Task planning and control synthesis for robotic manipulation in space applications

Space-based robotic systems for diagnosis, repair and assembly of systems will require new techniques of planning and manipulation to accomplish these complex tasks. Results of work in assembly task representation, discrete task planning, and control synthesis which provide a design environment for flexible assembly systems in manufacturing applications, and which extend to planning of manipulatiuon operations in unstructured environments are summarized. Assembly planning is carried out using the AND/OR graph representation which encompasses all possible partial orders of operations and may be used to plan assembly sequences. Discrete task planning uses the configuration map which facilitates search over a space of discrete operations parameters in sequential operations in order to achieve required goals in the space of bounded configuration sets

The Noncommutative Anandan's Quantum Phase

In this work we study the noncommutative nonrelativistic quantum dynamics of a neutral particle, that possesses permanent magnetic and electric dipole momenta, in the presence of an electric and magnetic fields. We use the Foldy-Wouthuysen transformation of the Dirac spinor with a non-minimal coupling to obtain the nonrelativistic limit. In this limit, we will study the noncommutative quantum dynamics and obtain the noncommutative Anandan's geometric phase. We analyze the situation where magnetic dipole moment of the particle is zero and we obtain the noncommutative version of the He-McKellar-Wilkens effect. We demonstrate that this phase in the noncommutative case is a geometric dispersive phase. We also investigate this geometric phase considering the noncommutativity in the phase space and the Anandan's phase is obtained.Comment: 15 pages, revtex4, version to appear in Physical Review

Remarks on the Configuration Space Approach to Spin-Statistics

The angular momentum operators for a system of two spin-zero indistinguishable particles are constructed, using Isham's Canonical Group Quantization method. This mathematically rigorous method provides a hint at the correct definition of (total) angular momentum operators, for arbitrary spin, in a system of indistinguishable particles. The connection with other configuration space approaches to spin-statistics is discussed, as well as the relevance of the obtained results in view of a possible alternative proof of the spin-statistics theorem.Comment: 18 page

Impurity-enhanced Aharonov-Bohm effect in neutral quantum-ring magnetoexcitons

We study the role of impurity scattering on the photoluminescence (PL) emission of polarized magnetoexcitons. We consider systems where both the electron and hole are confined on a ring structure (quantum rings) as well as on a type-II quantum dot. Despite their neutral character, excitons exhibit strong modulation of energy and oscillator strength in the presence of magnetic fields. Scattering impurities enhance the PL intensity on otherwise "dark" magnetic field windows and non-zero PL emission appears for a wide magnetic field range even at zero temperature. For higher temperatures, impurity-induced anticrossings on the excitonic spectrum lead to unexpected peaks and valleys on the PL intensity as function of magnetic field. Such behavior is absent on ideal systems and can account for prominent features in recent experimental results.Comment: 7 pages, 7 figures, RevTe

Non-dipole angular anisotropy parameters of semi-filled shell atoms

We present the results of calculations of outer shell non-dipole angular anisotropy parameters for semi-filled shell atoms in the Hartree-Fock (HF) one-electron approximation and with account of inter-electron correlations in the frame of the Spin Polarized Random Phase Approximation with Exchange (SP RPAE). We demonstrate for the first time that this characteristic of photoionization process is essentially sensitive to the fact whether the photoelectron has the same or opposite spin orientation to that of the semi-filled shell.Comment: 15 pages, 8 figure

Aharonov-Bohm interference in the presence of metallic mesoscopic cylinders

This work studies the interference of electrons in the presence of a line of magnetic flux surrounded by a normal-conducting mesoscopic cylinder at low temperature. It is found that, while there is a supplementary phase contribution from each electron of the mesoscopic cylinder, the sum of these individual supplementary phases is equal to zero, so that the presence of a normal-conducting mesoscopic ring at low temperature does not change the Aharonov-Bohm interference pattern of the incident electron. It is shown that it is not possible to ascertain by experimental observation that the shielding electrons have responded to the field of an incident electron, and at the same time to preserve the interference pattern of the incident electron. It is also shown that the measuring of the transient magnetic field in the region between the two paths of an electron interference experiment with an accuracy at least equal to the magnetic field of the incident electron generates a phase uncertainty which destroys the interference pattern.Comment: 15 pages, 5 Postscript figure

Magnetic Force Exerted by the Aharonov-Bohm Line

The problem of the scattering of a charge by the Aharonov-Bohm (AB) flux line is reconsidered in terms of finite width beams. It is shown that despite the left-right symmetry in the AB scattering cross-section, the charge is scattered asymmetrically. The asymmetry (i.e. magnetic force) originates from almost forward scattering within the angular size of the incident wave. In the paraxial approximation, the real space solution to the scattering problem of a beam is found as well as the scattering S-matrix. The Boltzmann kinetics and the Landau quantization in a random AB array are considered.Comment: 5 pages, RevTeX. Discussions of paraxial approximation to the Aharonov-Bohm solution (Cornu spiral) and S-matrix, are extended. References are adde

Fluctuation theorem for constrained equilibrium systems

We discuss the fluctuation properties of equilibrium chaotic systems with constraints such as iso-kinetic and Nos\'e-Hoover thermostats. Although the dynamics of these systems does not typically preserve phase-space volumes, the average phase-space contraction rate vanishes, so that the stationary states are smooth. Nevertheless finite-time averages of the phase-space contraction rate have non-trivial fluctuations which we show satisfy a simple version of the Gallavotti-Cohen fluctuation theorem, complementary to the usual fluctuation theorem for non-equilibrium stationary states, and appropriate to constrained equilibrium states. Moreover we show these fluctuations are distributed according to a Gaussian curve for long-enough times. Three different systems are considered here, namely (i) a fluid composed of particles interacting with Lennard-Jones potentials; (ii) a harmonic oscillator with Nos\'e-Hoover thermostatting; (iii) a simple hyperbolic two-dimensional map.Comment: To appear in Phys. Rev.