Kaluza-Klein electrically charged black branes in M-theory

We present a class of Kaluza-Klein electrically charged black p-brane solutions of ten-dimensional, type IIA superstring theory. Uplifting to eleven dimensions these solutions are studied in the context of M-theory. They can be interpreted either as a p+1 extended object trapped around the eleventh dimension along which momentum is flowing or as a boost of the following backgrounds: the Schwarzschild black (p+1)-brane or the product of the (10-p)-dimensional Euclidean Schwarzschild manifold with the (p+1)-dimensional Minkowski spacetime.Comment: 16 pages, uses latex and epsf macro, figures include

Persistence of magnons in a site-diluted dimerized frustrated antiferromagnet

We present inelastic neutron scattering and thermodynamic measurements characterizing the magnetic excitations in a disordered non-magnetic substituted spin-liquid antiferromagnet. The parent compound Ba3Mn2O8 is a dimerized, quasi-two-dimensional geometrically frustrated quantum disordered antiferromagnet. We substitute this compound with non-magnetic vanadium for the S = 1 manganese atoms, Ba3(Mn1-xVx)2O8, and find that the singlet-triplet excitations which dominate the spectrum of the parent compound persist for the full range of substitution examined, x = 0.02 to 0.3. We also observe additional low-energy magnetic fluctuations which are enhanced at the greatest substitution values. These excitations may be a precursor to a low-temperature random singlet phase which may exist in Ba3(Mn1-xVx)2O8Comment: 30 pages, 9 figure

Locating Boosted Kerr and Schwarzschild Apparent Horizons

We describe a finite-difference method for locating apparent horizons and illustrate its capabilities on boosted Kerr and Schwarzschild black holes. Our model spacetime is given by the Kerr-Schild metric. We apply a Lorentz boost to this spacetime metric and then carry out a 3+1 decomposition. The result is a slicing of Kerr/Schwarzschild in which the black hole is propagated and Lorentz contracted. We show that our method can locate distorted apparent horizons efficiently and accurately.Comment: Submitted to Physical Review D. 12 pages and 22 figure

CREBBP and WDR 24 Identified as Candidate Genes for Quantitative Variation in Red-Brown Plumage Colouration in the Chicken

Plumage colouration in birds is important for a plethora of reasons, ranging from camouflage, sexual signalling, and species recognition. The genes underlying colour variation have been vital in understanding how genes can affect a phenotype. Multiple genes have been identified that affect plumage variation, but research has principally focused on major-effect genes (such as those causing albinism, barring, and the like), rather than the smaller effect modifier loci that more subtly influence colour. By utilising a domestic × wild advanced intercross with a combination of classical QTL mapping of red colouration as a quantitative trait and a targeted genetical genomics approach, we have identified five separate candidate genes (CREBBP, WDR24, ARL8A, PHLDA3, LAD1) that putatively influence quantitative variation in red-brown colouration in chickens. By treating colour as a quantitative rather than qualitative trait, we have identified both QTL and genes of small effect. Such small effect loci are potentially far more prevalent in wild populations, and can therefore potentially be highly relevant to colour evolution.Funding agencies:  Carl Tryggers Stiftelse; Swedish Research CouncilSwedish Research Council; Swedish Research Council for Environment, Agricultural Sciences and Spatial Planning (FORMAS)Swedish Research Council Formas; European Research CouncilEuropean Research Council (ER</p

Area Invariance of Apparent Horizons under Arbitrary Boosts

It is a well known analytic result in general relativity that the 2-dimensional area of the apparent horizon of a black hole remains invariant regardless of the motion of the observer, and in fact is independent of the $t=constant$ slice, which can be quite arbitrary in general relativity. Nonetheless the explicit computation of horizon area is often substantially more difficult in some frames (complicated by the coordinate form of the metric), than in other frames. Here we give an explicit demonstration for very restricted metric forms of (Schwarzschild and Kerr) vacuum black holes. In the Kerr-Schild coordinate expression for these spacetimes they have an explicit Lorentz-invariant form. We consider {\it boosted} versions with the black hole moving through the coordinate system. Since these are stationary black hole spacetimes, the apparent horizons are two dimensional cross sections of their event horizons, so we compute the areas of apparent horizons in the boosted space with (boosted) $t = constant$, and obtain the same result as in the unboosted case. Note that while the invariance of area is generic, we deal only with black holes in the Kerr-Schild form, and consider only one particularly simple change of slicing which amounts to a boost. Even with these restrictions we find that the results illuminate the physics of the horizon as a null surface and provide a useful pedagogical tool. As far as we can determine, this is the first explicit calculation of this type demonstrating the area invariance of horizons. Further, these calculations are directly relevant to transformations that arise in computational representation of moving black holes. We present an application of this result to initial data for boosted black holes.Comment: 19 pages, 3 figures. Added a new section and 2 plots along with a coautho

Analysis of ``Gauge Modes'' in Linearized Relativity

By writing the complete set of $3 + 1$ (ADM) equations for linearized waves, we are able to demonstrate the properties of the initial data and of the evolution of a wave problem set by Alcubierre and Schutz. We show that the gauge modes and constraint error modes arise in a straightforward way in the analysis, and are of a form which will be controlled in any well specified convergent computational discretization of the differential equations.Comment: 11pages LaTe

On dilaton dependence of type II superstring action

The supersymmetric action of type IIA D=10 superstring in N=2a, D=10 supergravity background can be derived by double dimensional reduction of the action of supermembrane coupled to D=11 supergravity. We demonstrate that the background Ramond-Ramond fields appear in the resulting superstring action with an extra factor of exponential of the dilaton.Comment: 6 pages, harvmac (references added

