The 3-D world modeling with updating capability based on combinatorial geometry

A 3-D world modeling technique using range data is discribed. Range data quantify the distances from the sensor focal plane to the object surface, i.e., the 3-D coordinates of discrete points on the object surface are known. The approach proposed herein for 3-D world modeling is based on the Combinatorial Geometry (CG) method which is widely used in Monte Carlo particle transport calculations. First, each measured point on the object surface is surrounded by a small sphere with a radius determined by the range to that point. Then, the 3-D shapes of the visible surfaces are obtained by taking the (Boolean) union of all the spheres. The result is an unambiguous representation of the object's boundary surfaces. The pre-learned partial knowledge of the environment can be also represented using the CG Method with a relatively small amount of data. Using the CG type of representation, distances in desired directions to boundary surfaces of various objects are efficiently calculated. This feature is particularly useful for continuously verifying the world model against the data provided by a range finder, and for integrating range data from successive locations of the robot during motion. The efficiency of the proposed approach is illustrated by simulations of a spherical robot in a 3-D room in the presence of moving obstacles and inadequate prelearned partial knowledge of the environment

Large amplitude MHD waves upstream of the Jovian bow shock: Reinterpretation

Observations of large amplitude magnetohydrodynamic (MHD) waves upstream of the Jovian bow shock were previously interpreted as arising from a resonant electromagnetic ion beam instability. That interpretation was based on the conclusion that the observed fluctuations were predominantly right elliptically polarized in the solar wind rest frame. Because it was noted that the fluctuations are, in fact, left elliptically polarized, a reanalysis of the observations was necessary. Several mechanisms for producing left hand polarized MHD waves in the observed frequency range were investigated. Instabilities excited by protons appear unlikely to account for the observations. A resonant instability excited by relativistic electrons escaping from the Jovian magnetosphere is a likely source of free energy consistent with the observations. Evidence for the existence of such a population of electrons was found in both the Low Energy Charged Particle experiments and Cosmic Ray experiments on Voyager 2

On the linearization of the generalized Ermakov systems

A linearization procedure is proposed for Ermakov systems with frequency depending on dynamic variables. The procedure applies to a wide class of generalized Ermakov systems which are linearizable in a manner similar to that applicable to usual Ermakov systems. The Kepler--Ermakov systems belong into this category but others, more generic, systems are also included

Thermodynamic entropy production fluctuation in a two dimensional shear flow model

We investigate fluctuations in the momentum flux across a surface perpendicular to the velocity gradient in a stationary shear flow maintained by either thermostated deterministic or by stochastic boundary conditions. In the deterministic system the Gallavotti-Cohen (GC)relation for the probability of large deviations, which holds for the phase space volume contraction giving the Gibbs ensemble entropy production, never seems to hold for the flux which gives the hydrodynamic entropy production. In the stochastic case the GC relation is found to hold for the total flux, as predicted by extensions of the GC theorem but not for the flux across part of the surface. The latter appear to satisfy a modified GC relation. Similar results are obtained for the heat flux in a steady state produced by stochastic boundaries at different temperatures.Comment: 9 postscript figure

Atom holography

We study the conditions under which atomic condensates can be used as a recording media and then suggest a reading scheme which allows to reconstruct an object with atomic reading beam. We show that good recording can be achieved for flat condensate profiles and for negative detunings between atomic Bohr frequency and optical field frequency. The resolution of recording dramatically depends on the relation between the healing length of the condensate and the spatial frequency contents of the optical fields involved.Comment: 8 pages, 5 figures, Late

Static deformation of heavy spring due to gravity and centrifugal force

The static equilibrium deformation of a heavy spring due to its own weight is calculated for two cases. First for a spring hanging in a constant gravitational field, then for a spring which is at rest in a rotating system where it is stretched by the centrifugal force. Two different models are considered. First a discrete model assuming a finite number of point masses connected by springs of negligible weight. Then the continuum limit of this model. In the second case the differential equation for the deformation is obtained by demanding that the potential energy is minimized. In this way a simple application of the variational calculus is obtained.Comment: 11 pages, 2 figure

Nonequilibrium Approach to Bloch-Peierls-Berry Dynamics

We examine the Bloch-Peierls-Berry dynamics under a classical nonequilibrium dynamical formulation. In this formulation all coordinates in phase space formed by the position and crystal momentum space are treated on equal footing. Explicitly demonstrations of the no (naive) Liouville theorem and of the validity of Darboux theorem are given. The explicit equilibrium distribution function is obtained. The similarities and differences to previous approaches are discussed. Our results confirm the richness of the Bloch-Peierls-Berry dynamics

Coriolis force in Geophysics: an elementary introduction and examples

We show how Geophysics may illustrate and thus improve classical Mechanics lectures concerning the study of Coriolis force effects. We are then interested in atmospheric as well as oceanic phenomena we are familiar with, and are for that reason of pedagogical and practical interest. Our aim is to model them in a very simple way to bring out the physical phenomena that are involved.Comment: Accepted for publication in European Journal of Physic

Periodic Modulations in an X-ray Flare from Sagittarius A*

We present the highly significant detection of a quasi-periodic flux modulation with a period of 22.2 min seen in the X-ray data of the Sgr A* flare of 2004 August 31. This flaring event, which lasted a total of about three hours, was detected simultaneously by EPIC on XMM-Newton and the NICMOS near-infrared camera on the HST. Given the inherent difficulty in, and the lack of readily available methods for quantifying the probability of a periodic signal detected over only several cycles in a data set where red noise can be important, we developed a general method for quantifying the likelihood that such a modulation is indeed intrinsic to the source and does not arise from background fluctuations. We here describe this Monte Carlo based method, and discuss the results obtained by its application to a other XMM-Newton data sets. Under the simplest hypothesis that we witnessed a transient event that evolved, peaked and decayed near the marginally stable orbit of the supermassive black hole, this result implies that for a mass of 3.5 x 10^{6} Msun, the central object must have an angular momentum corresponding to a spin parameter of a=0.22.Comment: 4 pages, 6 figures, submitted to ApJ

Lagrangian Variational Framework for Boundary Value Problems

A boundary value problem is commonly associated with constraints imposed on a system at its boundary. We advance here an alternative point of view treating the system as interacting "boundary" and "interior" subsystems. This view is implemented through a Lagrangian framework that allows to account for (i) a variety of forces including dissipative acting at the boundary; (ii) a multitude of features of interactions between the boundary and the interior fields when the boundary fields may differ from the boundary limit of the interior fields; (iii) detailed pictures of the energy distribution and its flow; (iv) linear and nonlinear effects. We provide a number of elucidating examples of the structured boundary and its interactions with the system interior. We also show that the proposed approach covers the well known boundary value problems.Comment: 41 pages, 3 figure