Port-Hamiltonian modeling for soft-finger manipulation

In this paper, we present a port-Hamiltonian model of a multi-fingered robotic hand, with soft-pads, while grasping and manipulating an object. The algebraic constraints of the interconnected systems are represented by a geometric object, called Dirac structure. This provides a powerful way to describe the non-contact to contact transition and contact viscoelasticity, by using the concepts of energy flows and power preserving interconnections. Using the port based model, an Intrinsically Passive Controller (IPC) is used to control the internal forces. Simulation results validate the model and demonstrate the effectiveness of the port-based approach

Fourier spectra from exoplanets with polar caps and ocean glint

The weak orbital-phase dependent reflection signal of an exoplanet contains information on the planet surface, such as the distribution of continents and oceans on terrestrial planets. This light curve is usually studied in the time domain, but because the signal from a stationary surface is (quasi)periodic, analysis of the Fourier series may provide an alternative, complementary approach. We study Fourier spectra from reflected light curves for geometrically simple configurations. Depending on its atmospheric properties, a rotating planet in the habitable zone could have circular polar ice caps. Tidally locked planets, on the other hand, may have symmetric circular oceans facing the star. These cases are interesting because the high-albedo contrast at the sharp edges of the ice-sheets and the glint from the host star in the ocean may produce recognizable light curves with orbital periodicity, which could also be interpreted in the Fourier domain. We derive a simple general expression for the Fourier coefficients of a quasiperiodic light curve in terms of the albedo map of a Lambertian planet surface. Analytic expressions for light curves and their spectra are calculated for idealized situations, and dependence of spectral peaks on the key parameters inclination, obliquity, and cap size is studied.Comment: 15 pages, 2 tables, 13 figure

Sonoluminescence and the QED vacuum

In this talk I shall describe an extension of the quantum-vacuum approach to sonoluminescence proposed several years ago by J.Schwinger. We shall first consider a model calculation based on Bogolubov coefficients relating the QED vacuum in the presence of an expanded bubble to that in the presence of a collapsed bubble. In this way we shall derive an estimate for the spectrum and total energy emitted. This latter will be shown to be proportional to the volume of space over which the refractive index changes, as Schwinger predicted. After this preliminary check we shall deal with the physical constraints that any viable dynamical model for SL has to satisfy in order to fit the experimental data. We shall emphasize the importance of the timescale of the change in refractive index. This discussion will led us to propose a somewhat different version of dynamical Casimir effect in which the change in volume of the bubble is no longer the only source for the change in the refractive index.Comment: 15 pages, 1 figure, uses sprocl.sty. Talk at the 4th Workshop on Quantum Field Theory Under the Influence of External Conditions, Leipzig, 14-18 September, 199

Cylindrically symmetric wormholes

This paper discusses traversable wormholes that differ slightly but significantly from those of the Morris-Thorne type under the assumption of cylindrical symmetry. The throat is a piecewise smooth cylindrical surface resulting in a shape function that is not differentiable at some value. It is proposed that the regular derivative be replaced by a one-sided derivative at this value. The resulting wormhole geometry satisfies the weak energy condition.Comment: Supplied missing figures; 15 pages AMSTe

From wormhole to time machine: Comments on Hawking's Chronology Protection Conjecture

The recent interest in ``time machines'' has been largely fueled by the apparent ease with which such systems may be formed in general relativity, given relatively benign initial conditions such as the existence of traversable wormholes or of infinite cosmic strings. This rather disturbing state of affairs has led Hawking to formulate his Chronology Protection Conjecture, whereby the formation of ``time machines'' is forbidden. This paper will use several simple examples to argue that the universe appears to exhibit a ``defense in depth'' strategy in this regard. For appropriate parameter regimes Casimir effects, wormhole disruption effects, and gravitational back reaction effects all contribute to the fight against time travel. Particular attention is paid to the role of the quantum gravity cutoff. For the class of model problems considered it is shown that the gravitational back reaction becomes large before the Planck scale quantum gravity cutoff is reached, thus supporting Hawking's conjecture.Comment: 43 pages,ReV_TeX,major revision

CN rings in full protoplanetary disks around young stars as probes of disk structure

