Adjointness Relations as a Criterion for Choosing an Inner Product

This is a contribution to the forthcoming book "Canonical Gravity: {}From Classical to Quantum" edited by J. Ehlers and H. Friedrich. Ashtekar's criterion for choosing an inner product in the quantisation of constrained systems is discussed. An erroneous claim in a previous paper is corrected and a cautionary example is presented.Comment: 6 pages, MPA-AR-94-

Pseudospectral Model Predictive Control under Partially Learned Dynamics

Trajectory optimization of a controlled dynamical system is an essential part of autonomy, however many trajectory optimization techniques are limited by the fidelity of the underlying parametric model. In the field of robotics, a lack of model knowledge can be overcome with machine learning techniques, utilizing measurements to build a dynamical model from the data. This paper aims to take the middle ground between these two approaches by introducing a semi-parametric representation of the underlying system dynamics. Our goal is to leverage the considerable information contained in a traditional physics based model and combine it with a data-driven, non-parametric regression technique known as a Gaussian Process. Integrating this semi-parametric model with model predictive pseudospectral control, we demonstrate this technique on both a cart pole and quadrotor simulation with unmodeled damping and parametric error. In order to manage parametric uncertainty, we introduce an algorithm that utilizes Sparse Spectrum Gaussian Processes (SSGP) for online learning after each rollout. We implement this online learning technique on a cart pole and quadrator, then demonstrate the use of online learning and obstacle avoidance for the dubin vehicle dynamics.Comment: Accepted but withdrawn from AIAA Scitech 201

Density of states of a two-dimensional electron gas in a non-quantizing magnetic field

We study local density of electron states of a two-dimentional conductor with a smooth disorder potential in a non-quantizing magnetic field, which does not cause the standart de Haas-van Alphen oscillations. It is found, that despite the influence of such ``classical'' magnetic field on the average electron density of states (DOS) is negligibly small, it does produce a significant effect on the DOS correlations. The corresponding correlation function exhibits oscillations with the characteristic period of cyclotron quantum $\hbar\omega_c$.Comment: 7 pages, including 3 figure

Effects of two dimensional plasmons on the tunneling density of states

We show that gapless plasmons lead to a universal $(\delta\nu(\epsilon)/\nu\propto |\epsilon|/E_F)$ correction to the tunneling density of states of a clean two dimensional Coulomb interacting electron gas. We also discuss a counterpart of this effect in the "composite fermion metal" which forms in the presence of a quantizing perpendicular magnetic field corresponding to the half-filled Landau level. We argue that the latter phenomenon might be relevant for deviations from a simple scaling observed by A.Chang et al in the tunneling $I-V$ characteristics of Quantum Hall liquids.Comment: 12 pages, Latex, NORDITA repor

On the support of the Ashtekar-Lewandowski measure

We show that the Ashtekar-Isham extension of the classical configuration space of Yang-Mills theories (i.e. the moduli space of connections) is (topologically and measure-theoretically) the projective limit of a family of finite dimensional spaces associated with arbitrary finite lattices. These results are then used to prove that the classical configuration space is contained in a zero measure subset of this extension with respect to the diffeomorphism invariant Ashtekar-Lewandowski measure. Much as in scalar field theory, this implies that states in the quantum theory associated with this measure can be realized as functions on the ``extended" configuration space.Comment: 22 pages, Tex, Preprint CGPG-94/3-

A subalgebra of the Hardy algebra relevant in control theory and its algebraic-analytic properties

We denote by A_0+AP_+ the Banach algebra of all complex-valued functions f defined in the closed right half plane, such that f is the sum of a holomorphic function vanishing at infinity and a ``causal'' almost periodic function. We give a complete description of the maximum ideal space M(A_0+AP_+) of A_0+AP_+. Using this description, we also establish the following results: (1) The corona theorem for A_0+AP_+. (2) M(A_0+AP_+) is contractible (which implies that A_0+AP_+ is a projective free ring). (3) A_0+AP_+ is not a GCD domain. (4) A_0+AP_+ is not a pre-Bezout domain. (5) A_0+AP_+ is not a coherent ring. The study of the above algebraic-anlaytic properties is motivated by applications in the frequency domain approach to linear control theory, where they play an important role in the stabilization problem.Comment: 17 page

