Dynamic autonomous intelligent control of an asteroid lander

One of the future flagship missions of the European Space Agency (ESA) is the asteroid sample return mission Marco-Polo. Although there have been a number of past missions to asteroids, a sample has never been successfully returned. The return of asteroid regolith to the Earth's surface introduces new technical challenges. This paper develops attitude control algorithms for the descent phase onto an asteroid in micro-gravity conditions and draws a comparison between the algorithms considered. Two studies are also performed regarding the Fault Detection Isolation and Recovery (FDIR) of the control laws considered. The potential of using Direct Adaptive Control (DAC) as a controller for the surface sampling process is also investigated. Use of a DAC controller incorporates increased levels of robustness by allowing realtime variation of control gains. This leads to better response to uncertainties encountered during missions

Matrix De Rham complex and quantum A-infinity algebras

I establish the relation of the non-commutative BV-formalism with super-invariant matrix integration. In particular, the non-commutative BV-equation, defining the quantum A-infinity-algebras, introduced in "Modular operads and Batalin-Vilkovisky geometry" IMRN, Vol. 2007, doi: 10.1093/imrn/rnm075, is represented via de Rham differential acting on the matrix spaces related with Bernstein-Leites simple associative algebras with odd trace q(N), and with gl(N|N). I also show that the Lagrangians of the matrix integrals from "Noncommmutative Batalin-Vilkovisky geometry and Matrix integrals", Comptes Rendus Mathematique, vol 348 (2010), pp. 359-362, arXiv:0912.5484, are equivariantly closed differential forms.Comment: published versio

On Combining Lensing Shear Information from Multiple Filters

We consider the possible gain in the measurement of lensing shear from imaging data in multiple filters. Galaxy shapes may differ significantly across filters, so that the same galaxy offers multiple samples of the shear. On the other extreme, if galaxy shapes are identical in different filters, one can combine them to improve the signal-to-noise and thus increase the effective number density of faint, high redshift galaxies. We use the GOODS dataset to test these scenarios by calculating the covariance matrix of galaxy ellipticities in four visual filters (B,V,i,z). We find that galaxy shapes are highly correlated, and estimate the gain in galaxy number density by combining their shapes.Comment: 8 pages, no figures, submitted to JCA

Teaching varies with task complexity in wild chimpanzees

Understanding social influences on how apes acquire tool behaviors can help us model the evolution of culture and technology in humans. Humans scaffold novice tool skills with diverse strategies, including the transfer of tools between individuals. Chimpanzees transfer tools, and this behavior meets criteria for teaching. However, it is unclear how task complexity relates to this form of helping. Here, we find differences between 2 wild chimpanzee populations in rate, probability, and types of tool transfer during termite gathering. Chimpanzees showed greater helping in the population where termite gathering is a more complex tool task. In wild chimpanzees, as in humans, regular and active provisioning of learning opportunities may be essential to the cultural transmission of complex skills.Cumulative culture is a transformative force in human evolution, but the social underpinnings of this capacity are debated. Identifying social influences on how chimpanzees acquire tool tasks of differing complexity may help illuminate the evolutionary origins of technology in our own lineage. Humans routinely transfer tools to novices to scaffold their skill development. While tool transfers occur in wild chimpanzees and fulfill criteria for teaching, it is unknown whether this form of helping varies between populations and across tasks. Applying standardized methods, we compared tool transfers during termite gathering by chimpanzees in the Goualougo Triangle, Republic of Congo, and in Gombe, Tanzania. At Goualougo, chimpanzees use multiple, different tool types sequentially, choose specific raw materials, and perform modifications that improve tool efficiency, which could make it challenging for novices to manufacture suitable tools. Termite gathering at Gombe involves a single tool type, fishing probes, which can be manufactured from various materials. Multiple measures indicated population differences in tool-transfer behavior. The rate of transfers and probability of transfer upon request were significantly higher at Goualougo, while resistance to transfers was significantly higher at Gombe. Active transfers of tools in which possessors moved to facilitate possession change upon request occurred only at Goualougo, where they were the most common transfer type. At Gombe, tool requests were typically refused. We suggest that these population differences in tool-transfer behavior may relate to task complexity and that active helping plays an enhanced role in the cultural transmission of complex technology in wild apes

Energy Dependence of the Delta Resonance: Chiral Dynamics in Action

There is an important connection between the low energy theorems of QCD and the energy dependence of the Delta resonance in pi-N scattering, as well as the closely related gamma^{*} N -> pi N reaction. The resonance shape is due not only to the strong pi-N interaction in the p wave but the small interaction in the s wave; the latter is due to spontaneous chiral symmetry breaking in QCD (i.e. the Nambu-Goldstone nature of the pion). A brief overview of experimental tests of chiral perturbation theory and chiral based models is presentedComment: 11 pages, 6 figures, Festschrift for S.N. yan

On the role of entanglement in quantum computational speed-up

For any quantum algorithm operating on pure states we prove that the presence of multi-partite entanglement, with a number of parties that increases unboundedly with input size, is necessary if the quantum algorithm is to offer an exponential speed-up over classical computation. Furthermore we prove that the algorithm can be classically efficiently simulated to within a prescribed tolerance \eta even if a suitably small amount of global entanglement (depending on \eta) is present. We explicitly identify the occurrence of increasing multi-partite entanglement in Shor's algorithm. Our results do not apply to quantum algorithms operating on mixed states in general and we discuss the suggestion that an exponential computational speed-up might be possible with mixed states in the total absence of entanglement. Finally, despite the essential role of entanglement for pure state algorithms, we argue that it is nevertheless misleading to view entanglement as a key resource for quantum computational power.Comment: Main proofs simplified. A few further explanatory remarks added. 22 pages, plain late

Maximum entropy controller synthesis for colocated and noncolocated systems

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/77185/1/AIAA-21277-539.pd

Singular value decomposition and matrix reorderings in quantum information theory

We review Schmidt and Kraus decompositions in the form of singular value decomposition using operations of reshaping, vectorization and reshuffling. We use the introduced notation to analyse the correspondence between quantum states and operations with the help of Jamiolkowski isomorphism. The presented matrix reorderings allow us to obtain simple formulae for the composition of quantum channels and partial operations used in quantum information theory. To provide examples of the discussed operations we utilize a package for the Mathematica computing system implementing basic functions used in the calculations related to quantum information theory.Comment: 11 pages, no figures, see http://zksi.iitis.pl/wiki/projects:mathematica-qi for related softwar