped subset of $\Omega$ with $H$ as vertex, which is reached from $S$, in the $\epsilon\to0$ limit, only via `bent' (non-smooth) fluctuational paths that first pass through the vicinity of $H$. We deduce from the presence of this forbidden region that the classical Eyring formula for the small-$\epsilon$ exponential asymptotics of the mean first exit time is generically inapplicable.Comment: This is a 72-page Postscript file, about 600K in length. Hardcopy requests to [email protected] or [email protected]

Path planning for simple wheeled robots : sub-Riemannian and elastic curves on SE(2)

This paper presents a motion planning method for a simple wheeled robot in two cases: (i) where translational and rotational speeds are arbitrary and (ii) where the robot is constrained to move forwards at unit speed. The motions are generated by formulating a constrained optimal control problem on the Special Euclidean group SE(2). An application of Pontryagin’s maximum principle for arbitrary speeds yields an optimal Hamiltonian which is completely integrable in terms of Jacobi elliptic functions. In the unit speed case, the rotational velocity is described in terms of elliptic integrals and the expression for the position reduced to quadratures. Reachable sets are defined in the arbitrary speed case and a numerical plot of the time-limited reachable sets presented for the unit speed case. The resulting analytical functions for the position and orientation of the robot can be parametrically optimised to match prescribed target states within the reachable sets. The method is shown to be easily adapted to obstacle avoidance for static obstacles in a known environment