Verifiable control of a swarm of unmanned aerial vehicles

This article considers the distributed control of a swarm of unmanned aerial vehicles (UAVs) investigating autonomous pattern formation and reconfigurability. A behaviour-based approach to formation control is considered with a velocity field control algorithm developed through bifurcating potential fields. This new approach extends previous research into pattern formation using potential field theory by considering the use of bifurcation theory as a means of reconfiguring a swarm pattern through a free parameter change. The advantage of this kind of system is that it is extremely robust to individual failures, is scalpable, and also flexible. The potential field consists of a steering and repulsive term with the bifurcation of the steering potential resulting in a change of the swarm pattern. The repulsive potential ensures collision avoidance and an equally spaced final formation. The stability of the system is demonstrated to ensure that desired behaviours always occur, assuming that at large separation distances the repulsive potential can be neglected through a scale separation that exists between the steering and repulsive potential. The control laws developed are applied to a formation of ten UAVs using a velocity field tracking approach, where it is shown numerically that desired patterns can be formed safely ensuring collision avoidance

Entanglement between an electron and a nuclear spin 1/2

We report on the preparation and detection of entangled states between an electron spin 1/2 and a nuclear spin 1/2 in a molecular single crystal. These were created by applying pulses at ESR (9.5 GHz) and NMR (28 MHz) frequencies. Entanglement was detected by using a special entanglement detector sequence based on a unitary back transformation including phase rotation.Comment: 4 pages, 3 figure

Passive decoy state quantum key distribution: Closing the gap to perfect sources

We propose a quantum key distribution scheme which closely matches the performance of a perfect single photon source. It nearly attains the physical upper bound in terms of key generation rate and maximally achievable distance. Our scheme relies on a practical setup based on a parametric downconversion source and present-day, non-ideal photon-number detection. Arbitrary experimental imperfections which lead to bit errors are included. We select decoy states by classical post-processing. This allows to improve the effective signal statistics and achievable distance.Comment: 4 pages, 3 figures. State preparation correcte

Prevalence of vertebral fractures on chest radiographs of elderly African American and Caucasian women.

The prevalence of vertebral fractures on routine chest radiographs of elderly Caucasian women was only 1.3 times higher than in African American (AA) women, a difference considerably smaller than reported in population studies. AAs with medical problems may have higher risk of vertebral fractures than previously suspected.IntroductionEarlier studies noted a 1.9- to 3.7-fold higher prevalence of vertebral fractures in Caucasian (CA) compared to African American (AA) women. These studies, however, may have suffered from selection bias. We reported that among women referred for bone density testing, the prevalence of vertebral fractures in AA was the same as in CA women. Suspecting that the latter might have been due to a referral bias, we examined the racial difference in the prevalence of vertebra fractures on chest radiographs of patients seeking general medical care, not selected for osteoporosis.MethodsConsecutive chest radiographs (N = 1,200) of women over age 60 were evaluated using Genant's semi-quantitative method. Patients' race and the presence of diseases or medications associated with increased fracture risk were ascertained from the electronic medical records.ResultsAmong 1,011 women (76% AA) with usable radiographs, 11% had moderate or severe vertebral fractures. The prevalence of vertebral fractures was 10.3% in 773 AA and 13% in 238 CA women (p = 0.248 for difference between races). The lack of difference persisted after controlling for age, smoking, use of glucocorticoids, or presence of cancer, rheumatoid arthritis, organ transplantation, and end-stage renal disease. Among all subjects, CA women were more likely to be diagnosed and treated for osteoporosis (p <0.001).ConclusionAmong subjects seeking medical care, the difference in the prevalence of vertebral fractures between AA and CA women is smaller than previously suspected. Greater attention to the detection of vertebral fractures and the management of osteoporosis is warranted in AA women with medical problems

The Probability of Relatively Prime Polynomials

No abstract provided in this article

Quantum error-correcting codes associated with graphs

We present a construction scheme for quantum error correcting codes. The basic ingredients are a graph and a finite abelian group, from which the code can explicitly be obtained. We prove necessary and sufficient conditions for the graph such that the resulting code corrects a certain number of errors. This allows a simple verification of the 1-error correcting property of fivefold codes in any dimension. As new examples we construct a large class of codes saturating the singleton bound, as well as a tenfold code detecting 3 errors.Comment: 8 pages revtex, 5 figure

A deterministic cavity-QED source of polarization entangled photon pairs

We present two cavity quantum electrodynamics proposals that, sharing the same basic elements, allow for the deterministic generation of entangled photons pairs by means of a three-level atom successively coupled to two single longitudinal mode high-Q optical resonators presenting polarization degeneracy. In the faster proposal, the three-level atom yields a polarization entangled photon pair via two truncated Rabi oscillations, whereas in the adiabatic proposal a counterintuitive Stimulated Raman Adiabatic Passage process is considered. Although slower than the former process, this second method is very efficient and robust under fluctuations of the experimental parameters and, particularly interesting, almost completely insensitive to atomic decay.Comment: 5 pages, 5 figure