On the Relation between Rigging Inner Product and Master Constraint Direct Integral Decomposition

Canonical quantisation of constrained systems with first class constraints via Dirac's operator constraint method proceeds by the thory of Rigged Hilbert spaces, sometimes also called Refined Algebraic Quantisation (RAQ). This method can work when the constraints form a Lie algebra. When the constraints only close with nontrivial structure functions, the Rigging map can no longer be defined. To overcome this obstacle, the Master Constraint Method has been proposed which replaces the individual constraints by a weighted sum of absolute squares of the constraints. Now the direct integral decomposition methods (DID), which are closely related to Rigged Hilbert spaces, become available and have been successfully tested in various situations. It is relatively straightforward to relate the Rigging Inner Product to the path integral that one obtains via reduced phase space methods. However, for the Master Constraint this is not at all obvious. In this paper we find sufficient conditions under which such a relation can be established. Key to our analysis is the possibility to pass to equivalent, Abelian constraints, at least locally in phase space. Then the Master Constraint DID for those Abelian constraints can be directly related to the Rigging Map and therefore has a path integral formulation.Comment: 25 page

A Mathematical Theory of Stochastic Microlensing II. Random Images, Shear, and the Kac-Rice Formula

Continuing our development of a mathematical theory of stochastic microlensing, we study the random shear and expected number of random lensed images of different types. In particular, we characterize the first three leading terms in the asymptotic expression of the joint probability density function (p.d.f.) of the random shear tensor at a general point in the lens plane due to point masses in the limit of an infinite number of stars. Up to this order, the p.d.f. depends on the magnitude of the shear tensor, the optical depth, and the mean number of stars through a combination of radial position and the stars' masses. As a consequence, the p.d.f.s of the shear components are seen to converge, in the limit of an infinite number of stars, to shifted Cauchy distributions, which shows that the shear components have heavy tails in that limit. The asymptotic p.d.f. of the shear magnitude in the limit of an infinite number of stars is also presented. Extending to general random distributions of the lenses, we employ the Kac-Rice formula and Morse theory to deduce general formulas for the expected total number of images and the expected number of saddle images. We further generalize these results by considering random sources defined on a countable compact covering of the light source plane. This is done to introduce the notion of {\it global} expected number of positive parity images due to a general lensing map. Applying the result to microlensing, we calculate the asymptotic global expected number of minimum images in the limit of an infinite number of stars, where the stars are uniformly distributed. This global expectation is bounded, while the global expected number of images and the global expected number of saddle images diverge as the order of the number of stars.Comment: To appear in JM

Hudson's Theorem for finite-dimensional quantum systems

We show that, on a Hilbert space of odd dimension, the only pure states to possess a non-negative Wigner function are stabilizer states. The Clifford group is identified as the set of unitary operations which preserve positivity. The result can be seen as a discrete version of Hudson's Theorem. Hudson established that for continuous variable systems, the Wigner function of a pure state has no negative values if and only if the state is Gaussian. Turning to mixed states, it might be surmised that only convex combinations of stabilizer states give rise to non-negative Wigner distributions. We refute this conjecture by means of a counter-example. Further, we give an axiomatic characterization which completely fixes the definition of the Wigner function and compare two approaches to stabilizer states for Hilbert spaces of prime-power dimensions. In the course of the discussion, we derive explicit formulas for the number of stabilizer codes defined on such systems.Comment: 17 pages, 3 figures; References updated. Title changed to match published version. See also quant-ph/070200

Ionisation by quantised electromagnetic fields: The photoelectric effect

In this paper we explain the photoelectric effect in a variant of the standard model of non relativistic quantum electrodynamics, which is in some aspects more closely related to the physical picture, than the one studied in [BKZ]: Now we can apply our results to an electron with more than one bound state and to a larger class of electron-photon interactions. We will specify a situation, where ionisation probability in second order is a weighted sum of single photon terms. Furthermore we will see, that Einstein's equality $$E_{kin}=h\nu-\bigtriangleup E>0$$ for the maximal kinetic energy $E_{kin}$ of the electron, energy $h\nu$ of the photon and ionisation gap $\bigtriangleup E$ is the crucial condition for these single photon terms to be nonzero.Comment: 59 pages, LATEX2