Online, interactive user guidance for high-dimensional, constrained motion planning

We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that try to speed up planning by incorporating experiences or demonstrations ahead of planning, we suggest to seek user guidance only when the planner identifies that it ceases to make significant progress towards the goal. Guidance is provided in the form of an intermediate configuration $\hat{q}$, which is used to bias the planner to go through $\hat{q}$. We demonstrate our approach for the case where the planning algorithm is Multi-Heuristic A* (MHA*) and the robot is a 34-DOF humanoid. We show that our approach allows to compute highly-constrained paths with little domain knowledge. Without our approach, solving such problems requires carefully-crafting domain-dependent heuristics

Shear flow induced isotropic to nematic transition in a suspension of active filaments

We study the effects of externally applied shear flow on a model of suspensions of motors and filaments, via the equations of active hydrodynamics [PRL {\bf 89} (2002) 058101; {\bf 92} (2004) 118101]. In the absence of shear, the orientationally ordered phase of {\it both} polar and apolar active particles is always unstable at zero-wavenumber. An imposed steady shear large enough to overcome the active stresses stabilises both apolar and moving polar phases. Our work is relevant to {\it in vitro} studies of active filaments, the reorientation of endothelial cells subject to shear flow and shear-induced motility of attached cells.Comment: 8 pages, 4 figures submitted to Europhysics Letter

Are we seeing accretion flows in a 250kpc-sized Ly-alpha halo at z=3?

Using MUSE on the ESO-VLT, we obtained a 4 hour exposure of the z=3.12 radio galaxy MRC0316-257. We detect features down to ~10^-19 erg/s/cm^2/arcsec^2 with the highest surface brightness regions reaching more than a factor of 100 higher. We find Ly-alpha emission out to ~250 kpc in projection from the active galactic nucleus (AGN). The emission shows arc-like morphologies arising at 150-250 kpc from the nucleus in projection with the connected filamentary structures reaching down into the circum-nuclear region. The most distant arc is offset by 700 km/s relative to circum-nuclear HeII 1640 emission, which we assume to be at the systemic velocity. As we probe emission closer to the nucleus, the filamentary emission narrows in projection on the sky, the relative velocity decreases to ~250 km/s, and line full-width at half maximum range from 300-700 km/s. From UV line ratios, the emission on scales of 10s of kpc from the nucleus along a wide angle in the direction of the radio jets is clearly excited by the radio jets and ionizing radiation of the AGN. Assuming ionization equilibrium, the more extended emission outside of the axis of the jet direction would require 100% or more illumination to explain the observed surface brightness. High speed (>300 km/s) shocks into rare gas would provide sufficiently high surface brightness. We discuss the possibility that the arcs of Ly-alpha emission represent accretion shocks and the filamentary emission represent gas flows into the halo, and compare our results with gas accretion simulations.Comment: 4 pages, 2 figures, 1 table, A&A letters accepte

Efficiency in nanostructured thermionic and thermoelectric devices

Advances in solid-state device design now allow the spectrum of transmitted electrons in thermionic and thermoelectric devices to be engineered in ways that were not previously possible. Here we show that the shape of the electron energy spectrum in these devices has a significant impact on their performance. We distinguish between traditional thermionic devices where electron momentum is filtered in the direction of transport only and a second type, in which the electron filtering occurs according to total electron momentum. Such 'total momentum filtered' kr thermionic devices could potentially be implemented in, for example, quantum dot superlattices. It is shown that whilst total momentum filtered thermionic devices may achieve efficiency equal to the Carnot value, traditional thermionic devices are limited to efficiency below this. Our second main result is that the electronic efficiency of a device is not only improved by reducing the width of the transmission filter as has previously been shown, but also strongly depends on whether the transmission probability rises sharply from zero to full transmission. The benefit of increasing efficiency through a sharply rising transmission probability is that it can be achieved without sacrificing device power, in contrast to the use of a narrow transmission filter which can greatly reduce power. We show that devices which have a sharply-rising transmission probability significantly outperform those which do not and it is shown such transmission probabilities may be achieved with practical single and multibarrier devices. Finally, we comment on the implications of the effect the shape of the electron energy spectrum on the efficiency of thermoelectric devices.Comment: 11 pages, 15 figure

