842 research outputs found

    Reality as a simulation of reality: robot illusions, fundamental limits, and a physical demonstration

    Full text link
    We consider problems in which robots conspire to present a view of the world that differs from reality. The inquiry is motivated by the problem of validating robot behavior physically despite there being a discrepancy between the robots we have at hand and those we wish to study, or the environment for testing that is available versus that which is desired, or other potential mismatches in this vein. After formulating the concept of a convincing illusion, essentially a notion of system simulation that takes place in the real world, we examine the implications of this type of simulability in terms of infrastructure requirements. Time is one important resource: some robots may be able to simulate some others but, perhaps, only at a rate that is slower than real-time. This difference gives a way of relating the simulating and the simulated systems in a form that is relative. We establish some theorems, including one with the flavor of an impossibility result, and providing several examples throughout. Finally, we present data from a simple multi-robot experiment based on this theory, with a robot navigating amid an unbounded field of obstacles

    Systematic derivation of a surface polarization model for planar perovskite solar cells

    Get PDF
    Increasing evidence suggests that the presence of mobile ions in perovskite solar cells can cause a current-voltage curve hysteresis. Steady state and transient current-voltage characteristics of a planar metal halide CH3_3NH3_3PbI3_3 perovskite solar cell are analysed with a drift-diffusion model that accounts for both charge transport and ion vacancy motion. The high ion vacancy density within the perovskite layer gives rise to narrow Debye layers (typical width \sim2nm), adjacent to the interfaces with the transport layers, over which large drops in the electric potential occur and in which significant charge is stored. Large disparities between (I) the width of the Debye layers and that of the perovskite layer (\sim600nm) and (II) the ion vacancy density and the charge carrier densities motivate an asymptotic approach to solving the model, while the stiffness of the equations renders standard solution methods unreliable. We derive a simplified surface polarisation model in which the slow ion dynamic are replaced by interfacial (nonlinear) capacitances at the perovskite interfaces. Favourable comparison is made between the results of the asymptotic approach and numerical solutions for a realistic cell over a wide range of operating conditions of practical interest.Comment: 32 pages, 7 figure

    Running: A Flexible Situated Study

    Get PDF
    This paper describes a situated study of personal informatics applications for running that had to be conducted in a flexible and pragmatic way to adjust for the context of use. A qualitative situated study highlighted important differences in runners' motivations, uncovering markedly different uses and preferences between people who run either for health or for pleasure, but also underscored how the physical nature of the interaction impacted data collection. By adjusting the method to be sensitive to the physical nature of the interaction and the preferences of the participants, a pragmatic situated approach provided insights into how these technologies are actually used

    Mutations in shaking-B prevent electrical synapse formation in the Drosophila giant fiber system

    Get PDF
    The giant fiber system (GFS) is a simple network of neurons that mediates visually elicited escape behavior in Drosophila. The giant fiber (GF), the major component of the system, is a large, descending interneuron that relays visual stimuli to the motoneurons that innervate the tergotrochanteral jump muscle (TTM) and dorsal longitudinal flight muscles (DLMs). Mutations in the neural transcript from the shaking-B locus abolish the behavioral response by disrupting transmission at some electrical synapses in the GFS. This study focuses on the role of the gene in the development of the synaptic connections. Using an enhancer-trap line that expresses lacZ in the GFs, we show that the neurons develop during the first 30 hr of metamorphosis. Within the next 15 hr, they begin to form electrical synapses, as indicated by the transfer of intracellularly injected Lucifer yellow. The GFs dye-couple to the TTM motoneuron between 30 and 45 hr of metamorphosis, to the peripherally synapsing interneuron that drives the DLM motoneurons at approximately 48 hr, and to giant commissural interneurons in the brain at approximately 55 hr. Immunocytochemistry with shaking-B peptide antisera demonstrates that the expression of shaking-B protein in the region of GFS synapses coincides temporally with the onset of synaptogenesis; expression persists thereafter. The mutation shak-B2, which eliminates protein expression, prevents the establishment of dye coupling shaking-B, therefore, is essential for the assembly and/or maintenance of functional gap junctions at electrical synapses in the GFS
    corecore