Geometric reasoning

Cognitive robot systems are ones in which sensing and representation occur, from which task plans and tactics are determined. Such a robot system accomplishes a task after being told what to do, but determines for itself how to do it. Cognition is required when the work environment is uncontrolled, when contingencies are prevalent, or when task complexity is large; it is useful in any robotic mission. A number of distinguishing features can be associated with cognitive robotics, and one emphasized here is the role of artificial intelligence in knowledge representation and in planning. While space telerobotics may elude some of the problems driving cognitive robotics, it shares many of the same demands, and it can be assumed that capabilities developed for cognitive robotics can be employed advantageously for telerobotics in general. The top level problem is task planning, and it is appropriate to introduce a hierarchical view of control. Presented with certain mission objectives, the system must generate plans (typically) at the strategic, tactical, and reflexive levels. The structure by which knowledge is used to construct and update these plans endows the system with its cognitive attributes, and with the ability to deal with contingencies, changes, unknowns, and so on. Issues of representation and reasoning which are absolutely fundamental to robot manipulation, decisions based upon geometry, are discussed here, not AI task planning per se

Anomalous Diffusion In Microrheology: A Comparative Study

We present a comparative study on two theoretical descriptions of microrheological experiments. Using a generalized Langevin equation (GLE), we analyze the origin of the power-law behavior of the main properties of a viscoelastic medium. Then, we discuss the equivalence of the GLE with a generalized Fokker-Planck equation (GFPE), and how more general GFPE's can be derived from a thermo-kinetic formalism. These complementary theories lead to a justification for the physical nature of the Hurst exponent of fractional kinetics. Theory is compared with experiments.Comment: 7 pages, 3 figure

Supernarrow spectral peaks near a kinetic phase transition in a driven, nonlinear micromechanical oscillator

We measure the spectral densities of fluctuations of an underdamped nonlinear micromechanical oscillator. By applying a sufficiently large periodic excitation, two stable dynamical states are obtained within a particular range of driving frequency. White noise is injected into the excitation, allowing the system to overcome the activation barrier and switch between the two states. While the oscillator predominately resides in one of the two states for most excitation frequencies, a narrow range of frequencies exist where the occupations of the two states are approximately equal. At these frequencies, the oscillator undergoes a kinetic phase transition that resembles the phase transition of thermal equilibrium systems. We observe a supernarrow peak in the power spectral densities of fluctuations of the oscillator. This peak is centered at the excitation frequency and arises as a result of noise-induced transitions between the two dynamical states.Comment: 4 pages, 4 figure

Fluctuation effects in the theory of microphase separation of diblock copolymers in the presence of an electric field

We generalize the Fredrickson-Helfand theory of the microphase separation in symmetric diblock copolymer melts by taking into account the influence of a time-independent homogeneous electric field on the composition fluctuations within the self-consistent Hartree approximation. We predict that electric fields suppress composition fluctuations, and consequently weaken the first-order transition. In the presence of an electric field the critical temperature of the order-disorder transition is shifted towards its mean-field value. The collective structure factor in the disordered phase becomes anisotropic in the presence of the electric field. Fluctuational modulations of the order parameter along the field direction are strongest suppressed. The latter is in accordance with the parallel orientation of the lamellae in the ordered state.Comment: 16 page

Measurement of opaque film thickness

The theoretical and experimental framework for thickness measurements of thin metal films by low frequency thermal waves is described. Although it is assumed that the films are opaque and the substrates are comparatively poor thermal conductors, the theory is easily extended to other cases of technological interest. A brief description is given of the thermal waves and the experimental arrangement and parameters. The usefulness of the technique is illustrated for making absolute measurements of the thermal diffusivities of isotropic substrate materials. This measurement on pure elemental solids provides a check on the three dimensional theory in the limiting case of zero film thickness. The theoretical framework is then presented, along with numerical calculations and corresponding experimental results for the case of copper films on a glass substrate

The weak field limit of quantum matter back-reacting on classical spacetime

Consistent coupling of quantum and classical degrees of freedom exists so long as there is both diffusion of the classical degrees of freedom and decoherence of the quantum system. In this paper, we derive the Newtonian limit of such classical-quantum (CQ) theories of gravity. Our results are obtained both via the gauge fixing of the recently proposed path integral theory of CQ general relativity and via the CQ master equation approach. In each case, we find the same weak field dynamics. We find that the New-tonian potential diffuses by an amount lower bounded by the decoherence rate into mass eigenstates. We also present our results as an unraveled system of stochastic differential equations for the trajectory of the hybrid classical-quantum state and provide a series of kernels for constructing figures of merit, which can be used to rule out part of the parameter space of classical-quantum theories of gravity by experimentally testing it via the decoherence-diffusion trade-off. We compare and contrast the weak field limit to previous models of classical Newtonian gravity coupled to quantum systems. Here, we find that the Newtonian potential and quantum state change in lock-step, with the flow of time being stochastic

Mesospheric anomalous diffusion during noctilucent clouds

The Andenes specular meteor radar shows meteor-trail diffusion rates increasing on average by ~ 20% at times and locations where a lidar observes noctilucent clouds (NLCs). This high-latitude effect has been attributed to the presence of charged NLC but this study shows that such behaviors result predominantly from thermal tides. To make this claim, the current study evaluates data from three stations, at high-, mid-, and low-latitudes, for the years 2012 to 2016, comparing diffusion to show that thermal tides correlate strongly with the presence of NLCs. This data also shows that the connection between meteor-trail diffusion and thermal tide occurs at all altitudes in the mesosphere, while the NLC influence exists only at high-latitudes and at around peak of NLC layer. This paper discusses a number of possible explanations for changes in the regions with NLCs and leans towards the hypothesis that relative abundance of background electron density plays the leading role. A more accurate model of the meteor trail diffusion around NLC particles would help researchers determine mesospheric temperature and neutral density profiles from meteor radars.Public versio