Teaching Autonomous Systems at 1/10th-scale

Teaching autonomous systems is challenging because it is a rapidly advancing cross-disciplinary field that requires theory to be continually validated on physical platforms. For an autonomous vehicle (AV) to operate correctly, it needs to satisfy safety and performance properties that depend on the operational context and interaction with environmental agents, which can be difficult to anticipate and capture. This paper describes a senior undergraduate level course on the design, programming and racing of 1/10th-scale autonomous race cars. We explore AV safety and performance concepts at the limits of perception, planning, and control, in a highly interactive and competitive environment. The course includes an ethics-centered design philosophy, which seeks to engage the students in an analysis of ethical and socio-economic implications of autonomous systems. Our hypothesis is that 1/10th-scale autonomous vehicles sufficiently capture the scaled dynamics, sensing modalities, decision making and risks of real autonomous vehicles, but are a safe and accessible platform to teach the foundations of autonomous systems. We describe the design, deployment and feedback from two offerings of this class for college seniors and graduate students, open-source community development across 36 universities, international racing competitions, student skill enhancement and employability, and recommendations for tailoring it to various settings

Magnetocaloric Studies of the Peak Effect in Nb

We report a magnetocaloric study of the peak effect and Bragg glass transition in a Nb single crystal. The thermomagnetic effects due to vortex flow into and out of the sample are measured. The magnetocaloric signature of the peak effect anomaly is identified. It is found that the peak effect disappears in magnetocaloric measurements at fields significantly higher than those reported in previous ac-susceptometry measurements. Investigation of the superconducting to normal transition reveals that the disappearance of the bulk peak effect is related to inhomogeneity broadening of the superconducting transition. The emerging picture also explains the concurrent disappearance of the peak effect and surface superconductivity, which was reported previously in the sample under investigation. Based on our findings we discuss the possibilities of multicriticality associated with the disappearance of the peak effect.Comment: 30 pages, 10 figure

IL-10 and TGF-β1 gene polymorphisms in Greek patients with recurrent aphthous stomatitis

Recurrent aphthous stomatitis (RAS) is one of the most frequent inflammatory disorders of the oral mucosa. Cytokines, which play an important role in RAS pathogenesis, participate directly or indirectly in normal, immunological and inflammatory processes and are secreted from cells belonging to innate and adaptive immunity as a consequence of microbial and antigenic stimuli. Gene polymorphisms in specific cytokines may predispose to RAS development. The aim of this study was the investigation and association of IL-10 and TGF-β1 gene polymorphisms with RAS

Cryogenic setup for trapped ion quantum computing

We report on the design of a cryogenic setup for trapped ion quantum computing containing a segmented surface electrode trap. The heat shield of our cryostat is designed to attenuate alternating magnetic field noise, resulting in 120~dB reduction of 50~Hz noise along the magnetic field axis. We combine this efficient magnetic shielding with high optical access required for single ion addressing as well as for efficient state detection by placing two lenses each with numerical aperture 0.23 inside the inner heat shield. The cryostat design incorporates vibration isolation to avoid decoherence of optical qubits due to the motion of the cryostat. We measure vibrations of the cryostat of less than $\pm$20~nm over 2~s. In addition to the cryogenic apparatus, we describe the setup required for an operation with $^{\mathrm{40}}$Ca$^{\mathrm{+}}$ and $^{\mathrm{88}}$Sr$^{\mathrm{+}}$ ions. The instability of the laser manipulating the optical qubits in $^{\mathrm{40}}$Ca$^{\mathrm{+}}$ is characterized yielding a minimum of its Allan deviation of 2.4$\cdot$10$^{\mathrm{-15}}$ at 0.33~s. To evaluate the performance of the apparatus, we trapped $^{\mathrm{40}}$Ca$^{\mathrm{+}}$ ions, obtaining a heating rate of 2.14(16)~phonons/s and a Gaussian decay of the Ramsey contrast with a 1/e-time of 18.2(8)~ms

Antibiotic sensitivity profile of Salmonella isolated from two slaughterhouses and human clinical cases

The antibiotic sensitivity of Salmonella strains isolated during the period 1996-98 from two industrial slaughterhouses of Northern Greece was detennined and compared with that of salmonellae isolated from human hospital cases during the period 1995-1997. For antibiotic sensitivity the disc agar diffusion method was used. Of 1874 samples obtained from the slaughterhouse environment (floors, worker\u27s hands and their knives), pork carcasses, by-products (livers and plucks) as well as lymph nodes and caecal contents 178 (9.5%) were positive for Salmonella spp. The salmonellae belonged to 22 serotypes. S. derby, S. london and S. typhimurium represented 25.8%, 15.2%, and 10.7% of the serotypes respectively. Of the salmonellae 59%, and 4.5%, were resistant and 33%, and 4.5% were intermediate sensitive to Tetracyclin, and Streptomycin, respectively and 26.4%, 14.6%, 5.1%, 1.7% and 1% were resistant to Ampicillin, Sulfamethoxa\u3eole I Trimethoprim, Chloramphenicol, Gentamicin, and Tobramycin respectively. Of the S. typhimurium strains 47% were resistant to Ampicillin and 41.2% to Chloramphenicol. Seven of the 19 strains were DT I 04, isolated for the first time in Greece, and multiple drug resistant. Of all isolates 5.1% were resistant to Chloramphenicol, the use of which is prohibited in food animal veterinary practice. Of the 422 salmonellae isolated at the Hospital of Infectious Diseases in Thessaloniki during the period 1996-98 77.4% were S. enteritidis and 17.7% S. typhimurium. Of the salmonellae isolated during 1995-1997, 76-79 % were resistant to Ampicillin and 1.2-1.5% to Chloramphenicol. Many of S. typhimurium strains isolated from the slaughterhouses and human cases exhibited the same antibiotic sensitivity profile a fact indicative of a potential transfer of animal strains to humans. Salmonellae of the same serotype exhibited different antibiotic resistance profiles, an indication of the presence of different clones within the same serotype. No S. enteritidis was isolated in slaughterhouses

