Towards Informative Path Planning for Acoustic SLAM

Acoustic scene mapping is a challenging task as microphone arrays can often localize sound sources only in terms of their directions. Spatial diversity can be exploited constructively to infer source-sensor range when using microphone arrays installed on moving platforms, such as robots. As the absolute location of a moving robot is often unknown in practice, Acoustic Simultaneous Localization And Mapping (a-SLAM) is required in order to localize the moving robot’s positions and jointly map the sound sources. Using a novel a-SLAM approach, this paper investigates the impact of the choice of robot paths on source mapping accuracy. Simulation results demonstrate that a-SLAM performance can be improved by informatively planning robot paths

Comment on and Erratum to "Pressure of Hot QCD at Large N_f"

We repeat and correct the recent calculation of the thermodynamic potential of hot QCD in the limit of large number N_f of fermions. The new result for the thermal pressure turns out to agree significantly better with results obtained from perturbation theory at small coupling. For large coupling, a nonmonotonic behaviour is reproduced, but the pressure of the strongly coupled theory does not exceed the free pressure as long as the Landau pole ambiguity remains negligible numerically.Comment: 9 pages, 3 figures, JHEP3; v2: version accepted for publication in JHEP (title changed, 1 footnote added, 1 reference updated, content otherwise unchanged

Reinforcement Learning: A Survey

This paper surveys the field of reinforcement learning from a computer-science perspective. It is written to be accessible to researchers familiar with machine learning. Both the historical basis of the field and a broad selection of current work are summarized. Reinforcement learning is the problem faced by an agent that learns behavior through trial-and-error interactions with a dynamic environment. The work described here has a resemblance to work in psychology, but differs considerably in the details and in the use of the word ``reinforcement.'' The paper discusses central issues of reinforcement learning, including trading off exploration and exploitation, establishing the foundations of the field via Markov decision theory, learning from delayed reinforcement, constructing empirical models to accelerate learning, making use of generalization and hierarchy, and coping with hidden state. It concludes with a survey of some implemented systems and an assessment of the practical utility of current methods for reinforcement learning.Comment: See http://www.jair.org/ for any accompanying file

The quantified self: what counts in the neoliberal workplace

Implementation of quantified self technologies in workplaces relies on the ontological premise of Cartesian dualism with mind dominant over body. Contributing to debates in new materialism, we demonstrate that workers are now being asked to measure our own productivity and health and wellbeing in art-houses and warehouses alike in both the global north and south. Workers experience intensified precarity, austerity, intense competition for jobs, and anxieties about the replacement of labour-power with robots and other machines as well as, ourselves replaceable, other humans. Workers have internalized the imperative to perform, a subjectification process as we become observing, entrepreneurial subjects and observed, objectified labouring bodies. Thinking through the implications of the use of wearable technologies in workplaces, this article shows that these technologies introduce a heightened Taylorist influence on precarious working bodies within neoliberal workplaces

Interface free energies in p-spin glass models

The replica method has been used to calculate the interface free energy associated with the change from periodic to anti-periodic boundary conditions in finite-dimensional p-spin glass models in the phase which at mean-field level has one-step replica symmetry breaking (1RSB). In any finite dimension the interface free energy is exponentially small for a large system. This result implies that in finite dimensions, the 1RSB state does not exist, as it is destroyed by thermal excitation of arbitrarily large droplets. The implications of this for the theory of structural glasses are discussed.Comment: 4 page

Hyperthermal neutral beam etching

A pulsed beam of hyperthermal fluorine atoms with an average translational energy of 4.8 eV has been used to demonstrate anisotropic etching of Si. For 1.4 Hz operation, a room-temperature etch rate of 300 Å/min for Si(100) has been measured at a distance of 30 cm from the source. A 14% undercutting for room-temperature etching of Novolac-masked Si features was achieved under single-collision conditions, with no detectable mask erosion. Translational energy and angular distributions of scattered fluorine atoms during steady-state etching of Si by a normal-incidence, collimated beam demonstrate that unreacted F atoms can scatter inelastically, retaining a significant fraction of their initial kinetic energies. The observed undercutting can be explained by secondary impingement of these high-energy F atoms, which are more reactive upon interaction with the sidewalls than would be expected if they desorbed from the surface at thermal energies after full accommodation. Time-of-flight distributions of volatile reaction products were also collected, and they show evidence for a dominant nonthermal reaction mechanism of the incident atoms with the surface in addition to a thermal reaction channel

Palomar 13: a velocity dispersion inflated by binaries ?

