Performance benefits of telerobotics and teleoperation - enhancements for an arm-based tank waste retrieval system

This report evaluates telerobotic and teleoperational arm-based retrieval systems that require advanced robotic controls. These systems will be deployed in waste retrieval activities in Hanford`s Single Shell Tanks (SSTs). The report assumes that arm-based, retrieval systems will combine a teleoperational arm and control system enhanced by a number of advanced and telerobotic controls. The report describes many possible enhancements, spanning the full range of the control spectrum with the potential for technical maturation. The enhancements considered present a variety of choices and factors including: the enhancements to be included in the actual control system, safety, detailed task analyses, human factors, cost-benefit ratios, and availability and maturity of technology. Because the actual system will be designed by an offsite vendor, the procurement specifications must have the flexibility to allow bidders to propose a broad range of ideas, yet build in enough restrictions to filter out infeasible and undesirable approaches. At the same time they must allow selection of a technically promising proposal. Based on a preliminary analysis of the waste retrieval task, and considering factors such as operator limitations and the current state of robotics technology, the authors recommend a set of enhancements that will (1) allow the system to complete its waste retrieval mission, and (2) enable future upgrades in response to changing mission needs and technological advances

Inflationary Attractor from Tachyonic Matter

We study the complete evolution of a flat and homogeneous universe dominated by tachyonic matter. We demonstrate the attractor behaviour of the tachyonic inflation using the Hamilton-Jacobi formalism. We else obtain analytical approximations to the trajectories of the tachyon field in different regions. The numerical calculation shows that an initial non-vanishing momentum does not prevent the onset of inflation. The slow-rolling solution is an attractor.Comment: 4 pages, 2 figures, RevTe

AdS_3 OM theory and the self-dual string or Membranes ending on the Five-brane

We describe properties of the M-theory five-brane containing $Q$ coincident self-dual strings on its worldvolume. This is the five-brane description of Q membranes ending on the five-brane. In particular, we consider a Maldacena-like low energy limit in the six-dimensional worldvolume which yields a near `horizon' description of the self-dual string using light open membranes, i.e. OM theory, in an AdS_3 x S^3 geometry.Comment: 13 pages, latex, v2: corrected open membrane metric prefactor + typo

On the Initial Conditions for Brane Inflation

String theory gives rise to various mechanisms to generate primordial inflation, of which ``brane inflation'' is one of the most widely considered. In this scenario, inflation takes place while two branes are approaching each other, and the modulus field representing the separation between the branes plays the role of the inflaton field. We study the phase space of initial conditions which can lead to a sufficiently long period of cosmological inflation, and find that taking into account the possibility of nonvanishing initial momentum can significantly change the degree of fine tuning of the required initial conditions.Comment: 11 pages, 2 figure

Inflationary Attractor in Braneworld Scenario

We demonstrate the attractor behavior of inflation driven by a scalar field or a tachyon field in the context of recently proposed four-dimensional effective gravity induced on the world-volume of a three-brane in five-dimensional Einstein gravity, and we obtain a set of exact inflationary solutions. Phase portraits indicate that an initial kinetic term decays rapidly and it does not prevent the onset of inflation. The trajectories more rapidly reach the slow-roll curve than in the standard cosmology.Comment: 7 pages, 8 figures, RevTeX, to appear in Phys. Rev. D69 (2004

Open membranes, ribbons and deformed Schild strings

We analyze open membranes immersed in a magnetic three-form field-strength $C$. While cylindrical membranes in the absence of $C$ behave like tensionless strings, when the $C$ flux is present the strings polarize into thin membrane ribbons, locally orthogonal to the momentum density, thus providing the strings with an effective tension. The effective dynamics of the ribbons can be described by a simple deformation of the Schild action for null strings. Interactions become non-local due to the polarization, and lead to a deformation of the string field theory, whereby string vertices receive a phase factor proportional to the volume swept out by the ribbons. In a particular limit, this reduces to the non-commutative loop space found previously.Comment: revte

Origin of Life

The evolution of life has been a big enigma despite rapid advancements in the fields of biochemistry, astrobiology, and astrophysics in recent years. The answer to this puzzle has been as mind-boggling as the riddle relating to evolution of Universe itself. Despite the fact that panspermia has gained considerable support as a viable explanation for origin of life on the Earth and elsewhere in the Universe, the issue remains far from a tangible solution. This paper examines the various prevailing hypotheses regarding origin of life like abiogenesis, RNA World, Iron-sulphur World, and panspermia; and concludes that delivery of life-bearing organic molecules by the comets in the early epoch of the Earth alone possibly was not responsible for kick-starting the process of evolution of life on our planet.Comment: 32 pages, 8 figures,invited review article, minor additio

Can induced gravity isotropize Bianchi I, V, or IX Universes?

We analyze if Bianchi I, V, and IX models in the Induced Gravity (IG) theory can evolve to a Friedmann--Roberson--Walker (FRW) expansion due to the non--minimal coupling of gravity and the scalar field. The analytical results that we found for the Brans-Dicke (BD) theory are now applied to the IG theory which has $\omega \ll 1$ ($\omega$ being the square ratio of the Higgs to Planck mass) in a cosmological era in which the IG--potential is not significant. We find that the isotropization mechanism crucially depends on the value of $\omega$. Its smallness also permits inflationary solutions. For the Bianch V model inflation due to the Higgs potential takes place afterwads, and subsequently the spontaneous symmetry breaking (SSB) ends with an effective FRW evolution. The ordinary tests of successful cosmology are well satisfied.Comment: 24 pages, 5 figures, to be published in Phys. Rev. D1

Boundary States for D-branes with Traveling Waves

We construct boundary states for D-branes which carry traveling waves in the covariant formalism. We compute their vacuum amplitudes to investigate their interactions. In non-compact space, the vacuum amplitudes become trivial as is common in plane wave geometries. However, we found that if they are compactified in the traveling direction, then the amplitudes are affected by non-trivial time dependent effects. The interaction between D-branes with waves traveling in the opposite directions (`pulse-antipulse scattering') are also computed. Furthermore, we apply these ideas to open string tachyon condensation with traveling waves.Comment: 30 pages. 1 figure, Latex, minor corrections, references adde

RG flows from Spin(7), CY 4-fold and HK manifolds to AdS, Penrose limits and pp waves

We obtain explicit realizations of holographic renormalization group (RG) flows from M-theory, from E^{2,1} \times Spin(7) at UV to AdS_4 \times \tilde{S^7} (squashed S^7) at IR, from E^{2,1} \times CY4 at UV to AdS_4 \times Q^{1,1,1} at IR, and from E^{2,1} \times HK (hyperKahler) at UV to AdS_4 \times N^{0,1,0} at IR. The dual type IIA string theory configurations correspond to D2-D6 brane systems where D6 branes wrap supersymmetric four-cycles. We also study the Penrose limits and obtain the pp-wave backgrounds for the above configurations. Besides, we study some examples of non-supersymmetric and supersymmetric flows in five-dimensional gauge theories.Comment: 42 pages, 6 eps figures, typos and misprints correcte