A Bayesian framework for optimal motion planning with uncertainty

Modeling robot motion planning with uncertainty in a Bayesian framework leads to a computationally intractable stochastic control problem. We seek hypotheses that can justify a separate implementation of control, localization and planning. In the end, we reduce the stochastic control problem to path- planning in the extended space of poses x covariances; the transitions between states are modeled through the use of the Fisher information matrix. In this framework, we consider two problems: minimizing the execution time, and minimizing the final covariance, with an upper bound on the execution time. Two correct and complete algorithms are presented. The first is the direct extension of classical graph-search algorithms in the extended space. The second one is a back-projection algorithm: uncertainty constraints are propagated backward from the goal towards the start state

Minimizers with discontinuous velocities for the electromagnetic variational method

The electromagnetic two-body problem has \emph{neutral differential delay} equations of motion that, for generic boundary data, can have solutions with \emph{discontinuous} derivatives. If one wants to use these neutral differential delay equations with \emph{arbitrary} boundary data, solutions with discontinuous derivatives must be expected and allowed. Surprisingly, Wheeler-Feynman electrodynamics has a boundary value variational method for which minimizer trajectories with discontinuous derivatives are also expected, as we show here. The variational method defines continuous trajectories with piecewise defined velocities and accelerations, and electromagnetic fields defined \emph{by} the Euler-Lagrange equations \emph{% on} trajectory points. Here we use the piecewise defined minimizers with the Li{\'{e}}nard-Wierchert formulas to define generalized electromagnetic fields almost everywhere (but on sets of points of zero measure where the advanced/retarded velocities and/or accelerations are discontinuous). Along with this generalization we formulate the \emph{generalized absorber hypothesis} that the far fields vanish asymptotically \emph{almost everywhere%} and show that localized orbits with far fields vanishing almost everywhere \emph{must} have discontinuous velocities on sewing chains of breaking points. We give the general solution for localized orbits with vanishing far fields by solving a (linear) neutral differential delay equation for these far fields. We discuss the physics of orbits with discontinuous derivatives stressing the differences to the variational methods of classical mechanics and the existence of a spinorial four-current associated with the generalized variational electrodynamics.Comment: corrected minor typo: piecewise differentiable on closed instead of open interval

Testing Primordial Black Holes as Dark Matter through LISA

The idea that primordial black holes (PBHs) can comprise most of the dark matter of the universe has recently reacquired a lot of momentum. Observational constraints, however, rule out this possibility for most of the PBH masses, with a notable exception around $10^{-12} M_\odot$. These light PBHs may be originated when a sizeable comoving curvature perturbation generated during inflation re-enters the horizon during the radiation phase. During such a stage, it is unavoidable that gravitational waves (GWs) are generated. Since their source is quadratic in the curvature perturbations, these GWs are generated fully non-Gaussian. Their frequency today is about the mHz, which is exactly the range where the LISA mission has the maximum of its sensitivity. This is certainly an impressive coincidence. We show that this scenario of PBHs as dark matter can be tested by LISA by measuring the GW two-point correlator. On the other hand, we show that the short observation time (as compared to the age of the universe) and propagation effects of the GWs across the perturbed universe from the production point to the LISA detector suppress the bispectrum to an unobservable level. This suppression is completely general and not specific to our model.Comment: 22 pages, 12 figures. v3: matching published versio

Deep optical observations of the gamma-ray pulsar PSR J0007+7303 in the CTA 1 supernova remnant

The Fermi Large Area Telescope (LAT) discovered the time signature of a radio-silent pulsar coincident with RX J0007.0+7302, a plerion-like X-ray source at the centre of the CTA 1 supernova remnant. The inferred timing parameters of the gamma-ray pulsar PSR J0007+7303 (P=315.8 ms; dot{P}\sim3.6 10^{-13} s s^{-1}) point to a Vela-like neutron star, with an age comparable to that of CTA 1. The PSR J0007+7303 low distance (\sim 1.4 kpc), interstellar absorption (A_V\sim 1.6), and relatively high energy loss rate (dot{E} \sim4.5 10^{35} erg s^{-1}), make it a suitable candidate for an optical follow-up. Here, we present deep optical observations of PSR J0007+7303. The pulsar is not detected in the Gran Telescopio Canarias (GTC) images down to a limit of r'\sim 27.6 (3 sigma), the deepest ever obtained for this pulsar, while William Herschel Telescope (WHT) images yield a limit of V \sim 26.9. Our r'-band limit corresponds to an optical emission efficiency \eta_{opt}= L_{opt}/dot{E} < 9.4 10^{-8}. This limit is more constraining than those derived for other Vela-like pulsars, but is still above the measured optical efficiency of the Vela pulsar. We compared the optical upper limits with the extrapolation of the XMM-Newton X-ray spectrum and found that the optical emission is compatible with the extrapolation of the X-ray power-law component, at variance with what is observed, e.g. in the Vela pulsar.Comment: 5 pages, 3 figures, accepted for publication on MNRA

Hund-enhanced electronic compressibility in FeSe and its correlation with Tc_c

We compute the compressibility of the conduction electrons in both bulk orthorhombic FeSe and monolayer FeSe on SrTiO$_3$ substrate, including dynamical electronic correlations within slave-spin mean-field + density-functional theory. Results show a zone of enhancement of the electronic compressibility crossing the interaction-doping phase diagram of these compounds in accord with previous simulations on iron pnictides and in general with the phenomenology of Hund's metals. Interestingly at ambient pressure FeSe is found slightly away from the zone with enhanced compressibility but moved right into it with hydrostatic pressure, while in monolayer FeSe the stronger enhancement region is realized on the electron-doped side. These findings correlate positively with the enhancement of superconductivity seen in experiments, and support the possibility that Hund's induced many-body correlations boost superconductive pairing when the system is at the frontier of the normal- to Hund's-metal crossover.Comment: 6 pages, 2 figure

An overview of the EXTraS project: Exploring the X-ray Transient and Variable Sky

The EXTraS project (Exploring the X-ray Transient and variable Sky) will harvest the hitherto unexplored temporal domain information buried in the serendipitous data collected by the European Photon Imaging Camera (EPIC) instrument onboard the ESA XMM-Newton X-ray observatory since its launch. This will include a search for fast transients, as well as a search and characterization of variability (both periodic and aperiodic) in hundreds of thousands of sources spanning more than nine orders of magnitude in time scale and six orders of magnitude in flux. X-ray results will be complemented by multiwavelength characterization of new discoveries. Phenomenological classification of variable sources will also be performed. All our results will be made available to the community. A didactic program in selected High Schools in Italy, Germany and the UK will also be implemented. The EXTraS project (2014-2016), funded within the EU/FP7 framework, is carried out by a collaboration including INAF (Italy), IUSS (Italy), CNR/IMATI (Italy), University of Leicester (UK), MPE (Germany) and ECAP (Germany).Comment: 6 pages, 1 figure. Proceedings of "Swift: 10 years of Discovery", to appear in Po

Long Range Magnetic Order and the Darwin Lagrangian

We simulate a finite system of $N$ confined electrons with inclusion of the Darwin magnetic interaction in two- and three-dimensions. The lowest energy states are located using the steepest descent quenching adapted for velocity dependent potentials. Below a critical density the ground state is a static Wigner lattice. For supercritical density the ground state has a non-zero kinetic energy. The critical density decreases with $N$ for exponential confinement but not for harmonic confinement. The lowest energy state also depends on the confinement and dimension: an antiferromagnetic cluster forms for harmonic confinement in two dimensions.Comment: 5 figure

A space-time generator for rainfall nowcasting: the PRAISEST model

International audienceThe paper introduces a new stochastic technique for forecasting rainfall in space-time domain: the PRAISEST Model (Prediction of Rainfall Amount Inside Storm Events: Space and Time). The model is based on the assumption that the rainfall height H accumulated on an interval ?t between the instants i?t and (i+1)?t and on a spatial cell of size ?x?y is correlated either with a variable Z, representing antecedent precipitation at the same point, either with a variable W, representing simultaneous rainfall at neighbour cells. The mathematical background is given by a joined probability density fH,W,Z (h,w,z) in which the variables have a mixed nature, that is a finite probability for null value and infinitesimal probabilities for the positive values. As study area, the Calabria region, in Southern Italy, has been selected. The region has been discretised by 10 km×10 km cell grid, according to the raingauge network density in this area. Storm events belonging to 1990?2004 period were analyzed to test performances of the PRAISEST model

Ballistic effectiveness of Zr-containing composite solid propellants as a function of binder nature and mass fraction

This paper considers the effects of binder mass fraction on the properties of energetic formulations based on zirconium and zirconium hydride. These ingredients, replacing aluminum in solid rocket motors with low vehicle performance coefficient, may increase the propellant ballistic effectiveness, thanks to the resulting higher density and notwithstanding their lower specific impulse. The propellant ballistic effectiveness is estimated via the vehicle velocity achieved using the propellant under analysis in a real vehicle. For each specific mission, the binder content can be varied to provide the optimal relationship between energetic and physical-mechanical properties, that is, one may sacrifice energy in favor of rheological and physicomechanical properties (increasing binder mass fraction), or vice versa

Variational principle for the Wheeler-Feynman electrodynamics

We adapt the formally-defined Fokker action into a variational principle for the electromagnetic two-body problem. We introduce properly defined boundary conditions to construct a Poincare-invariant-action-functional of a finite orbital segment into the reals. The boundary conditions for the variational principle are an endpoint along each trajectory plus the respective segment of trajectory for the other particle inside the lightcone of each endpoint. We show that the conditions for an extremum of our functional are the mixed-type-neutral-equations with implicit state-dependent-delay of the electromagnetic-two-body problem. We put the functional on a natural Banach space and show that the functional is Frechet-differentiable. We develop a method to calculate the second variation for C2 orbital perturbations in general and in particular about circular orbits of large enough radii. We prove that our functional has a local minimum at circular orbits of large enough radii, at variance with the limiting Kepler action that has a minimum at circular orbits of arbitrary radii. Our results suggest a bifurcation at some radius below which the circular orbits become saddle-point extrema. We give a precise definition for the distributional-like integrals of the Fokker action and discuss a generalization to a Sobolev space of trajectories where the equations of motion are satisfied almost everywhere. Last, we discuss the existence of solutions for the state-dependent delay equations with slightly perturbated arcs of circle as the boundary conditions and the possibility of nontrivial solenoidal orbits