Modes of Oscillation in Radiofrequency Paul Traps

We examine the time-dependent dynamics of ion crystals in radiofrequency traps. The problem of stable trapping of general three-dimensional crystals is considered and the validity of the pseudopotential approximation is discussed. We derive analytically the micromotion amplitude of the ions, rigorously proving well-known experimental observations. We use a method of infinite determinants to find the modes which diagonalize the linearized time-dependent dynamical problem. This allows obtaining explicitly the ('Floquet-Lyapunov') transformation to coordinates of decoupled linear oscillators. We demonstrate the utility of the method by analyzing the modes of a small `peculiar' crystal in a linear Paul trap. The calculations can be readily generalized to multispecies ion crystals in general multipole traps, and time-dependent quantum wavefunctions of ion oscillations in such traps can be obtained.Comment: 24 pages, 3 figures, v2 adds citations and small correction

On geometry of cones and some applications

In this work we prove that in any normed space, the origin is a denting point of a pointed cone if and only if it is a point of continuity for the cone and the closure of the cone in the bidual space with respect to the weak* topology is pointed. Other related results and consequences are also stated. For example, a criterion to know whether a cone has a bounded base, an unbounded base, or does not have any base; and a result on the existence of super efficient points in weakly compact sets. (C) 2015 Elsevier Inc. All rights reserved.We thank the referee for suggestions that helped to improve the overall aspect of the manuscript. This work has been partially supported by the Generalitat Valenciana project GV/2014/072 (F. Garcia Castano) and by the Ministerio de Economia y Competitividad and FEDER project MTM2014-57838-C2-2-P (V. Montesinos).Garcia Castano, F.; Melguizo Padial, MA.; Montesinos Santalucia, V. (2015). On geometry of cones and some applications. Journal of Mathematical Analysis and Applications. 431(2):1178-1189. https://doi.org/10.1016/j.jmaa.2015.06.029S11781189431

Quantum control of 88^{88}Sr+^+ in a miniature linear Paul trap

We report on the construction and characterization of an apparatus for quantum information experiments using $^{88}$Sr$^+$ ions. A miniature linear radio-frequency (rf) Paul trap was designed and built. Trap frequencies above 1 MHz in all directions are obtained with 50 V on the trap end-caps and less than 1 W of rf power. We encode a quantum bit (qubit) in the two spin states of the $S_{1/2}$ electronic ground-state of the ion. We constructed all the necessary laser sources for laser cooling and full coherent manipulation of the ions' external and internal states. Oscillating magnetic fields are used for coherent spin rotations. High-fidelity readout as well as a coherence time of 2.5 ms are demonstrated. Following resolved sideband cooling the average axial vibrational quanta of a single trapped ion is $\bar n=0.05$ and a heating rate of $\dot{\bar n}=0.016$ ms$^{-1}$ is measured.Comment: 8 pages,9 figure

On the possibility of a relativistic correction to the E and B fields around a current-carrying wire

It is well known that electric and magnetic fields may change when they are observed from different frames of reference. For example, the motion of a charged probe particle moving parallel to a current-carrying wire would be described by utilizing different electric or magnetic fields, depending on from which frame of reference the system is observed and described. To describe the situation in all frames by utilizing the theory of relativity, one has to first describe the situation in one particular frame, and this choice in the case of a current-carrying wire is the topic of this paper. In this study I examine an alternative to the standard choice, and consider its theoretical and experimental validity. An outcome of the alternative approach is that in the rest frame of a wire, running a current introduces also an electric field by giving rise to a minute charge. Present day experimental sensitivities, specifically those of cold ions, may be able to differentiate between the observable signatures predicted by the different approaches

Trapped electron coupled to superconducting devices

We propose to couple a trapped single electron to superconducting structures located at a variable distance from the electron. The electron is captured in a cryogenic Penning trap using electric fields and a static magnetic field in the Tesla range. Measurements on the electron will allow investigating the properties of the superconductor such as vortex structure, damping and decoherence. We propose to couple a superconducting microwave resonator to the electron in order to realize a circuit QED-like experiment, as well as to couple superconducting Josephson junctions or superconducting quantum interferometers (SQUIDs) to the electron. The electron may also be coupled to a vortex which is situated in a double well potential, realized by nearby pinning centers in the superconductor, acting as a quantum mechanical two level system that can be controlled by a transport current tilting the double well potential. When the vortex is trapped in the interferometer arms of a SQUID, this would allow its detection both by the SQUID and by the electron.Comment: 13 pages, 5 figure