Probabilistically Safe Avoidance of Dynamic Obstacles with Uncertain Motion Patterns

This paper presents a real-time path planning algorithm which can guarantee probabilistic feasibility for autonomous robots subject to process noise and an uncertain environment, including dynamic obstacles with uncertain motion patterns. The key contribution of the work is the integration of a novel method for modeling dynamic obstacles with uncertain future trajectories. The method, denoted as RR-GP, uses a learned motion pattern model of the dynamic obstacles to make long-term predictions of their future paths. This is done by combining the flexibility of Gaussian processes (GP) with the efficiency of RRT-Reach, a sampling-based reachability computation method which ensures dynamic feasibility. This prediction model is then utilized within chance-constrained rapidly-exploring random trees (CC-RRT), which uses chance constraints to explicitly achieve probabilistic constraint satisfaction while maintaining the computational benefits of sampling-based algorithms. With RR-GP embedded in the CC-RRT framework, theoretical guarantees can be demonstrated for linear systems subject to Gaussian uncertainty, though the extension to nonlinear systems is also considered. Simulation results show that the resulting approach can be used in real-time to efficiently and accurately execute safe paths

Quantum Fields on the Groenewold-Moyal Plane: C, P, T and CPT

We show that despite the inherent non-locality of quantum field theories on the Groenewold-Moyal (GM) plane, one can find a class of ${\bf C}$, ${\bf P}$, ${\bf T}$ and ${\bf CPT}$ invariant theories. In particular, these are theories without gauge fields or with just gauge fields and no matter fields. We also show that in the presence of gauge fields, one can have a field theory where the Hamiltonian is ${\bf C}$ and ${\bf T}$ invariant while the $S$-matrix violates ${\bf P}$ and ${\bf CPT}$. In non-abelian gauge theories with matter fields such as the electro-weak and $QCD$ sectors of the standard model of particle physics, ${\bf C}$, ${\bf P}$, ${\bf T}$ and the product of any pair of them are broken while ${\bf CPT}$ remains intact for the case $\theta^{0i} =0$. (Here $x^{\mu} \star x^{\nu} - x^{\nu} \star x^{\mu} = i \theta^{\mu \nu}$, $x^{\mu}$: coordinate functions, $\theta^{\mu \nu} = -\theta^{\nu \mu}=$ constant.) When $\theta^{0i} \neq 0$, it contributes to breaking also ${\bf P}$ and ${\bf CPT}$. It is known that the $S$-matrix in a non-abelian theory depends on $\theta^{\mu \nu}$ only through $\theta^{0i}$. The $S$-matrix is frame dependent. It breaks (the identity component of the) Lorentz group. All the noncommutative effects vanish if the scattering takes place in the center-of-mass frame, or any frame where $\theta^{0i}P^{\textrm{in}}_{i} = 0$, but not otherwise. ${\bf P}$ and ${\bf CPT}$ are good symmetries of the theory in this special case.Comment: 18 pages, 1 figure, revised, 2 references adde

T and CPT Symmetries in Entangled Neutral Meson Systems

Genuine tests of an asymmetry under T and/or CPT transformations imply the interchange between in-states and out-states. I explain a methodology to perform model-indepedent separate measurements of the three CP, T and CPT symmetry violations for transitions involving the decay of the neutral meson systems in B- and {\Phi}-factories. It makes use of the quantum-mechanical entanglement only, for which the individual state of each neutral meson is not defined before the decay of its orthogonal partner. The final proof of the independence of the three asymmetries is that no other theoretical ingredient is involved and that the event sample corresponding to each case is different from the other two. The experimental analysis for the measurements of these three asymmetries as function of the time interval {\Delta}t > 0 between the first and second decays is discussed, as well as the significance of the expected results. In particular, one may advance a first observation of true, direct, evidence of Time-Reserval-Violation in B-factories by many standard deviations from zero, without any reference to, and independent of, CP-Violation. In some quantum gravity framework the CPT-transformation is ill-defined, so there is a resulting loss of particle-antiparticle identity. This mechanism induces a breaking of the EPR correlation in the entanglement imposed by Bose statistics to the neutral meson system, the so-called {\omega}-effect. I present results and prospects for the {\omega}-parameter in the correlated neutral meson-antimeson states.Comment: Proc. DISCRETE 2010, Symposium on Prospects in the Physics of Discrete Symmetries, December 2010, Rom

Cytosolic chaperones influence the fate of a toxin dislocated from the endoplasmic reticulum

The plant cytotoxin ricin enters target mammalian cells by receptor-mediated endocytosis and undergoes retrograde transport to the endoplasmic reticulum (ER). Here, its catalytic A chain (RTA) is reductively separated from the cell-binding B chain, and free RTA enters the cytosol where it inactivates ribosomes. Cytosolic entry requires unfolding of RTA and dislocation across the ER membrane such that it arrives in the cytosol in a vulnerable, nonnative conformation. Clearly, for such a dislocated toxin to become active, it must avoid degradation and fold to a catalytic conformation. Here, we show that, in vitro, Hsc70 prevents aggregation of heat-treated RTA, and that RTA catalytic activity is recovered after chaperone treatment. A combination of pharmacological inhibition and cochaperone expression reveals that, in vivo, cytosolic RTA is scrutinized sequentially by the Hsc70 and Hsp90 cytosolic chaperone machineries, and that its eventual fate is determined by the balance of activities of cochaperones that regulate Hsc70 and Hsp90 functions. Cytotoxic activity follows Hsc70-mediated escape of RTA from an otherwise destructive pathway facilitated by Hsp90. We demonstrate a role for cytosolic chaperones, proteins typically associated with folding nascent proteins, assembling multimolecular protein complexes and degrading cytosolic and stalled, cotranslocational clients, in a toxin triage, in which both toxin folding and degradation are initiated from chaperone-bound states

