Exploration in Information Distribution Maps

In this paper, a novel solution for autonomous robotic exploration is proposed. The distribution of information in an unknown environment is modeled as an unsteady diffusion process, which can be an appropriate mathematical formulation and analogy for expanding, time-varying, and dynamic environments. This information distribution map is the solution of the diffusion process partial differential equation, and is regressed from sensor data as a Gaussian Process. Optimization of the process parameters leads to an optimal frontier map which describes regions of interest for further exploration. Since the presented approach considers a continuous model of the environment, it can be used to plan smooth exploration paths exploiting the structural dependencies of the environment whilst handling sparse sensors measurements. The performance of the proposed approach is evaluated through simulation results in the well-known Freiburg and Cave maps

Understanding quantization: a hidden variable model

We argue that to solve the foundational problems of quantum theory one has to first understand what it means to quantize a classical system. We then propose a quantization method based on replacement of deterministic c-numbers by stochastically-parameterized c-numbers. Unlike canonical quantization, the method is free from operator ordering ambiguity and the resulting quantum system has a straightforward interpretation as statistical modification of ensemble of classical trajectories. We then develop measurement without wave function collapse \`a la pilot-wave theory and point out new testable predictions.Comment: 16 pages, based on a talk given at "Emergent Quantum Mechanics (Heinz von Foerster Conference 2011)", see http://iopscience.iop.org/1742-6596/361/

Quantum Nonlocality in Phase Space

We propose an experiment demonstrating the nonlocality of a quantum singlet-like state generated from a single photon incident on a beam splitter. Each of the two spatially separated apparatuses in the setup performs a strongly unbalanced homodyning, employing a single photon counting detector. We show that the correlation functions violating the Bell inequalities in the proposed experiment are given by the joint two-mode Q-function and the Wigner function of the optical singlet-like state. This establishes a direct relationship between two intriguing aspects of quantum mechanics: the nonlocality of entangled states and the noncommutativity of quantum observables, which underlies the nonclassical structure of phase space quasidistribution functions.Comment: 4 pages, REVTe

Position-momentum local realism violation of the Hardy type

We show that it is, in principle, possible to perform local realism violating experiments of the Hardy type in which only position and momentum measurements are made on two particles emanating from a common source. In the optical domain, homodyne detection of the in-phase and out-of-phase amplitude components of an electromagnetic field is analogous to position and momentum measurement. Hence, local realism violations of the Hardy type are possible in optical systems employing only homodyne detection.Comment: 10 pages, no figures, to be published in Physical Review

Casimir interaction between a microscopic dipole oscillator and a macroscopic solenoid

We discuss the interaction between a microscopic electric dipole oscillator and a long solenoid which are separated by a small distance. The solenoid belongs to a simple RLC circuit and the zero point and thermal current fluctuations within the solenoid coils are taken into account. We describe how they affect the equilibrium state and the excited states of the oscillator, thus providing a description of the Casimir interaction of the system. We calculate the modification in the lifetime of the oscillator excited states as a function of the parameters of the circuit, the dipole orientation, and the distance between the dipole and the solenoid. The Casimir force between the solenoid and the electric dipole is calculated, and it is shown that this Casimir interaction always exists, that is, it occurs even when the macroscopic current in the solenoid is zero. We suggest experiments which can exhibit these effects related to the electromagnetic interactions between atoms or molecules and simple circuits

SLAM algorithm applied to robotics assistance for navigation in unknown environments

<p>Abstract</p> <p>Background</p> <p>The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI).</p> <p>Methods</p> <p>In this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents.</p> <p>Results</p> <p>The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface.</p> <p>Conclusions</p> <p>The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation.</p