How Wigner Functions Transform Under Symplectic Maps

It is shown that, while Wigner and Liouville functions transform in an identical way under linear symplectic maps, in general they do not transform identically for nonlinear symplectic maps. Instead there are ``quantum corrections'' whose hbar tending to zero limit may be very complicated. Examples of the behavior of Wigner functions in this limit are given in order to examine to what extent the corresponding Liouville densities are recovered.Comment: 8 pages, 6 figures [RevTeX/epsfig, macro included]. To appear in Proceedings of the Advanced Beam Dynamics Workshop on Quantum Aspects of Beam Physics (Monterey, CA 1998

3LP: a linear 3D-walking model including torso and swing dynamics

In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has different actuation possibilities in the swing hip and stance ankle which could be widely used to produce different walking gaits. Without the need for numerical time-integration, closed-form solutions help finding periodic gaits which could be simply scaled in certain dimensions to modulate the motion online. Thanks to linearity properties, the proposed model can provide a computationally fast platform for model predictive controllers to predict the future and consider meaningful inequality constraints to ensure feasibility of the motion. Such property is coming from describing dynamics with joint torques directly and therefore, reflecting hardware limitations more precisely, even in the very abstract high level template space. The proposed model produces human-like torque and ground reaction force profiles and thus, compared to point-mass models, it is more promising for precise control of humanoid robots. Despite being linear and lacking many other features of human walking like CoM excursion, knee flexion and ground clearance, we show that the proposed model can predict one of the main optimality trends in human walking, i.e. nonlinear speed-frequency relationship. In this paper, we mainly focus on describing the model and its capabilities, comparing it with human data and calculating optimal human gait variables. Setting up control problems and advanced biomechanical analysis still remain for future works.Comment: Journal paper under revie

Push recovery with stepping strategy based on time-projection control

In this paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP which is composed of three pendulums to simulate swing and torso dynamics. Based on 3LP equations, we formulate discrete LQR controllers and use a particular time-projection method to adjust the next footstep location on-line during the motion continuously. This adjustment, which is found based on both pelvis and swing foot tracking errors, naturally takes the swing dynamics into account. Suggested adjustments are added to the Cartesian 3LP gaits and converted to joint-space trajectories through inverse kinematics. Fixed and adaptive foot lift strategies also ensure enough ground clearance in perturbed walking conditions. The proposed structure is robust, yet uses very simple state estimation and basic position tracking. We rely on the physical series elastic actuators to absorb impacts while introducing simple laws to compensate their tracking bias. Extensive experiments demonstrate the functionality of different control blocks and prove the effectiveness of time-projection in extreme push recovery scenarios. We also show self-produced and emergent walking gaits when the robot is subject to continuous dragging forces. These gaits feature dynamic walking robustness due to relatively soft springs in the ankles and avoiding any Zero Moment Point (ZMP) control in our proposed architecture.Comment: 20 pages journal pape

Imprecise dynamic walking with time-projection control

We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of the 3LP model, our proposed controller projects intermediate states of the biped back to the beginning of the phase for which a discrete LQR controller is designed. After the projection, a proper control policy is generated by this LQR controller and used at the intermediate time. This control paradigm reacts to disturbances immediately and includes rules to account for swing dynamics and leg-retraction. We apply it to a simulated Atlas robot in position-control, always commanded to perform in-place walking. The stance hip joint in our robot keeps the torso upright to let the robot naturally fall, and the swing hip joint tracks the desired footstep location. Combined with simple Center of Pressure (CoP) damping rules in the low-level controller, our foot-placement enables the robot to recover from strong pushes and produce periodic walking gaits when subject to persistent sources of disturbance, externally or internally. These gaits are imprecise, i.e., emergent from asymmetry sources rather than precisely imposing a desired velocity to the robot. Also in extreme conditions, restricting linearity assumptions of the 3LP model are often violated, but the system remains robust in our simulations. An extensive analysis of closed-loop eigenvalues, viable regions and sensitivity to push timings further demonstrate the strengths of our simple controller

Approximating Steady States in Equilibrium and Nonequilibrium Condensates

We obtain approximations for the time-independent Gross-Pitaevskii (GP) and complex GP equation in two and three spatial dimensions by generalizing the divergence-free WKB method. The results include an explicit expression of a uniformly valid approximation for the condensate density of an ultracold Bose gas confined in a harmonic trap that extends into the classically forbidden region. This provides an accurate approximation of the condensate density that includes healing effects at leading order that are missing in the widely adopted Thomas-Fermi approximation. The results presented herein allow us to formulate useful approximations to a range of experimental systems including the equilibrium properties of a finite temperature Bose gas and the steady-state properties of a 2D nonequilibrium condensate. Comparisons between our asymptotic and numerical results for the conservative and forced-dissipative forms of the GP equations as applied to these systems show excellent agreement between the two sets of solutions thereby illustrating the accuracy of these approximations.Comment: 5 pages, 1 figur

Muon diffusion and electronic magnetism in Y2_2Ti2_2O7_7

We report a $\mu$SR study in a Y$_2$Ti$_2$O$_7$ single crystal. We observe slow local field fluctuations at low temperature which become faster as the temperature is increased. Our analysis suggests that muon diffusion is present in this system and becomes small below 40 K and therefore incoherent. A surprisingly strong electronic magnetic signal is observed with features typical for muons thermally diffusing towards magnetic traps below $\approx 100$ K and released from them above this temperature. We attribute the traps to Ti$^{3+}$ defects in the diluted limit. Our observations are highly relevant to the persistent spin dynamics debate on $R_2$Ti$_2$O$_7$ pyrochlores and their crystal quality

A minimal integer automaton behind crystal plasticity

Power law fluctuations and scale free spatial patterns are known to characterize steady state plastic flow in crystalline materials. In this Letter we study the emergence of correlations in a simple Frenkel-Kontorova (FK) type model of 2D plasticity which is largely free of arbitrariness, amenable to analytical study and is capable of generating critical exponents matching experiments. Our main observation concerns the possibility to reduce continuum plasticity to an integer valued automaton revealing inherent discreteness of the plastic flow.Comment: 4 pages, 5 figure

Breathers on quantized superfluid vortices

We consider the propagation of breathers along a quantized superfluid vortex. Using the correspondence between the local induction approximation (LIA) and the nonlinear Schrödinger equation, we identify a set of initial conditions corresponding to breather solutions of vortex motion governed by the LIA. These initial conditions, which give rise to a long-wavelength modulational instability, result in the emergence of large amplitude perturbations that are localized in both space and time. The emergent structures on the vortex filament are analogous to loop solitons but arise from the dual action of bending and twisting of the vortex. Although the breather solutions we study are exact solutions of the LIA equations, we demonstrate through full numerical simulations that their key emergent attributes carry over to vortex dynamics governed by the Biot-Savart law and to quantized vortices described by the Gross-Pitaevskii equation. The breather excitations can lead to self-reconnections, a mechanism that can play an important role within the crossover range of scales in superfluid turbulence. Moreover, the observation of breather solutions on vortices in a field model suggests that these solutions are expected to arise in a wide range of other physical contexts from classical vortices to cosmological strings

Magnetism in purple bronze Li0.9_{0.9}Mo6_6O17_{17}

Muon spin relaxation measurements around the 25 K metal-insulator transition in Li$_{0.9}$Mo$_6$O$_{17}$ elucidate a profound role of disorder as a possible mechanism for this transition. The relaxation rate $1/T_1$ and the muon Knight shift are incompatible with the transition to a SDW state and thus exclude it.Comment: pages 2, fig 2, The conf. on strongly correlated electron systems, SCES 2004, German