Reactive direction control for a mobile robot: A locust-like control of escape direction emerges when a bilateral pair of model locust visual neurons are integrated

Locusts possess a bilateral pair of uniquely identifiable visual neurons that respond vigorously to the image of an approaching object. These neurons are called the lobula giant movement detectors (LGMDs). The locust LGMDs have been extensively studied and this has lead to the development of an LGMD model for use as an artificial collision detector in robotic applications. To date, robots have been equipped with only a single, central artificial LGMD sensor, and this triggers a non-directional stop or rotation when a potentially colliding object is detected. Clearly, for a robot to behave autonomously, it must react differently to stimuli approaching from different directions. In this study, we implement a bilateral pair of LGMD models in Khepera robots equipped with normal and panoramic cameras. We integrate the responses of these LGMD models using methodologies inspired by research on escape direction control in cockroaches. Using ‘randomised winner-take-all’ or ‘steering wheel’ algorithms for LGMD model integration, the khepera robots could escape an approaching threat in real time and with a similar distribution of escape directions as real locusts. We also found that by optimising these algorithms, we could use them to integrate the left and right DCMD responses of real jumping locusts offline and reproduce the actual escape directions that the locusts took in a particular trial. Our results significantly advance the development of an artificial collision detection and evasion system based on the locust LGMD by allowing it reactive control over robot behaviour. The success of this approach may also indicate some important areas to be pursued in future biological research

Sensitive Search for a Permanent Muon Electric Dipole Moment

We are proposing a new method to carry out a dedicated search for a permanent electric dipole moment (EDM) of the muon with a sensitivity at a level of 10^{-24} e cm. The experimental design exploits the strong motional electric field sensed by relativistic particles in a magnetic storage ring. As a key feature, a novel technique has been invented in which the g-2 precession is compensated with radial electric field. This technique will benefit greatly when the intense muon sources advocated by the developers of the muon storage rings and the muon colliders become available.Comment: 16 pages, 3 figures. Submitted for publication in Proceedings of the International Workshop on High Intensity Muon Sources (HIMUS99), KEK, Japan, December 1-4 199

Search for Lorentz and CPT Violation Effects in Muon Spin Precession

The spin precession frequency of muons stored in the $(g-2)$ storage ring has been analyzed for evidence of Lorentz and CPT violation. Two Lorentz and CPT violation signatures were searched for: a nonzero $\Delta\omega_{a}$ (=$\omega_{a}^{\mu^{+}}-\omega_{a}^{\mu^{-}}$); and a sidereal variation of $\omega_{a}^{\mu^{\pm}}$. No significant effect is found, and the following limits on the standard-model extension parameters are obtained: $b_{Z} =-(1.0 \pm 1.1)\times 10^{-23}$ GeV; $(m_{\mu}d_{Z0}+H_{XY}) = (1.8 \pm 6.0 \times 10^{-23})$ GeV; and the 95% confidence level limits $\check{b}_{\perp}^{\mu^{+}}< 1.4 \times 10^{-24}$ GeV and $\check{b}_{\perp}^{\mu^{-}} < 2.6 \times 10^{-24}$ GeV.Comment: 5 pages, 3 figures, submitted to Physical Review Letters, Modified to answer the referees suggestion

The Muon Anomalous Magnetic Moment and the Standard Model

The muon anomalous magnetic moment measurement, when compared with theory, can be used to test many extensions to the standard model. The most recent measurement made by the Brookhaven E821 Collaboration reduces the uncertainty on the world average of a_mu to 0.7 ppm, comparable in precision to theory. This paper describes the experiment and the current theoretical efforts to establish a correct standard model reference value for the muon anomaly.Comment: Plenary Talk; PANIC'02 XVI Particles and Nuclear International Conference, Osaka, Japan; Sept. 30 - Oct. 4, 2002; Report describes the published 0.7 ppm result and updates the theory statu

An Improved Limit on the Muon Electric Dipole Moment

Three independent searches for an electric dipole moment (EDM) of the positive and negative muons have been performed, using spin precession data from the muon g-2 storage ring at Brookhaven National Laboratory. Details on the experimental apparatus and the three analyses are presented. Since the individual results on the positive and negative muon, as well as the combined result, d=-0.1(0.9)E-19 e-cm, are all consistent with zero, we set a new muon EDM limit, |d| < 1.9E-19 e-cm (95% C.L.). This represents a factor of 5 improvement over the previous best limit on the muon EDM.Comment: 19 pages, 15 figures, 7 table

