Quantum phase transitions in disordered dimerized quantum spin models and the Harris criterion

We use quantum Monte Carlo simulations to study effects of disorder on the quantum phase transition occurring versus the ratio g=J/J' in square-lattice dimerized S=1/2 Heisenberg antiferromagnets with intra- and inter-dimer couplings J and J'. The dimers are either randomly distributed (as in the classical dimer model), or come in parallel pairs with horizontal or vertical orientation. In both cases the transition violates the Harris criterion, according to which the correlation-length exponent should satisfy nu >= 1. We do not detect any deviations from the three-dimensional O(3) universality class obtaining in the absence of disorder (where nu = 0.71). We discuss special circumstances which allow nu<1 for the type of disorder considered here.Comment: 4+ pages, 3 figure

Modeling and Identification of Position and Temperature Dependent Friction Phenomena without Temperature Sensing

This paper investigates both positional dependence in systems with friction and the influence an increase in temperature has on the friction behavior. The positional dependence is modeled with a Radial Basis Function network and the temperature dependence is modeled as a first order system with the power loss due to friction as input, eliminating the need for temperature sensing. The proposed methods are evaluated in both simulations and experiments on two industrial robots with strong positional and temperature friction dependence

Identification of LTV Dynamical Models with Smooth or Discontinuous Time Evolution by means of Convex Optimization

We establish a connection between trend filtering and system identification which results in a family of new identification methods for linear, time-varying (LTV) dynamical models based on convex optimization. We demonstrate how the design of the cost function promotes a model with either a continuous change in dynamics over time, or causes discontinuous changes in model coefficients occurring at a finite (sparse) set of time instances. We further discuss the introduction of priors on the model parameters for situations where excitation is insufficient for identification. The identification problems are cast as convex optimization problems and are applicable to, e.g., ARX models and state-space models with time-varying parameters. We illustrate usage of the methods in simulations of jump-linear systems, a nonlinear robot arm with non-smooth friction and stiff contacts as well as in model-based, trajectory centric reinforcement learning on a smooth nonlinear system

Accurate photometry of extended spherically symmetric sources

We present a new method to derive reliable photometry of extended spherically symmetric sources from {\it HST} images (WFPC2, ACS/WFC and NICMOS/NIC2 cameras), extending existing studies of point sources and marginally resolved sources. We develop a new approach to accurately determine intrinsic sizes of extended spherically symmetric sources, such as star clusters in galaxies beyond the Local Group (at distances <~ 20 Mpc), and provide a detailed cookbook to perform aperture photometry on such sources, by determining size-dependent aperture corrections (ACs) and taking sky oversubtraction as a function of source size into account. In an extensive Appendix, we provide the parameters of polynomial relations between the FWHM of various input profiles and those obtained by fitting a Gaussian profile (which we have used for reasons of computational robustness, although the exact model profile used is irrelevant), and between the intrinsic and measured FWHM of the cluster and the derived AC. Both relations are given for a number of physically relevant cluster light profiles, intrinsic and observational parameters. AC relations are provided for a wide range of apertures. Depending on the size of the source and the annuli used for the photometry, the absolute magnitude of such extended objects can be underestimated by up to 3 mag, corresponding to an error in mass of a factor of 15. We carefully compare our results to those from the more widely used DeltaMag method, and find an improvement of a factor of 3--40 in both the size determination and the AC.Comment: The paper is accepted for publication in A&A, Section 13 (Observational Techniques, published electronically). The published version contains one example table per appendix. A version of the paper containing all tables as well as all data in electronical form are available http://www.astro.physik.uni-goettingen.de/~galev/panders/Sizes_AC

Challenges When Digital Services for Sustainable EverydayTravel is Innovated

This short paper introduce and investigates challenges when digital services for sustainable everyday travel is innovated. The notions of sustainable innovation, energy informatics persuasive technology and service ecosystem is used as a basis for a vision that facilitate the development and evaluation of persuasive solutions for sustainable travel. Based in this vision different challenges for innovation of digital services is discovered and research questions presented

Sedimentological Observations from the Tiskilwa Till, Illinois, and Sky Pilot Till, Manitoba

We present sedimentological observations from the Tiskilwa Till in northern Illinois, and the Sky Pilot Till in northern Manitoba, that indicate deposition of these tills by subglacial deformation. These generally homogenous tills grade downward into more heterogeneous tills that incorporate underlying sediment into their matrix, indicating entrainment of older sediments by sediment deformation. Deformed sand inclusions within these tills imply deformation of the tills and inclusions prior to deposition. The Tiskilwa Till has relatively high fabric strength throughout its thickness, whereas fabric strength in the Sky Pilot Till generally increases up-section in 2 to 3 m thick increments. Fabric orientations in both tills rotate up-section, possibly due to changes in ice-flow direction associated with the thickening and thinning of ice, and changes in ice-flow divide location. In both the Tiskilwa and Sky Pilot Tills, the change in fabric orientation occurs over intervals of ~1 m, suggesting that the maximum depth of deformation was ≤1 m insofar as any greater depth of deformation would have reoriented till fabric during maximum ice extent and retreat. In the case of the Sky Pilot Till, the up-section increase in macrofabric strength indicates that strain increased up-section. These data suggest that these tills were deposited in a time transgressive manner as strain migrated upwards with the delivery of new till either released from the ice base or advected from up-ice.Les observations sédimentologiques des tills de Tiskilwa, Illinois, et de Sky Pilot, Manitoba, indiquent que ces tills sont issus d’une déformation sous-glaciaire. Ces tills, généralement homogènes, deviennent hétérogènes vers leur base et ils incorporent du matériel sous-jacent dans leur matrice, ce qui indique un déplacement des sédiments plus âgés par déformation. La présence d’inclusions de sable dans ces tills impliquent leur déformation avant leur dépôt. Le till de Tiskilwa présente une matrice très cohérente sur toute son épaisseur tandis que celle du till de Sky Pilot augmente vers le haut tous les 2 ou 3 mètres. La rotation de l’orientation des matrices de ces deux tills est probablement associée aux changements de l’écoulement glaciaire liés à l’épaisseur de la glace et à la migration de la ligne de partage des marges glaciaires. Pour ces tills, le changement d’orientation du matériel se produit sur des intervalles d’environ 1 m, où la profondeur maximale de déformation devrait réorienter le matériel du till durant le maximum glaciaire et le retrait des glaces. Dans le cas du till de Sky Pilot, la section supérieure montre une augmentation dans la force de cohésion du matériel. Ces données indiquent que ces tills se sont déposés de manière diachronique, où la force de tension a migré vers le haut, entraînant le dépôt de matériel basal frais à partir de la base de la glace ou par advection depuis la glace

