Structure and Complexity in Planning with Unary Operators

Unary operator domains -- i.e., domains in which operators have a single effect -- arise naturally in many control problems. In its most general form, the problem of STRIPS planning in unary operator domains is known to be as hard as the general STRIPS planning problem -- both are PSPACE-complete. However, unary operator domains induce a natural structure, called the domain's causal graph. This graph relates between the preconditions and effect of each domain operator. Causal graphs were exploited by Williams and Nayak in order to analyze plan generation for one of the controllers in NASA's Deep-Space One spacecraft. There, they utilized the fact that when this graph is acyclic, a serialization ordering over any subgoal can be obtained quickly. In this paper we conduct a comprehensive study of the relationship between the structure of a domain's causal graph and the complexity of planning in this domain. On the positive side, we show that a non-trivial polynomial time plan generation algorithm exists for domains whose causal graph induces a polytree with a constant bound on its node indegree. On the negative side, we show that even plan existence is hard when the graph is a directed-path singly connected DAG. More generally, we show that the number of paths in the causal graph is closely related to the complexity of planning in the associated domain. Finally we relate our results to the question of complexity of planning with serializable subgoals

Organic Agriculture in Austria

Organic farming has a long history in Austria, not least due to the fact that Rudolf Steiner, the founder of the bio-dynamic farming movement, was an Austrian. Currently approximately 10% of Austrian farms are certified organic, the highest percentage in the EU

Far-field optical microscope with nanometer-scale resolution based on in-plane surface plasmon imaging

A new far-field optical microscopy technique capable of reaching nanometer-scale resolution has been developed recently using the in-plane image magnification by surface plasmon polaritons. This microscopy is based on the optical properties of a metal-dielectric interface that may, in principle, provide extremely large values of the effective refractive index n up to 100-1000 as seen by the surface plasmons. Thus, the theoretical diffraction limit on resolution becomes lambda/2n, and falls into the nanometer-scale range. The experimental realization of the microscope has demonstrated the optical resolution better than 50 nm for 502 nm illumination wavelength. However, the theory of such surface plasmon-based far-field microscope presented so far gives an oversimplified picture of its operation. For example, the imaginary part of the metal dielectric constant severely limits the surface-plasmon propagation and the shortest attainable wavelength in most cases, which in turn limits the microscope magnification. Here I describe how this limitation has been overcome in the experiment, and analyze the practical limits on the surface plasmon microscope resolution. In addition, I present more experimental results, which strongly support the conclusion of extremely high spatial resolution of the surface plasmon microscope.Comment: 23 pages, 9 figures, will be published in the topical issue on Nanostructured Optical Metamaterials of the Journal of Optics A: Pure and Applied Optics, Manuscript revised in response to referees comment

Isolated unstable Weibel modes in unmagnetized plasmas with tunable asymmetry

In this letter, an initially unmagnetized pair plasma with asymmetric velocity distributions is investigated where any unstable Weibel mode must be isolated, with discrete values for the growth rates and the unstable wavenumbers. For both a non-relativistic distribution with thermal spread and a high-relativistic two-stream distribution it is shown that isolated modes are excited and that, as the asymmetry tends to zero, the growth rate remains finite, as long as the distribution function is not precisely symmetric.Comment: Comments: references adde

Topological Charge and the Spectrum of the Fermion Matrix in Lattice-QED_2

We investigate the interplay between topological charge and the spectrum of the fermion matrix in lattice-QED_2 using analytic methods and Monte Carlo simulations with dynamical fermions. A new theorem on the spectral decomposition of the fermion matrix establishes that its real eigenvalues (and corresponding eigenvectors) play a role similar to the zero eigenvalues (zero modes) of the Dirac operator in continuous background fields. Using numerical techniques we concentrate on studying the real part of the spectrum. These results provide new insights into the behaviour of physical quantities as a function of the topological charge. In particular we discuss fermion determinant, effective action and pseudoscalar densities.Comment: 33 pages, 10 eps-figures; reference adde