Cytosolic chaperones influence the fate of a toxin dislocated from the endoplasmic reticulum

The plant cytotoxin ricin enters target mammalian cells by receptor-mediated endocytosis and undergoes retrograde transport to the endoplasmic reticulum (ER). Here, its catalytic A chain (RTA) is reductively separated from the cell-binding B chain, and free RTA enters the cytosol where it inactivates ribosomes. Cytosolic entry requires unfolding of RTA and dislocation across the ER membrane such that it arrives in the cytosol in a vulnerable, nonnative conformation. Clearly, for such a dislocated toxin to become active, it must avoid degradation and fold to a catalytic conformation. Here, we show that, in vitro, Hsc70 prevents aggregation of heat-treated RTA, and that RTA catalytic activity is recovered after chaperone treatment. A combination of pharmacological inhibition and cochaperone expression reveals that, in vivo, cytosolic RTA is scrutinized sequentially by the Hsc70 and Hsp90 cytosolic chaperone machineries, and that its eventual fate is determined by the balance of activities of cochaperones that regulate Hsc70 and Hsp90 functions. Cytotoxic activity follows Hsc70-mediated escape of RTA from an otherwise destructive pathway facilitated by Hsp90. We demonstrate a role for cytosolic chaperones, proteins typically associated with folding nascent proteins, assembling multimolecular protein complexes and degrading cytosolic and stalled, cotranslocational clients, in a toxin triage, in which both toxin folding and degradation are initiated from chaperone-bound states

Digraph Complexity Measures and Applications in Formal Language Theory

We investigate structural complexity measures on digraphs, in particular the cycle rank. This concept is intimately related to a classical topic in formal language theory, namely the star height of regular languages. We explore this connection, and obtain several new algorithmic insights regarding both cycle rank and star height. Among other results, we show that computing the cycle rank is NP-complete, even for sparse digraphs of maximum outdegree 2. Notwithstanding, we provide both a polynomial-time approximation algorithm and an exponential-time exact algorithm for this problem. The former algorithm yields an O((log n)^(3/2))- approximation in polynomial time, whereas the latter yields the optimum solution, and runs in time and space O*(1.9129^n) on digraphs of maximum outdegree at most two. Regarding the star height problem, we identify a subclass of the regular languages for which we can precisely determine the computational complexity of the star height problem. Namely, the star height problem for bideterministic languages is NP-complete, and this holds already for binary alphabets. Then we translate the algorithmic results concerning cycle rank to the bideterministic star height problem, thus giving a polynomial-time approximation as well as a reasonably fast exact exponential algorithm for bideterministic star height.Comment: 19 pages, 1 figur

Thermodynamics of the superconducting state in Calcium at 200 GPa

The thermodynamic parameters of the superconducting state in Calcium under the pressure at 200 GPa were calculated. The Coulomb pseudopotential values ($\mu^{\star}$) from 0.1 to 0.3 were taken into consideration. It has been shown, that the specific heat's jump at the critical temperature and the thermodynamic critical field near zero Kelvin strongly decrease with $\mu^{\star}$. The dimensionless ratios $r_{1}\equiv \Delta C(T_{C})/C^{N}(T_{C})$ and $r_{2}\equiv T_{C}C^{N}(T_{C})/H^{2}_{C}(0)$ significantly differ from the predictions based on the BCS model. In particular, $r_{1}$ decreases from 2.64 to 1.97 with the Coulomb pseudopotential; whereas $r_{2}$ increases from 0.140 to 0.157. The numerical results have been supplemented by the analytical approach.Comment: 7 pages, 6 figure

Quantum Fields on the Groenewold-Moyal Plane

We give an introductory review of quantum physics on the noncommutative spacetime called the Groenewold-Moyal plane. Basic ideas like star products, twisted statistics, second quantized fields and discrete symmetries are discussed. We also outline some of the recent developments in these fields and mention where one can search for experimental signals.Comment: 50 pages, 3 figures. v2: published versio

Normal tau polarisation as a sensitive probe of CP violation in chargino decay

CP violation in the spin-spin correlations in chargino production and subsequent two-body decay into a tau and a tau-sneutrino is studied at the ILC. From the normal polarisation of the tau, an asymmetry is defined to test the CP-violating phase of the higgsino mass parameter \mu. Asymmetries of more than \pm70% are obtained, also in scenarios with heavy first and second generation sfermions. Bounds on the statistical significances of the CP asymmetries are estimated. As a result, the normal tau polarisation in the chargino decay is one of the most sensitive probes to constrain or measure the phase \phi_\mu at the ILC, motivating further detailed experimental studies.Comment: 20 pages, 10 figures, gzipped tar fil

First Production and Detection of Cold Antihydrogen Atoms

The ATHENA experiment recently produced the first atoms of cold antihydrogen. This paper gives a brief review of how this was achieved.Comment: Invited talk at Int. Conf. on Low Energy Antiprotons 2003 (LEAP03), to be published in NIM