Three-Dimensional Nonlinear Inelastic Analysis of Steel Moment-Frame Buildings Damaged by Earthquake Excitations

The Northridge earthquake of January 17, 1994, highlighted the two previously known problems of premature fracturing of connections and the damaging capabilities of near-source ground motion pulses. Large ground motions had not been experienced in a city with tall steel moment-frame buildings before. Some steel buildings exhibited fracture of welded connections or other types of structural degradation. A sophisticated three-dimensional nonlinear inelastic program is developed that can accurately model many nonlinear properties commonly ignored or approximated in other programs. The program can assess and predict severely inelastic response of steel buildings due to strong ground motions, including collapse. Three-dimensional fiber and segment discretization of elements is presented in this work. This element and its two-dimensional counterpart are capable of modeling various geometric and material nonlinearities such as moment amplification, spread of plasticity and connection fracture. In addition to introducing a three-dimensional element discretization, this work presents three-dimensional constraints that limit the number of equations required to solve various three-dimensional problems consisting of intersecting planar frames. Two buildings damaged in the Northridge earthquake are investigated to verify the ability of the program to match the level of response and the extent and location of damage measured. The program is used to predict response of larger near-source ground motions using the properties determined from the matched response. A third building is studied to assess three-dimensional effects on a realistic irregular building in the inelastic range of response considering earthquake directivity. Damage levels are observed to be significantly affected by directivity and torsional response. Several strong recorded ground motions clearly exceed code-based levels. Properly designed buildings can have drifts exceeding code specified levels due to these ground motions. The strongest ground motions caused collapse if fracture was included in the model. Near-source ground displacement pulses can cause columns to yield prior to weaker-designed beams. Damage in tall buildings correlates better with peak-to-peak displacements than with peak-to-peak accelerations. Dynamic response of tall buildings shows that higher mode response can cause more damage than first mode response. Leaking of energy between modes in conjunction with damage can cause torsional behavior that is not anticipated. Various response parameters are used for all three buildings to determine what correlations can be made for inelastic building response. Damage levels can be dramatically different based on the inelastic model used. Damage does not correlate well with several common response parameters. Realistic modeling of material properties and structural behavior is of great value for understanding the performance of tall buildings due to earthquake excitations.</p

Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives

Modeling of robot motion as dynamical movement primitives (DMPs) has becomean important framework within robot learning and control. The ability of DMPs to adapt online with respect to the surroundings, e.g., to moving targets, has been used and developed by several researchers. In this work, a method for handling perturbations during execution of DMPs on robots was developed. Two-degree-of-freedom control was introduced in the DMP context, for reference trajectory tracking and perturbation recovery. Benefits compared to the state of the art were demonstrated. The functionality of the method was verified in simulations and in real-world experiments

Dynamics of the Laurentide Ice Sheet

This dissertation concentrates on the controlling factors on the instability of the Laurentide Ice Sheet (LIS) and their effects on abrupt climate change. Northern Hemisphere climate fluctuated abruptly during the last deglaciation possibly related to variability in Atlantic meridional overturning circulation (AMOC) and reduced aerial extent of the LIS. Reductions in AMOC can be induced by changes in the hydrologic cycle which in turn may be controlled by instabilities in the LIS due to subglacial hydrology, sliding and till deformation. Sedimentological observations of the Tiskilwa Till, Illinois, and Sky Pilot Till, Manitoba determined that the LIS deposited these tills in a ≤1 m thick deforming layer as strain migrated upwards due to till accretion. These tills experienced high strain in a deforming layer thick enough contribute to ice sheet motion. Simulations of the subglacial hydrology of the James Lobe (JL) of the LIS suggest that the JL had little affect on regional groundwater flow and that subglacial aquifers were incapable of draining meltwater from the ice-till interface. However, a canal basal drainage system with canals up to 70 cm wide spaced 40 to 70 m apart could drain the ice-till interface keeping the JL coupled to its bed. To resolve the effects of LIS retreat on the hydrologic cycle, a suite of new freshwater routing proxies indicate that western Canadian Plains freshwater was routed to the St. Lawrence at the start of the Younger Dryas with an increase in base flow discharge sufficient to reduce AMOC. These proxies identified a previously unrecognized intra-Younger Dryas routing event at ~12 ka, the impact of which indicates the tight coupling of AMOC, climate and the hydrologic cycle. To determine the role of the LIS in Holocene climate change, 10Be ages from western Quebec were used to date the final disappearance of the LIS at ~6.8 ka following a period of rapid retreat and thinning that contributed to a rapid rise in sea level. The disappearance of the LIS initiated the Holocene Thermal Maximum, while the attendant reduction in freshwater runoff induced the formation of Labrador deep sea water