Exact Solution for the Metric and the Motion of Two Bodies in (1+1) Dimensional Gravity

We present the exact solution of two-body motion in (1+1) dimensional dilaton gravity by solving the constraint equations in the canonical formalism. The determining equation of the Hamiltonian is derived in a transcendental form and the Hamiltonian is expressed for the system of two identical particles in terms of the Lambert $W$ function. The $W$ function has two real branches which join smoothly onto each other and the Hamiltonian on the principal branch reduces to the Newtonian limit for small coupling constant. On the other branch the Hamiltonian yields a new set of motions which can not be understood as relativistically correcting the Newtonian motion. The explicit trajectory in the phase space $(r, p)$ is illustrated for various values of the energy. The analysis is extended to the case of unequal masses. The full expression of metric tensor is given and the consistency between the solution of the metric and the equations of motion is rigorously proved.Comment: 34 pages, LaTeX, 16 figure

Statistical Mechanics of Relativistic One-Dimensional Self-Gravitating Systems

We consider the statistical mechanics of a general relativistic one-dimensional self-gravitating system. The system consists of $N$-particles coupled to lineal gravity and can be considered as a model of $N$ relativistically interacting sheets of uniform mass. The partition function and one-particle distitrubion functions are computed to leading order in $1/c$ where $c$ is the speed of light; as $c\to\infty$ results for the non-relativistic one-dimensional self-gravitating system are recovered. We find that relativistic effects generally cause both position and momentum distribution functions to become more sharply peaked, and that the temperature of a relativistic gas is smaller than its non-relativistic counterpart at the same fixed energy. We consider the large-N limit of our results and compare this to the non-relativistic case.Comment: latex, 60 pages, 22 figure

Exact Solutions of Relativistic Two-Body Motion in Lineal Gravity

We develop the canonical formalism for a system of $N$ bodies in lineal gravity and obtain exact solutions to the equations of motion for N=2. The determining equation of the Hamiltonian is derived in the form of a transcendental equation, which leads to the exact Hamiltonian to infinite order of the gravitational coupling constant. In the equal mass case explicit expressions of the trajectories of the particles are given as the functions of the proper time, which show characteristic features of the motion depending on the strength of gravity (mass) and the magnitude and sign of the cosmological constant. As expected, we find that a positive cosmological constant has a repulsive effect on the motion, while a negative one has an attractive effect. However, some surprising features emerge that are absent for vanishing cosmological constant. For a certain range of the negative cosmological constant the motion shows a double maximum behavior as a combined result of an induced momentum-dependent cosmological potential and the gravitational attraction between the particles. For a positive cosmological constant, not only bounded motions but also unbounded ones are realized. The change of the metric along the movement of the particles is also exactly derived.Comment: 37 pages, Latex, 24 figure

Entropy and Mass Bounds of Kerr-de Sitter Spacetimes

We consider Kerr-de Sitter spacetimes and evaluate their mass, angular momentum and entropy according to the boundary counterterm prescription. We provide a physicall interpretation for angular velocity and angular momentum at future/past infinity. We show that the entropy of the four-dimensional Kerr-de Sitter spacetimes is less than of pure de Sitter spacetime in agreement to the entropic N-bound. Moreover, we show that maximal mass conjecture which states any asymptotically de Sitter spacetime with mass greater than de Sitter has a cosmological singularity is respected by asymptotically de Sitter spacetimes with rotation. We furthermore consider the possibility of strengthening the conjecture to state that any asymptotically dS spacetime will have mass greater than dS if and only if it has a cosmological singularity and find that Kerr-de Sitter spacetimes do not respect this stronger statement. We investigate the behavior of the c-function for the Kerr-de Sitter spacetimes and show that it is no longer isotropic. However an average of the c-function over the angular variables yields a renormalization group flow in agreement with the expansion of spacetime at future infinity.Comment: 13 pages, 3 figures, one figure added, typos correcte

Action, Mass and Entropy of Schwarzschild-de Sitter black holes and the de Sitter/CFT Correspondence

We investigate a recent proposal for defining a conserved mass in asymptotically de Sitter spacetimes that is based on a conjectured holographic duality between such spacetimes and Euclidean conformal field theory. We show that an algorithm for deriving such terms in asymptotically anti de Sitter spacetimes has an asymptotically de Sitter counterpart, and derive the explicit form for such terms up to 9 dimensions. We show that divergences of the on-shell action for de Sitter spacetime are removed in any dimension in inflationary coordinates, but in covering coordinates a linear divergence remains in odd dimensions that cannot be cancelled by local terms that are polynomial in boundary curvature invariants. We show that the class of Schwarzschild-de Sitter black holes up to 9 dimensions has finite action and conserved mass, and construct a definition of entropy outside the cosmological horizon by generalizing the Gibbs-Duhem relation in asymptotically dS spacetimes. The entropy is agreement with that obtained from CFT methods in $d=2$. In general our results provide further supporting evidence for a dS/CFT correspondence, although some important interpretive problems remain.Comment: 16 pages, LaTeX, typos correcte

Chaos in an Exact Relativistic 3-body Self-Gravitating System

We consider the problem of three body motion for a relativistic one-dimensional self-gravitating system. After describing the canonical decomposition of the action, we find an exact expression for the 3-body Hamiltonian, implicitly determined in terms of the four coordinate and momentum degrees of freedom in the system. Non-relativistically these degrees of freedom can be rewritten in terms of a single particle moving in a two-dimensional hexagonal well. We find the exact relativistic generalization of this potential, along with its post-Newtonian approximation. We then specialize to the equal mass case and numerically solve the equations of motion that follow from the Hamiltonian. Working in hexagonal-well coordinates, we obtaining orbits in both the hexagonal and 3-body representations of the system, and plot the Poincare sections as a function of the relativistic energy parameter $\eta$. We find two broad categories of periodic and quasi-periodic motions that we refer to as the annulus and pretzel patterns, as well as a set of chaotic motions that appear in the region of phase-space between these two types. Despite the high degree of non-linearity in the relativistic system, we find that the the global structure of its phase space remains qualitatively the same as its non-relativisitic counterpart for all values of $\eta$ that we could study. However the relativistic system has a weaker symmetry and so its Poincare section develops an asymmetric distortion that increases with increasing $\eta$. For the post-Newtonian system we find that it experiences a KAM breakdown for $\eta \simeq 0.26$: above which the near integrable regions degenerate into chaos.Comment: latex, 65 pages, 36 figures, high-resolution figures available upon reques

Pair Production of Topological anti de Sitter Black Holes

The pair creation of black holes with event horizons of non-trivial topology is described. The spacetimes are all limiting cases of the cosmological $C$ metric. They are generalizations of the $(2+1)$ dimensional black hole and have asymptotically anti de Sitter behaviour. Domain walls instantons can mediate their pair creation for a wide range of mass and charge.Comment: 4 pages, uses late

Quasiclassical Equations of Motion for Nonlinear Brownian Systems

Following the formalism of Gell-Mann and Hartle, phenomenological equations of motion are derived from the decoherence functional formalism of quantum mechanics, using a path-integral description. This is done explicitly for the case of a system interacting with a ``bath'' of harmonic oscillators whose individual motions are neglected. The results are compared to the equations derived from the purely classical theory. The case of linear interactions is treated exactly, and nonlinear interactions are compared using classical and quantum perturbation theory.Comment: 24 pages, CALT-68-1848 (RevTeX 2.0 macros

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace