Active Classification: Theory and Application to Underwater Inspection

We discuss the problem in which an autonomous vehicle must classify an object based on multiple views. We focus on the active classification setting, where the vehicle controls which views to select to best perform the classification. The problem is formulated as an extension to Bayesian active learning, and we show connections to recent theoretical guarantees in this area. We formally analyze the benefit of acting adaptively as new information becomes available. The analysis leads to a probabilistic algorithm for determining the best views to observe based on information theoretic costs. We validate our approach in two ways, both related to underwater inspection: 3D polyhedra recognition in synthetic depth maps and ship hull inspection with imaging sonar. These tasks encompass both the planning and recognition aspects of the active classification problem. The results demonstrate that actively planning for informative views can reduce the number of necessary views by up to 80% when compared to passive methods.Comment: 16 page

Black hole binary inspiral and trajectory dominance

Gravitational waves emitted during the inspiral, plunge and merger of a black hole binary carry linear momentum. This results in an astrophysically important recoil to the final merged black hole, a ``kick'' that can eject it from the nucleus of a galaxy. In a previous paper we showed that the puzzling partial cancellation of an early kick by a late antikick, and the dependence of the cancellation on black hole spin, can be understood from the phenomenology of the linear momentum waveforms. Here we connect that phenomenology to its underlying cause, the spin-dependence of the inspiral trajectories. This insight suggests that the details of plunge can be understood more broadly with a focus on inspiral trajectories.Comment: 15 pages, 12 figure

Systematics of black hole binary inspiral kicks and the slowness approximation

During the inspiral and merger of black holes, the interaction of gravitational wave multipoles carries linear momentum away, thereby providing an astrophysically important recoil, or "kick" to the system and to the final black hole remnant. It has been found that linear momentum during the last stage (quasinormal ringing) of the collapse tends to provide an "antikick" that in some cases cancels almost all the kick from the earlier (quasicircular inspiral) emission. We show here that this cancellation is not due to peculiarities of gravitational waves, black holes, or interacting multipoles, but simply to the fact that the rotating flux of momentum changes its intensity slowly. We show furthermore that an understanding of the systematics of the emission allows good estimates of the net kick for numerical simulations started at fairly late times, and is useful for understanding qualitatively what kinds of systems provide large and small net kicks.Comment: 15 pages, 6 figures, 2 table

Small mass plunging into a Kerr black hole: Anatomy of the inspiral-merger-ringdown waveforms

We numerically solve the Teukolsky equation in the time domain to obtain the gravitational-wave emission of a small mass inspiraling and plunging into the equatorial plane of a Kerr black hole. We account for the dissipation of orbital energy using the Teukolsky frequency-domain gravitational-wave fluxes for circular, equatorial orbits, down to the light-ring. We consider Kerr spins $-0.99 \leq q \leq 0.99$, and compute the inspiral-merger-ringdown (2,2), (2,1), (3,3), (3,2), (4,4), and (5,5) modes. We study the large-spin regime, and find a great simplicity in the merger waveforms, thanks to the extremely circular character of the plunging orbits. We also quantitatively examine the mixing of quasinormal modes during the ringdown, which induces complicated amplitude and frequency modulations in the waveforms. Finally, we explain how the study of small mass-ratio black-hole binaries helps extending effective-one-body models for comparable-mass, spinning black-hole binaries to any mass ratio and spin magnitude.Comment: 20 pages, 15 figure

Witnesses of non-classicality for simulated hybrid quantum systems

The task of testing whether quantum theory applies to all physical systems and all scales requires considering situations where a quantum probe interacts with another system that need not obey quantum theory in full. Important examples include the cases where a quantum mass probes the gravitational field, for which a unique quantum theory of gravity does not yet exist, or a quantum field, such as light, interacts with a macroscopic system, such as a biological molecule, which may or may not obey unitary quantum theory. In this context a class of experiments has recently been proposed, where the non-classicality of a physical system that need not obey quantum theory (the gravitational field) can be tested indirectly by detecting whether or not the system is capable of entangling two quantum probes. Here we illustrate some of the subtleties of the argument, to do with the role of locality of interactions and of non-classicality, and perform proof-of-principle experiments illustrating the logic of the proposals, using a Nuclear Magnetic Resonance quantum computational platform with four qubits.Comment: Revised and extende

Separable sequences in Bianchi I loop quantum cosmology

In this paper, we discuss the properties of one-parameter sequences that arise when solving the Hamiltonian constraint in Bianchi I loop quantum cosmology using a separation of variables method. In particular, we focus on finding an expression for the sequence for all real values of the parameter, and discuss the pre-classicality of this function. We find that the behavior of these preclassical sequences imply time asymmetry on either side of the classical singularity in Bianchi I cosmology.Comment: 5 pages, 3 figures, published versio

Downwash-Aware Trajectory Planning for Large Quadrotor Teams

We describe a method for formation-change trajectory planning for large quadrotor teams in obstacle-rich environments. Our method decomposes the planning problem into two stages: a discrete planner operating on a graph representation of the workspace, and a continuous refinement that converts the non-smooth graph plan into a set of C^k-continuous trajectories, locally optimizing an integral-squared-derivative cost. We account for the downwash effect, allowing safe flight in dense formations. We demonstrate the computational efficiency in simulation with up to 200 robots and the physical plausibility with an experiment with 32 nano-quadrotors. Our approach can compute safe and smooth trajectories for hundreds of quadrotors in dense environments with obstacles in a few minutes.Comment: 8 page