A Hierarchical Hybrid Architecture for Mission-Oriented Robot Control

The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-03413-3_26In this work is presented a general architecture for a multi physical agent network system based on the coordination and the behaviour management. The system is organised in a hierarchical structure where are distinguished the individual agent actions and the collective ones linked to the whole agent network. Individual actions are also organised in a hybrid layered system that take advantages from reactive and deliberative control. Sensing system is involved as well in the behaviour architecture improving the information acquisition performance.This work has been partially supported by the Spanish Ministry of Economy and Competitiveness under the CICYT project Mission Based Control (COBAMI): DPI2011-28507-C02-02, under coordinated project High Integrity Partitioned Embedded Systems (Hi-PartES): TIN2011-28567-C03-03, and under the collaborative research project supported by the European Union MultiPARTES Project: FP7-ICT 287702. 2011-14.Muñoz Alcobendas, M.; Munera Sánchez, E.; Blanes Noguera, F.; Simó Ten, JE. (2013). A Hierarchical Hybrid Architecture for Mission-Oriented Robot Control. En ROBOT2013: First Iberian Robotics Conference: Advances in Robotics, Vol. 1. Springer. 363-380. https://doi.org/10.1007/978-3-319-03413-3_26S363380Aragues, R.: Consistent data association in multi-robot systems with limited communications. Robotics: Science and Systems, 97–104 (2010)Aragues, R., Cortes, J., Sagues, C.: Distributed consensus on robot networks for dynamically merging feature-based maps. IEEE Transactions on Robotics (2012)Arkin, R.C.: Motor schema based mobile robot navigation. The International Journal of Robotics Research 8(4), 92–112 (1989)Asama, H., Habib, M.K., Endo, I., Ozaki, K., Matsumoto, A., Ishida, Y.: Functional distribution among multiple mobile robots in an autonomous and decentralized robot system. In: Proceedings of the 1991 IEEE International Conference on Robotics and Automation. IEEE (1991)Benet, G., Blanes, F., Martínez, M., Simó, J.: A multisensor robot distributed architecture. In: IFAC Conference INCOM 1998 (1998)Brooks, R.: A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation 2(1), 14–23 (1986)Canas, J.M., Matellán, V.: Dynamic schema hierarchies for an autonomous robot. In: Garijo, F.J., Riquelme, J.-C., Toro, M. (eds.) IBERAMIA 2002. LNCS (LNAI), vol. 2527, pp. 903–912. Springer, Heidelberg (2002)Choset, H., Nagatani, K.: Topological simultaneous localization and mapping (SLAM): toward exact localization without explicit localization. IEEE Transactions on Robotics and Automation 17(2), 125–137 (2001)Fox, D., Burgard, W., Dellaert, F., Thrun, S.: Monte carlo localization: Efficient position estimation for mobile robots. American Association for Artificial Intelligence, 343–349 (1999)Hu, J., Xie, L., Xu, J.: Vision-based multi-agent cooperative target search. In: Control Automation Robotics & Vision (ICARCV), pp. 895–900 (2012)Huq, R., Mann, G.K.I., Gosine, R.G.: Behavior-modulation technique in mobile robotics using fuzzy discrete event system. IEEE Transactions on Robotics 22(5), 903–916 (2006)Jayasiri, A., Mann, G., Gosine, R.G.: Mobile robot behavior coordination using supervisory control of fuzzy discrete event systems. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 690–695 (2009)Jayasiri, A., Mann, G.K.I., Gosine, R.G.: Behavior coordination of mobile robotics using supervisory control of fuzzy discrete event systems. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 41(5), 1224–1238 (2011)Koenig, N., Howard, A.: Gazebo-3d multiple robot simulator with dynamics. Technical report (2006)Lin, F., Ying, H.: Modeling and control of fuzzy discrete event systems. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 32(4), 408–415 (2002)Madden, J.D.: Multi-robot system based on model of wolf hunting behavior to emulate wolf and elk interactions. In: 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO, pp. 1043–1050 (2010)Mataric, M.J.: Interaction and intelligent behavior. Technical report, DTIC Document (1994)Olivera, V.M., Molina, J.M., Sommaruga, L., et al.: Fuzzy cooperation of autonomous robots. In: Fourth International System on Intelligent Robotics Systems, Lisboa, Portugal (1996)McGann, C., Py, F., Rajan, K., Thomas, H., Henthorn, R., McEwen, R.: A deliberative architecture for auv control. In: IEEE International Conference on Robotics and Automation, ICRA 2008, pp. 1049–1054. IEEE (2008)Munera, E., Muñoz, M., Simó, J., Blanes, F.: Humanoid Robot Self-Location In SPL League. In: Comité Español de Automática (CEA), XXXIII Jornadas de Automatica, 797–804 (2012)Proetzsch, M., Luksch, T., Berns, K.: Development of complex robotic systems using the behavior-based control architecture iB2C. Robotics and Autonomous Systems 58(1), 46–67 (2010)Qiu, D.: Supervisory control of fuzzy discrete event systems: a formal approach. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 35(1), 72–88 (2005)Aladebaran Robotics. NAO Software Documentation 1.12. Technical report (2012)St-Pierre, M., Gingras, D.: Comparison between the unscented Kalman filter and the extended Kalman filter for the position estimation module of an integrated navigation information system. In: 2004 IEEE Intelligent Vehicles Symposium, pp. 831–835 (2004)Stoytchev, A., Arkin, R.C.: Combining deliberation, reactivity, and motivation in the context of a behavior-based robot architecture. In: Proceedings of the 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 290–295 (2001)Nicolau, V., Muñoz, M., Simó, J.: KertrolBot Platform. SiDiReLi: Distributed System with Limited Resources. Technical report, Institute of Control Systems and Industrial Computing - Polytechnic University of Valencia, Valencia, Spain (2011