Search for Lorentz and CPT Violation Effects in Muon Spin Precession

The spin precession frequency of muons stored in the $(g-2)$ storage ring has been analyzed for evidence of Lorentz and CPT violation. Two Lorentz and CPT violation signatures were searched for: a nonzero $\Delta\omega_{a}$ (=$\omega_{a}^{\mu^{+}}-\omega_{a}^{\mu^{-}}$); and a sidereal variation of $\omega_{a}^{\mu^{\pm}}$. No significant effect is found, and the following limits on the standard-model extension parameters are obtained: $b_{Z} =-(1.0 \pm 1.1)\times 10^{-23}$ GeV; $(m_{\mu}d_{Z0}+H_{XY}) = (1.8 \pm 6.0 \times 10^{-23})$ GeV; and the 95% confidence level limits $\check{b}_{\perp}^{\mu^{+}}< 1.4 \times 10^{-24}$ GeV and $\check{b}_{\perp}^{\mu^{-}} < 2.6 \times 10^{-24}$ GeV.Comment: 5 pages, 3 figures, submitted to Physical Review Letters, Modified to answer the referees suggestion

Final Report of the Muon E821 Anomalous Magnetic Moment Measurement at BNL

We present the final report from a series of precision measurements of the muon anomalous magnetic moment, a_mu = (g-2)/2. The details of the experimental method, apparatus, data taking, and analysis are summarized. Data obtained at Brookhaven National Laboratory, using nearly equal samples of positive and negative muons, were used to deduce a_mu(Expt) = 11 659 208.0(5.4)(3.3) x 10^-10, where the statistical and systematic uncertainties are given, respectively. The combined uncertainty of 0.54 ppm represents a 14-fold improvement compared to previous measurements at CERN. The standard model value for a_mu includes contributions from virtual QED, weak, and hadronic processes. While the QED processes account for most of the anomaly, the largest theoretical uncertainty, ~0.55 ppm, is associated with first-order hadronic vacuum polarization. Present standard model evaluations, based on e+e- hadronic cross sections, lie 2.2 - 2.7 standard deviations below the experimental result.Comment: Summary paper of E821 Collaboration measurements of the muon anomalous magnetic moment, each reported earlier in Letters or Brief Reports; 96 pages, 41 figures, 16 tables. Revised version submitted to PR

Action ability modulates time‑to‑collision judgments

Time-to-collision (TTC) underestimation has been interpreted as an adaptive response that allows observers to have more time to engage in a defensive behaviour. This bias seems, therefore, strongly linked to action preparation. There is evidence that the observer’s physical fitness modulates the underestimation effect so that people who need more time to react (i.e. those with less physical fitness) show a stronger underestimation effect. Here we investigated whether this bias is influenced by the momentary action capability of the observers. In the first experiment, participants estimated the time-to-collision of threatening or non-threatening stimuli while being mildly immobilized (with a chin rest) or while standing freely. Having reduced the possibility of movement led participants to show more underestimation of the approaching stimuli. However, this effect was not stronger for threatening relative to non-threatening stimuli. The effect of the action capability found in the first experiment could be interpreted as an expansion of peripersonal space (PPS). In the second experiment, we thus investigated the generality of this effect using an established paradigm to measure the size of peripersonal space. Participants bisected lines from different distances while in the chin rest or standing freely. The results replicated the classic left-to-right gradient in lateral spatial attention with increasing viewing distance, but no effect of immobilization was found. The manipulation of the momentary action capability of the observers influenced the participants’ performance in the TTC task but not in the line bisection task. These results are discussed in relation to the different functions of PPS

Improved Measurement of the Positive Muon Anomalous Magnetic Moment

A new measurement of the positive muon's anomalous magnetic moment has been made at the Brookhaven Alternating Gradient Synchrotron using the direct injection of polarized muons into the superferric storage ring. The angular frequency difference omega_{a} between the angular spin precession frequency omega_{s} and the angular orbital frequency omega_{c} is measured as well as the free proton NMR frequency omega_{p}. These determine R = omega_{a} / omega_{p} = 3.707~201(19) times 10^{-3}. With mu_{mu} / mu_{p} = 3.183~345~39(10) this gives a_{mu^+} = 11~659~191(59) times 10^{-10} (pm 5 ppm), in good agreement with the previous CERN and BNL measurements for mu^+ and mu^-, and with the standard model prediction.Comment: 4 pages, 4 figures. accepted for publication in Phys. Rev. D62 Rapid Communication

Measurement of the Negative Muon Anomalous Magnetic Moment to 0.7 ppm

The anomalous magnetic moment of the negative muon has been measured to a precision of 0.7 parts per million (ppm) at the Brookhaven Alternating Gradient Synchrotron. This result is based on data collected in 2001, and is over an order of magnitude more precise than the previous measurement of the negative muon. The result a_mu= 11 659 214(8)(3) \times 10^{-10} (0.7 ppm), where the first uncertainty is statistical and the second is sytematic, is consistend with previous measurements of the anomaly for the positive and negative muon. The average for the muon anomaly a_{mu}(exp) = 11 659 208(6) \times 10^{-10} (0.5ppm).Comment: 4 pages, 4 figures, submitted to Physical Review Letters, revised to reflect referee comments. Text further revised to reflect additional referee comments and a corrected Fig. 3 replaces the older versio