Extremely Metal-Poor Galaxies: The HI Content

Extremely metal-poor (XMP) galaxies are chemically, and possibly dynamically, primordial objects in the local Universe. Our objective is to characterize the HI content of the XMP galaxies as a class, using as a reference the list of 140 known local XMPs compiled by Morales-Luis et al. (2011). We have observed 29 XMPs, which had not been observed before at 21 cm, using the Effelsberg radio telescope. This information was complemented with HI data published in literature for a further 53 XMPs. In addition, optical data from the literature provided morphologies, stellar masses, star-formation rates and metallicities. Effelsberg HI integrated flux densities are between 1 and 15 Jy km/s, while line widths are between 20 and 120 km/s. HI integrated flux densities and line widths from literature are in the range 0.1 - 200 Jy km/s and 15 - 150 km/s, respectively. Of the 10 new Effelsberg detections, two sources show an asymmetric double-horn profile, while the remaining sources show either asymmetric (7 sources) or symmetric (1 source) single-peak 21 cm line profiles. An asymmetry in the HI line profile is systematically accompanied by an asymmetry in the optical morphology. Typically, the g-band stellar mass-to-light ratios are ~0.1, whereas the HI gas mass-to-light ratios may be up to 2 orders of magnitude larger. Moreover, HI gas-to-stellar mass ratios fall typically between 10 and 20, denoting that XMPs are extremely gas-rich. We find an anti-correlation between the HI gas mass-to-light ratio and the luminosity, whereby fainter XMPs are more gas-rich than brighter XMPs, suggesting that brighter sources have converted a larger fraction of their HI gas into stars. The dynamical masses inferred from the HI line widths imply that the stellar mass does not exceed 5% of the dynamical mass, while the \ion{H}{i} mass constitutes between 20 and 60% of the dynamical mass. (abridged)Comment: 30 pages, accepted for A&

Foreign Direct Investments in Business Services: Transforming the Visegrád Four Region into a Knowledge-based Economy?

Foreign direct investments (FDIs) in the service sector are widely attributed an important role in bringing more skill-intensive activities into the Visegrad Four (V4). This region—comprising Poland, the Czech Republic, Hungary and Slovakia—relied heavily on FDIs in manufacturing, which was often found to generate activities with limited skill content. This contribution deconstructs the chaotic concept of “business services” by analysing the actual nature of service sector activities outsourced and offshored to the V4. Using the knowledge-based economy (KBE) as a benchmark, the paper assesses the potential of service sector outsourcing in contributing to regional competitiveness by increasing the innovative capacity. It also discusses the role of state policies towards service sector FDI (SFDI). The analysis combines data obtained from case studies undertaken in service sector outsourcing projects in V4 countries. Moreover, it draws on interviews with senior employees of investment promotion agencies and publicly available data and statistics on activities within the service sector in the region. It argues that the recent inward investments in business services in the V4 mainly utilize existing local human capital resources, and their contribution to the development of the KBE is limited to employment creation and demand for skilled labour

Asynchronous In Situ Processing with Gromacs: Taking Advantage of GPUs

International audienceNumerical simulations using supercomputers are producing an ever growing amount of data. Efficient production and analysis of these data are the key to future discoveries. The in situ paradigm is emerging as a promising solution to avoid the I/O bottleneck encountered in the file system for both the simulation and the analytics by treating the data as soon as they are produced in memory. Various strategies and implementations have been proposed in the last years to support in situ treatments with a low impact on the simulation performance. Yet, little efforts have been made when it comes to perform in situ analytics with hybrid simulations supporting accelerators like GPUs. In this article, we propose a study of the in situ strategies with Gromacs, a molecular dynamic simulation code supporting multi-GPUs, as our application target. We specifically focus on the computational resources usage of the machine by the simulation and the in situ analytics. We finally extend the usual in situ placement strategies to the case of in situ analytics running on a GPU and study their impact on both Gromacs performance and the resource usage of the machine. We show in particular that running in situ analytics on the GPU can be a more efficient solution than on the CPU especially when the CPU is the bottleneck of the simulation

Work extremum principle: Structure and function of quantum heat engines

We consider a class of quantum heat engines consisting of two subsystems interacting via a unitary transformation and coupled to two separate baths at different temperatures $T_h > T_c$. The purpose of the engine is to extract work due to the temperature difference. Its dynamics is not restricted to the near equilibrium regime. The engine structure is determined by maximizing the extracted work under various constraints. When this maximization is carried out at finite power, the engine dynamics is described by well-defined temperatures and satisfies the local version of the second law. In addition, its efficiency is bounded from below by the Curzon-Ahlborn value $1-\sqrt{T_c/T_h}$ and from above by the Carnot value $1-(T_c/T_h)$. The latter is reached|at finite power|for a macroscopic engine, while the former is achieved in the equilibrium limit $T_h\to T_c$. When the work is maximized at a zero power, even a small (few-level) engine extracts work right at the Carnot efficiency.Comment: 16 pages, 5 figure

The potential for atmospheric water harvesting to accelerate household access to safe water

With Sustainable Development Goal 6 (SDG-6), member states of the UN declared their ambition for universal access to safely managed water, recognising this as fundamental to human health, wellbeing, socioeconomic development, and gender equity. Through the support of expert groups, the UN defined safely managed water as a continuous supply of uncontaminated water delivered directly to every household worldwide. Currently, 2·2 billion people (primarily in low-income and middle-income countries [LMICs]) do not have this level of water service; globally, 200 million hours are spent collecting water from locations beyond the household plot each year, mostly by women and girls.2 The appendix (p 1) provides further reading on water policy and services in low-income settings