Obstacle Avoidance and Proscriptive Bayesian Programming

Unexpected events and not modeled properties of the robot environment are some of the challenges presented by situated robotics research field. Collision avoidance is a basic security requirement and this paper proposes a probabilistic approach called Bayesian Programming, which aims to deal with the uncertainty, imprecision and incompleteness of the information handled to solve the obstacle avoidance problem. Some examples illustrate the process of embodying the programmer preliminary knowledge into a Bayesian program and experimental results of these examples implementation in an electrical vehicle are described and commented. A video illustration of the developed experiments can be found at http://www.inrialpes.fr/sharp/pub/laplac

Proscriptive Bayesian Programming Application for Collision Avoidance

Evolve safely in an unchanged environment and possibly following an optimal trajectory is one big challenge presented by situated robotics research field. Collision avoidance is a basic security requirement and this paper proposes a solution based on a probabilistic approach called Bayesian Programming. This approach aims to deal with the uncertainty, imprecision and incompleteness of the information handled. Some examples illustrate the process of embodying the programmer preliminary knowledge into a Bayesian program and experimental results of these examples implementation in an electrical vehicle are described and commented. Some videos illustrating these experiments can be found at http://www-laplace.imag.fr

Contribution of Twist-3 Multi-Gluon Correlation Functions to Single Spin Asymmetry in Semi-Inclusive Deep Inelastic Scattering

As a possible source of the single transverse spin asymmetry, we study the contribution from purely gluonic correlation represented by the twist-3 ``three-gluon correlation" functions in the transversely polarized nucleon. We first define a complete set of the relevant three-gluon correlation functions, and then derive its contribution to the twist-3 single-spin-dependent cross section for the $D$-meson production in semi-inclusive deep inelastic scattering, which is relevant to determine the three-gluon correlations. Our cross-section formula differs from the corresponding result in the literature, and the origin of the discrepancy is clarified.Comment: 29 pages, 3 figures minor corrections; version to appear in Phys. Rev.

Thermoluminescence of Simulated Interstellar Matter after Gamma-ray Irradiation

Interstellar matter is known to be strongly irradiated by radiation and several types of cosmic ray particles. Simulated interstellar matter, such as forsterite $\rm Mg_{2}SiO_{4}$, enstatite $\rm MgSiO_{3}$ and magnesite $\rm MgCO_{3}$ has been irradiated with the $\rm ^{60}Co$ gamma-rays in liquid nitrogen, and also irradiated with fast neutrons at 10 K and 70 K by making use of the low-temperature irradiation facility of Kyoto University Reactor (KUR-LTL. Maximum fast neutron dose is $10^{17}n_f{\rm /cm^{2}}$). After irradiation, samples are stored in liquid nitrogen for several months to allow the decay of induced radioactivity. We measured the luminescence spectra of the gamma ray irradiated samples during warming to 370K using a spectrophotometer. For the forsterite and magnesite, the spectra exhibit a rather intense peak at about 645 -- 655 nm and 660 nm respectively, whereas luminescence scarcely appeared in olivine sample. The spectra of forsterite is very similar to the ERE of the Red Rectangle

Critical Exponents and Stability at the Black Hole Threshold for a Complex Scalar Field

This paper continues a study on Choptuik scaling in gravitational collapse of a complex scalar field at the threshold for black hole formation. We perform a linear perturbation analysis of the previously derived complex critical solution, and calculate the critical exponent for black hole mass, $\gamma \approx 0.387106$. We also show that this critical solution is unstable via a growing oscillatory mode.Comment: 15 pages of latex/revtex; added details of numerics, in press in Phys Rev D; 1 figure included, or available by anonymous ftp to ftp://ftp.itp.ucsb.edu/figures/nsf-itp-95-58.ep

Dust in the wind: Crystalline silicates, corundum and periclase in PG 2112+059

We have determined the mineralogical composition of dust in the Broad Absorption Line (BAL) quasar PG 2112+059 using mid-infrared spectroscopy obtained with the Spitzer Space Telescope. From spectral fitting of the solid state features, we find evidence for Mg-rich amorphous silicates with olivine stoichiometry, as well as the first detection of corundum (Al_2O_3) and periclase (MgO) in quasars. This mixed composition provides the first direct evidence for a clumpy density structure of the grain forming region. The silicates in total encompass 56.5% of the identified dust mass, while corundum takes up 38 wt.%. Depending on the choice of continuum, a range of mass fractions is observed for periclase ranging from 2.7% in the most conservative case to 9% in a less constrained continuum. In addition, we identify a feature at 11.2 micron as the crystalline silicate forsterite, with only a minor contribution from polycyclic aromatic hydrocarbons. The 5% crystalline silicate fraction requires high temperatures such as those found in the immediate quasar environment in order to counteract rapid destruction from cosmic rays.Comment: 2 figure

Color Molecular-Dynamics for High Density Matter

We propose a microscopic simulation for quark many-body system based on molecular dynamics. Using color confinement and one-gluon exchange potentials together with the meson exchange potentials between quarks, we construct nucleons and nuclear/quark matter. Statistical feature and the dynamical change between confinement and deconfinement phases are studied with this molecular dynamics simulation.Comment: 4 pages, 3 figure

Investigation of passive flow control techniques to enhance the stall characteristics of a microlight aircraft

This report investigates the enhancement of aerodynamic stall characteristics of a Skyranger microlight aircraft by the use of passive flow control techniques, namely vortex generators and turbulators. Each flow control device is designed and scaled to application conditions. Force balance measurements and surface oil flow visualisation are carried out on a half-model of the microlight to further investigate the nature of the flow on the aircraft with and without the flow control devices. The results indicate a clear advantage to the use of turbulators compared with vortex generators. Turbulators increased the maximum lift coefficient by 2.8%, delayed the onset of stall by increasing the critical angle by 17.6% and reduced the drag penalty at both lower (pre-stall) and higher angles of attack by 8% compared to vortex generators. With vortex generators applied, the results indicated a delayed stall with an increase in the critical angle by 2% and a reduced drag penalty at higher angles of attack