Performance constraints and compensation for teleoperation with delay

A classical control perspective is used to characterize performance constraints and evaluate compensation techniques for teleoperation with delay. Use of control concepts such as open and closed loop performance, stability, and bandwidth yield insight to the delay problem. Teleoperator performance constraints are viewed as an open loop time delay lag and as a delay-induced closed loop bandwidth constraint. These constraints are illustrated with a simple analytical tracking example which is corroborated by a real time, 'man-in-the-loop' tracking experiment. The experiment also provides insight to those controller characteristics which are unique to a human operator. Predictive displays and feedforward commands are shown to provide open loop compensation for delay lag. Low pass filtering of telemetry or feedback signals is interpreted as closed loop compensation used to maintain a sufficiently low bandwidth for stability. A new closed loop compensation approach is proposed that uses a reactive (or force feedback) hand controller to restrict system bandwidth by impeding operator inputs

An Active-Sterile Neutrino Transformation Solution for r-Process Nucleosynthesis

We discuss how matter-enhanced active-sterile neutrino transformation in both neutrino and antineutrino channels could enable the production of the rapid neutron capture (r-process) nuclei in neutrino-heated supernova ejecta. In this scheme the lightest sterile neutrino would be heavier than the electron neutrino and split from it by a vacuum mass-squared difference roughly between 3 and 70 eV$^2$ and vacuum mixing angle given by $\sin^2 2\theta_{es} > 10^{-4}$.Comment: 27 pages plus twelve figures. Submitted to Phys. Rev.

Ultracold, radiative charge transfer in hybrid Yb ion - Rb atom traps

Ultracold hybrid ion-atom traps offer the possibility of microscopic manipulation of quantum coherences in the gas using the ion as a probe. However, inelastic processes, particularly charge transfer can be a significant process of ion loss and has been measured experimentally for the Yb$^{+}$ ion immersed in a Rb vapour. We use first-principles quantum chemistry codes to obtain the potential energy curves and dipole moments for the lowest-lying energy states of this complex. Calculations for the radiative decay processes cross sections and rate coefficients are presented for the total decay processes. Comparing the semi-classical Langevin approximation with the quantum approach, we find it provides a very good estimate of the background at higher energies. The results demonstrate that radiative decay mechanisms are important over the energy and temperature region considered. In fact, the Langevin process of ion-atom collisions dominates cold ion-atom collisions. For spin dependent processes \cite{kohl13} the anisotropic magnetic dipole-dipole interaction and the second-order spin-orbit coupling can play important roles, inducing couplingbetween the spin and the orbital motion. They measured the spin-relaxing collision rate to be approximately 5 orders of magnitude higher than the charge-exchange collision rate \cite{kohl13}. Regarding the measured radiative charge transfer collision rate, we find that our calculation is in very good agreement with experiment and with previous calculations. Nonetheless, we find no broad resonances features that might underly a strong isotope effect. In conclusion, we find, in agreement with previous theory that the isotope anomaly observed in experiment remains an open question.Comment: 7 figures, 1 table accepted for publication in J. Phys. B: At. Mol. Opt. Phys. arXiv admin note: text overlap with arXiv:1107.114

Modeling the non-recycled Fermi gamma-ray pulsar population

We use Fermi Gamma-ray Space Telescope detections and upper limits on non-recycled pulsars obtained from the Large Area Telescope (LAT) to constrain how the gamma-ray luminosity L depends on the period P and the period derivative \dot{P}. We use a Bayesian analysis to calculate a best-fit luminosity law, or dependence of L on P and \dot{P}, including different methods for modeling the beaming factor. An outer gap (OG) magnetosphere geometry provides the best-fit model, which is L \propto P^{-a} \dot{P}^{b} where a=1.36\pm0.03 and b=0.44\pm0.02, similar to but not identical to the commonly assumed L \propto \sqrt{\dot{E}} \propto P^{-1.5} \dot{P}^{0.5}. Given upper limits on gamma-ray fluxes of currently known radio pulsars and using the OG model, we find that about 92% of the radio-detected pulsars have gamma-ray beams that intersect our line of sight. By modeling the misalignment of radio and gamma-ray beams of these pulsars, we find an average gamma-ray beaming solid angle of about 3.7{\pi} for the OG model, assuming a uniform beam. Using LAT-measured diffuse fluxes, we place a 2{\sigma} upper limit on the average braking index and a 2{\sigma} lower limit on the average surface magnetic field strength of the pulsar population of 3.8 and 3.2 X 10^{10} G, respectively. We then predict the number of non-recycled pulsars detectable by the LAT based on our population model. Using the two-year sensitivity, we find that the LAT is capable of detecting emission from about 380 non-recycled pulsars, including 150 currently identified radio pulsars. Using the expected five-year sensitivity, about 620 non-recycled pulsars are detectable, including about 220 currently identified radio pulsars. We note that these predictions significantly depend on our model assumptions.Comment: 26 pages, 10 figures, Accepted by ApJ on 8 September 201