Pyro: A Python-Based Versatile Programming Environment For Teaching Robotics

In this article we describe a programming framework called Pyro, which provides a set of abstractions that allows students to write platform-independent robot programs. This project is unique because of its focus on the pedagogical implications of teaching mobile robotics via a top-down approach. We describe the background of the project, its novel abstractions, its library of objects, and the many learning modules that have been created from which curricula for different types of courses can be drawn. Finally, we explore Pyro from the students\u27 perspective in a case study

Hysteresis phenomenon in deterministic traffic flows

We study phase transitions of a system of particles on the one-dimensional integer lattice moving with constant acceleration, with a collision law respecting slower particles. This simple deterministic ``particle-hopping'' traffic flow model being a straightforward generalization to the well known Nagel-Schreckenberg model covers also a more recent slow-to-start model as a special case. The model has two distinct ergodic (unmixed) phases with two critical values. When traffic density is below the lowest critical value, the steady state of the model corresponds to the ``free-flowing'' (or ``gaseous'') phase. When the density exceeds the second critical value the model produces large, persistent, well-defined traffic jams, which correspond to the ``jammed'' (or ``liquid'') phase. Between the two critical values each of these phases may take place, which can be interpreted as an ``overcooled gas'' phase when a small perturbation can change drastically gas into liquid. Mathematical analysis is accomplished in part by the exact derivation of the life-time of individual traffic jams for a given configuration of particles.Comment: 22 pages, 6 figures, corrected and improved version, to appear in the Journal of Statistical Physic

Electronically coupled complementary interfaces between perovskite band insulators

Perovskite oxides exhibit a plethora of exceptional electronic properties, providing the basis for novel concepts of oxide-electronic devices. The interest in these materials is even extended by the remarkable characteristics of their interfaces. Studies on single epitaxial connections between the two wide-bandgap insulators LaAlO3 and SrTiO3 have revealed them to be either high-mobility electron conductors or insulating, depending on the atomic stacking sequences. In the latter case they are conceivably positively charged. For device applications, as well as for basic understanding of the interface conduction mechanism, it is important to investigate the electronic coupling of closely-spaced complementary interfaces. Here we report the successful realization of such electronically coupled complementary interfaces in SrTiO3 - LaAlO3 thin film multilayer structures, in which the atomic stacking sequence at the interfaces was confirmed by quantitative transmission electron microscopy. We found a critical separation distance of 6 perovskite unit cell layers, corresponding to approximately 2.3 nm, below which a decrease of the interface conductivity and carrier density occurs. Interestingly, the high carrier mobilities characterizing the separate electron doped interfaces are found to be maintained in coupled structures down to sub-nanometer interface spacing

Critical thickness and orbital ordering in ultrathin La0.7Sr0.3MnO3 films

Detailed analysis of transport, magnetism and x-ray absorption spectroscopy measurements on ultrathin La0.7Sr0.3MnO3 films with thicknesses from 3 to 70 unit cells resulted in the identification of a lower critical thickness for a non-metallic, non-ferromagnetic layer at the interface with the SrTiO3 (001) substrate of only 3 unit cells (~12 Angstrom). Furthermore, linear dichroism measurements demonstrate the presence of a preferred (x2-y2) in-plane orbital ordering for all layer thicknesses without any orbital reconstruction at the interface. A crucial requirement for the accurate study of these ultrathin films is a controlled growth process, offering the coexistence of layer-by-layer growth and bulk-like magnetic/transport properties.Comment: 22 pages, 6 figures, accepted for publication in Physical Review

Blue Dots Team Transits Working Group Review

Transiting planet systems offer an unique opportunity to observationally constrain proposed models of the interiors (radius, composition) and atmospheres (chemistry, dynamics) of extrasolar planets. The spectacular successes of ground-based transit surveys (more than 60 transiting systems known to-date) and the host of multi-wavelength, spectro-photometric follow-up studies, carried out in particular by HST and Spitzer, have paved the way to the next generation of transit search projects, which are currently ongoing (CoRoT, Kepler), or planned. The possibility of detecting and characterizing transiting Earth-sized planets in the habitable zone of their parent stars appears tantalizingly close. In this contribution we briefly review the power of the transit technique for characterization of extrasolar planets, summarize the state of the art of both ground-based and space-borne transit search programs, and illustrate how the science of planetary transits fits within the Blue Dots perspective.Comment: 9 pages, 3 figures, to be published in the proceedings (ASP Conf. Ser.) of the "Pathways Towards Habitable Planets" conference, held in Barcelona (14-18 Sep 2009

Multiple conducting carriers generated in LaAlO3/SrTiO3 heterostructures

We have found that there is more than one type of conducting carriers generated in LaAlO3/SrTiO3 heterostructures by comparing the sheet carrier density and mobility from optical transmission spectroscopy with those from dc-transport measurements. When multiple types of carriers exist, optical characterization dominantly reflects the contribution from the high-density carriers whereas dc-transport measurements may exaggerate the contribution of the high-mobility carriers even though they are present at low-density. Since the low-temperature mobilities determined by dc-transport in the LaAlO3/SrTiO3 heterostructures are much higher than those extracted by optical method, we attribute the origin of high-mobility transport to the low-density conducting carriers.Comment: 3 figures, supplemental materia