Ripples in Tapped or Blown Powder

We observe ripples forming on the surface of a granular powder in a container submitted from below to a series of brief and distinct shocks. After a few taps, the pattern turns out to be stable against any further shock of the same amplitude. We find experimentally that the characteristic wavelength of the pattern is proportional to the amplitude of the shocks. Starting from consideration involving Darcy's law for air flow through the porous granulate and avalanche properties, we build up a semi-quantitative model which fits satisfactorily the set of experimental observations as well as a couple of additional experiments.Comment: 7 pages, four postscript figures, submitted PRL 11/19/9

Dynamics of shallow impact cratering

We present data for the time-dependence of wooden spheres penetrating into a loose non-cohesive packing of glass beads. The stopping time is a factor of three longer than the time $d/v_\circ$ needed to travel the total penetration distance $d$ at the impact speed $v_\circ$. The acceleration decreases monotonically throughout the impact. These kinematics are modelled by a position- and velocity-dependent stopping force that is constrained to reproduce prior observations for the scaling of the penetration depth with the total drop distance.Comment: 4 pages, experimen

Magneto-elastic oscillations of neutron stars: exploring different magnetic field configurations

We study magneto-elastic oscillations of highly magnetized neutron stars (magnetars) which have been proposed as an explanation for the quasi-periodic oscillations (QPOs) appearing in the decaying tail of the giant flares of soft gamma-ray repeaters (SGRs). We extend previous studies by investigating various magnetic field configurations, computing the Alfv\'en spectrum in each case and performing magneto-elastic simulations for a selected number of models. By identifying the observed frequencies of 28 Hz (SGR 1900+14) and 30 Hz (SGR 1806-20) with the fundamental Alfv\'en QPOs, we estimate the required surface magnetic field strength. For the magnetic field configurations investigated (dipole-like poloidal, mixed toroidal-poloidal with a dipole-like poloidal component and a toroidal field confined to the region of field lines closing inside the star, and for poloidal fields with an additional quadrupole-like component) the estimated dipole spin-down magnetic fields are between 8x10^14 G and 4x10^15 G, in broad agreement with spin-down estimates for the SGR sources producing giant flares. A number of these models exhibit a rich Alfv\'en continuum revealing new turning points which can produce QPOs. This allows one to explain most of the observed QPO frequencies as associated with magneto-elastic QPOs. In particular, we construct a possible configuration with two turning points in the spectrum which can explain all observed QPOs of SGR 1900+14. Finally, we find that magnetic field configurations which are entirely confined in the crust (if the core is assumed to be a type I superconductor) are not favoured, due to difficulties in explaining the lowest observed QPO frequencies (f<30 Hz).Comment: 21 pages, 16 figures, 6 tables, matched to version accepted by MNRAS with extended comparison/discussion to previous wor

Adaptive saccade controller inspired by the primates' cerebellum

Saccades are fast eye movements that allow humans and robots to bring the visual target in the center of the visual field. Saccades are open loop with respect to the vision system, thus their execution require a precise knowledge of the internal model of the oculomotor system. In this work, we modeled the saccade control, taking inspiration from the recurrent loops between the cerebellum and the brainstem. In this model, the brainstem acts as a fixed-inverse model of the oculomotor system, while the cerebellum acts as an adaptive element that learns the internal model of the oculomotor system. The adaptive filter is implemented using a state-of-the-art neural network, called I-SSGPR. The proposed approach, namely recurrent architecture, was validated through experiments performed both in simulation and on an antropomorphic robotic head. Moreover, we compared the recurrent architecture with another model of the cerebellum, the feedback error learning. Achieved results show that the recurrent architecture outperforms the feedback error learning in terms of accuracy and insensitivity to the choice of the feedback controller

Learning the visual–oculomotor transformation: effects on saccade control and space representation

Active eye movements can be exploited to build a visuomotor representation of the surrounding environment. Maintaining and improving such representation requires to update the internal model involved in the generation of eye movements. From this perspective, action and perception are thus tightly coupled and interdependent. In this work, we encoded the internal model for oculomotor control with an adaptive filter inspired by the functionality of the cerebellum. Recurrent loops between a feed-back controller and the internal model allow our system to perform accurate binocular saccades and create an implicit representation of the nearby space. Simulation results show that this recurrent architecture outperforms classical feedback-error-learning in terms of both accuracy and sensitivity to system parameters. The proposed approach was validated implementing the framework on an anthropomorphic robotic head

The shape of jamming arches in two-dimensional deposits of granular materials

We present experimental results on the shape of arches that block the outlet of a two dimensional silo. For a range of outlet sizes, we measure some properties of the arches such as the number of particles involved, the span, the aspect ratio, and the angles between mutually stabilizing particles. These measurements shed light on the role of frictional tangential forces in arching. In addition, we find that arches tend to adopt an aspect ratio (the quotient between height and half the span) close to one, suggesting an isotropic load. The comparison of the experimental results with data from numerical models of the arches formed in the bulk of a granular column reveals the similarities of both, as well as some limitations in the few existing models.Comment: 8 pages; submitted to Physical Review

Wall effects on granular heap stability

We investigate the effects of lateral walls on the angle of movement and on the angle of repose of a granular pile. Our experimental results for beads immersed in water are similar to previous results obtained in air and to recent numerical simulations. All of these results, showing an increase of pile angles with a decreasing gap width, are explained by a model based on the redirection of stresses through the granular media. Two regimes are observed depending on the bead diameter. For large beads, the range of wall effects corresponds to a constant number of beads whereas it corresponds to a constant characteristic length for small beads as they aggregate via van der Waals forces

Agroforestry can mitigate environmental problems in european agricultural deficit areas

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