N=2 Generalized Superconformal Quiver Gauge Theory

Four dimensional N=2 generalized superconformal field theory can be defined by compactifying six dimensional (0,2) theory on a Riemann surface with regular punctures. In previous studies, gauge coupling constant space is identified with the moduli space of punctured Riemann surface M_{g,n}. We show that the weakly coupled gauge group description corresponds to a stable nodal curve, and the coupling space is actually the Deligne-Mumford compactification \bar{M}_{g,n}. We also give an algorithm to determine the weakly coupled gauge group and matter content in any duality frame.Comment: v2, reorganizing the materials, discussions on 2d CFT is remove

Tinkertoys for Gaiotto Duality

We describe a procedure for classifying N=2 superconformal theories of the type introduced by Davide Gaiotto. Any curve, C, on which the 6D A_{N-1} SCFT is compactified, can be decomposed into 3-punctured spheres, connected by cylinders. We classify the spheres, and the cylinders that connect them. The classification is carried out explicitly, up through N=5, and for several families of SCFTs for arbitrary N. These lead to a wealth of new S-dualities between Lagrangian and non-Lagrangian N=2 SCFTs.Comment: 61 pages, 136 figures (a veritable comic book). V2: Grotty bitmapped figures replaced with PDF versions; a couple of references fixe

Gauge/gravity duality and the interplay of various fractional branes

We consider different types of fractional branes on a Z_2 orbifold of the conifold and analyze in detail the corresponding gauge/gravity duality. The gauge theory possesses a rich and varied dynamics, both in the UV and in the IR. We find the dual supergravity solution which contains both untwisted and twisted 3-form fluxes, related to what are known as deformation and N=2 fractional branes respectively. We analyze the resulting RG flow from the supergravity perspective, by developing an algorithm to easily extract it. We find hints of a generalization of the familiar cascade of Seiberg dualities due to a non-trivial interplay between the different types of fractional branes. We finally consider the IR behavior in several limits, where the dominant effective dynamics is either confining, in a Coulomb phase or runaway, and discuss the resolution of singularities in the dual geometric background.Comment: 38 pages + appendices, 15 figures; v2: refs added and typos correcte

An Open Source and Open Hardware Deep Learning-Powered Visual Navigation Engine for Autonomous Nano-UAVs

Nano-size unmanned aerial vehicles (UAVs), with few centimeters of diameter and sub-10 Watts of total power budget, have so far been considered incapable of running sophisticated visual-based autonomous navigation software without external aid from base-stations, ad-hoc local positioning infrastructure, and powerful external computation servers. In this work, we present what is, to the best of our knowledge, the first 27g nano-UAV system able to run aboard an end-to-end, closed-loop visual pipeline for autonomous navigation based on a state-of-the-art deep-learning algorithm, built upon the open-source CrazyFlie 2.0 nano-quadrotor. Our visual navigation engine is enabled by the combination of an ultra-low power computing device (the GAP8 system-on-chip) with a novel methodology for the deployment of deep convolutional neural networks (CNNs). We enable onboard real-time execution of a state-of-the-art deep CNN at up to 18Hz. Field experiments demonstrate that the system's high responsiveness prevents collisions with unexpected dynamic obstacles up to a flight speed of 1.5m/s. In addition, we also demonstrate the capability of our visual navigation engine of fully autonomous indoor navigation on a 113m previously unseen path. To share our key findings with the embedded and robotics communities and foster further developments in autonomous nano-UAVs, we publicly release all our code, datasets, and trained networks

Nilpotent orbits and codimension-two defects of 6d N=(2,0) theories

We study the local properties of a class of codimension-2 defects of the 6d N=(2,0) theories of type J=A,D,E labeled by nilpotent orbits of a Lie algebra \mathfrak{g}, where \mathfrak{g} is determined by J and the outer-automorphism twist around the defect. This class is a natural generalisation of the defects of the 6d theory of type SU(N) labeled by a Young diagram with N boxes. For any of these defects, we determine its contribution to the dimension of the Higgs branch, to the Coulomb branch operators and their scaling dimensions, to the 4d central charges a and c, and to the flavour central charge k.Comment: 57 pages, LaTeX2

On the geometry of string duals with backreacting flavors

Making use of generalized calibrated geometry and G-structures we put the problem of finding string-duals with smeared backreacting flavor branes in a more mathematical setting. This more formal treatment of the problem allows us to easily smear branes without good coordinate representations, establish constraints on the smearing form and identify a topological central charge in the SUSY algebra. After exhibiting our methods for a series of well known examples, we apply them to the problem of flavoring a supergravity-dual to a d=2+1 dimensional N=2 super Yang-Mills-like theory. We find new solutions to both the flavored and unflavored systems. Interpretating these turns out to be difficult.Comment: 38 pages - Typos corrected and references added - As published in JHE

Gravity duals of 2d supersymmetric gauge theories

We find new supergravity solutions generated by D5-branes wrapping a four-cycle and preserving four and two supersymmetries. We first consider the configuration in which the fivebranes wrap a four-cycle in a Calabi-Yau threefold, which preserves four supersymmetries and is a gravity dual to the Coulomb branch of two-dimensional gauge theories with N=(2,2) supersymmetry. We also study the case of fivebranes wrapping a co-associative four-cycle in a manifold of G_2-holonomy, which provides a gravity dual of N=(1,1) supersymmetric Yang-Mills theory in two dimensions. We also discuss the addition of unquenched fundamental matter fields to these backgrounds and find the corresponding gravity solutions with flavor brane sources.Comment: 34 pages + appendices; v2: minor improvement

Fly, Wake-up, Find: UAV-based Energy-efficient Localization for Distributed Sensor Nodes

A challenging application scenario in the field of industrial Unmanned Aerial Vehicles (UAVs) is the capability of a robot to find and query smart sensor nodes deployed at arbitrary locations in the mission area. This work explores the combination of different communication technologies, namely, Ultra-Wideband (UWB) and Wake-Up Radio (WUR), with a UAV that acts as a "ubiquitous local-host"of a Wireless Sensor Network (WSN). First, the UAV performs the localization of the sensor node via multiple UWB range measurements, and then it flies in its proximity to perform energy-efficient data acquisition. We propose an energy-efficient and accurate localization algorithm - based on multi-lateration - that is computationally inexpensive and robust to in-field noise. Aiming at minimizing the sensor node energy consumption, we also present a communication protocol that leverages WUR technology to minimize ON-time of the power-hungry UWB transceiver on the sensors. In-field experimental evaluation demonstrates that our approach achieves a sub-meter localization precision of the sensor nodes - i.e., down to 0.6 m - using only three range measurements, and runs in 4 ms on a low power microcontroller (ARM Cortex-M4F). Due to the presence of the WUR and the proposed lightweight algorithm, the entire localization-acquisition cycle requires only 31 mJ on the sensor node. The approach is suitable for several emerging Industrial Internet of Things application scenarios where a mobile vehicle needs to estimate the location of static objects without any precise knowledge of their position