Bright ring-like structure emission of the CN molecule has been observed in protoplanetary disks. We investigate whether such structures are due to the morphology of the disk itself or if they are instead an intrinsic feature of CN emission. With the intention of using CN as a diagnostic, we also address to which physical and chemical parameters CN is most sensitive. A set of disk models were run for different stellar spectra, masses, and physical structures via the 2D thermochemical code DALI. An updated chemical network that accounts for the most relevant CN reactions was adopted. Ring-shaped emission is found to be a common feature of all adopted models; the highest abundance is found in the upper outer regions of the disk, and the column density peaks at 30-100 AU for T Tauri stars with standard accretion rates. Higher mass disks generally show brighter CN. Higher UV fields, such as those appropriate for T Tauri stars with high accretion rates or for Herbig Ae stars or for higher disk flaring, generally result in brighter and larger rings. These trends are due to the main formation paths of CN, which all start with vibrationally excited H2* molecules, that are produced through far ultraviolet (FUV) pumping of H2. The model results compare well with observed disk-integrated CN fluxes and the observed location of the CN ring for the TW Hya disk. CN rings are produced naturally in protoplanetary disks and do not require a specific underlying disk structure such as a dust cavity or gap. The strong link between FUV flux and CN emission can provide critical information regarding the vertical structure of the disk and the distribution of dust grains which affects the UV penetration, and could help to break some degeneracies in the SED fitting. In contrast with C2H or c-C3H2, the CN flux is not very sensitive to carbon and oxygen depletion.Comment: New version of paper, correcting too high H2 excitation rates and consequently too high CN column densities. Qualitative conclusions of the paper remain unchanged. Quantitatively, the CN column densities are an order of magnitude lower whereas fluxes decrease by a factor of 3-4. Rings are larger by up to a factor of 2. 13 pages, 19 figures, accepted for publication in A&

Area products for stationary black hole horizons

Area products for multi-horizon stationary black holes often have intriguing properties, and are often (though not always) independent of the mass of the black hole itself (depending only on various charges, angular momenta, and moduli). Such products are often formulated in terms of the areas of inner (Cauchy) horizons and outer (event) horizons, and sometimes include the effects of unphysical "virtual" horizons. But the conjectured mass-independence sometimes fails. Specifically, for the Schwarzschild-de Sitter [Kottler] black hole in (3+1) dimensions it is shown by explicit exact calculation that the product of event horizon area and cosmological horizon area is not mass independent. (Including the effect of the third "virtual" horizon does not improve the situation.) Similarly, in the Reissner-Nordstrom-anti-de Sitter black hole in (3+1) dimensions the product of inner (Cauchy) horizon area and event horizon area is calculated (perturbatively), and is shown to be not mass independent. That is, the mass-independence of the product of physical horizon areas is not generic. In spherical symmetry, whenever the quasi-local mass m(r) is a Laurent polynomial in aerial radius, r=sqrt{A/4\pi}, there are significantly more complicated mass-independent quantities, the elementary symmetric polynomials built up from the complete set of horizon radii (physical and virtual). Sometimes it is possible to eliminate the unphysical virtual horizons, constructing combinations of physical horizon areas that are mass independent, but they tend to be considerably more complicated than the simple products and related constructions currently being mooted in the literature.Comment: V1: 16 pages; V2: 9 pages (now formatted in PRD style). Minor change in title. Extra introduction, background, discussion. Several additional references; other references updated. Minor typos fixed. This version accepted for publication in PRD; V3: Minor typos fixed. Published versio

Bounding the Hubble flow in terms of the w parameter

The last decade has seen increasing efforts to circumscribe and bound the cosmological Hubble flow in terms of model-independent constraints on the cosmological fluid - such as, for instance, the classical energy conditions of general relativity. Quite a bit can certainly be said in this regard, but much more refined bounds can be obtained by placing more precise constraints (either theoretical or observational) on the cosmological fluid. In particular, the use of the w-parameter (w=p/rho) has become increasingly common as a surrogate for trying to say something about the cosmological equation of state. Herein we explore the extent to which a constraint on the w-parameter leads to useful and nontrivial constraints on the Hubble flow, in terms of constraints on density rho(z), Hubble parameter H(z), density parameter Omega(z), cosmological distances d(z), and lookback time T(z). In contrast to other partial results in the literature, we carry out the computations for arbitrary values of the space curvature k in [-1,0,+1], equivalently for arbitrary Omega_0 <= 1.Comment: 15 page