Recently, combining radial velocities from Keck/HIRES echelle spectra with published proper motion membership probabilities, Cote et al (2002) observed a sample of 21 stars, probable members of Palomar 13, a globular cluster in the Galactic halo. Their projected velocity dispersion sigma_p = 2.2 +/-0.4 km/s gives a mass-to-light ratio M/L_V = 40 +24/-17, about one order of magnitude larger than the usual estimate for globular clusters. We present here radial velocities measured from three different CCD frames of commissioning observations obtained with the new ESO/VLT instrument FLAMES (Fibre Large Array Multi Element Spectrograph). From these data, now publicly available, we measure the homogeneous radial velocities of eight probable members of this globular cluster. A new projected velocity dispersion sigma_p = 0.6-0.9 +/-0.3 km/s implies Palomar 13 mass-to-light ratio M/L_V = 3-7, similar to the usual value for globular clusters. We discuss briefly the two most obvious reasons for the previous unusual mass-to-light ratio finding: binaries, now clearly detected, and more homogeneous data from the multi-fibre FLAMES spectrograph.Comment: 9 pages, 2 Postscript figure

Entanglement entropy of random quantum critical points in one dimension

For quantum critical spin chains without disorder, it is known that the entanglement of a segment of N>>1 spins with the remainder is logarithmic in N with a prefactor fixed by the central charge of the associated conformal field theory. We show that for a class of strongly random quantum spin chains, the same logarithmic scaling holds for mean entanglement at criticality and defines a critical entropy equivalent to central charge in the pure case. This effective central charge is obtained for Heisenberg, XX, and quantum Ising chains using an analytic real-space renormalization group approach believed to be asymptotically exact. For these random chains, the effective universal central charge is characteristic of a universality class and is consistent with a c-theorem.Comment: 4 pages, 3 figure

Phosphorus Immobilization in Poultry Litter and Litter-amended soils with Aluminum, Calcium and Iron amendments

Arkansas produces approximately one billion broilers each year. Phosphorous (P) runoff from fields receiving poultry litter is believed to be one of the primary factors affecting water quality in Northwest Arkansas. Poultry litter contains approximately 20 g P kg-1, of which about 2 g P kg-1 is water soluble. Soils that have received repeated heavy applications of litter may have water soluble P contents of as high as 10 mg P Kg-1 soil. The objective of this study was to determine if soluble P levels could be reduced in poultry litter and litter-amended soils with Al,Ca, and/or Fe amendments. Poultry litter was amended with alum, sodium aluminate, quick lime, slaked lime, calcitic limestone, dolomitic limestone, gypsum, ferrous chloride, ferric chloride, ferrous sulfate and ferric sulfate, and incubated in the dark at 25°C for one week. Three soils which had been excessively fertilized with poultry litter were amended with alum, ferrous sulfate, calcitic limestone, gypsum and slaked lime and incubated for 4 weeks at 25 °C. In the litter studies, the Ca treatments were tested with and without CaF2 additions in an attempt to precipitate fluorapatite. At the end of the incubation period, the litter and soils were extracted with deionized water and soluble reactive P (SRP) was determined. SRP levels in the poultry litter were reduced from over 2,000 mg P kg-1 litter to less than 1 mg P kg-1 litter with the addition of alum, quick lime, slaked lime, ferrous chloride, ferric chloride, ferrous sulfate and ferric sulfate under favorable pH conditions. S.RP levels in the soils were reduced from approximately 5 mg P Kg-1 soil to less than 0.05 mg P Kg-1 soil with the addition of alum and ferrous sulfate under favorable pH conditions. Gypsum and sodium aluminate reduced SRP levels in litter by 50 to 60 percent while calcitic and dolomitic limestone were even less effective. In soils, the Ca amendments were less effective than the Al and Fe amendments, although slaked lime was effective at high pH. The results of these studies suggest that treating litter and excessively fertilized soils with some of these compounds, particularly alum, could significantly reduce the amount of SRP in runoff from littered pastures. Therefore, chemical additions to reduce SRP in litter and soil may be a best management practice in situations where eutrophication of adjacent water bodies due to P runoff has been identified. Preliminary calculations indicate that this .p ractice may be economically feasible. However, more research is needed to determine any beneficial and/or detrimental aspects of this practice