Using Monte Carlo Search With Data Aggregation to Improve Robot Soccer Policies

RoboCup soccer competitions are considered among the most challenging multi-robot adversarial environments, due to their high dynamism and the partial observability of the environment. In this paper we introduce a method based on a combination of Monte Carlo search and data aggregation (MCSDA) to adapt discrete-action soccer policies for a defender robot to the strategy of the opponent team. By exploiting a simple representation of the domain, a supervised learning algorithm is trained over an initial collection of data consisting of several simulations of human expert policies. Monte Carlo policy rollouts are then generated and aggregated to previous data to improve the learned policy over multiple epochs and games. The proposed approach has been extensively tested both on a soccer-dedicated simulator and on real robots. Using this method, our learning robot soccer team achieves an improvement in ball interceptions, as well as a reduction in the number of opponents' goals. Together with a better performance, an overall more efficient positioning of the whole team within the field is achieved

Induced Magnetic Ordering by Proton Irradiation in Graphite

We provide evidence that proton irradiation of energy 2.25 MeV on highly-oriented pyrolytic graphite samples triggers ferro- or ferrimagnetism. Measurements performed with a superconducting quantum interferometer device (SQUID) and magnetic force microscopy (MFM) reveal that the magnetic ordering is stable at room temperature.Comment: 3 Figure

Spin-triplet s-wave local pairing induced by Hund's rule coupling

We show within the dynamical mean field theory that local multiplet interactions such as Hund's rule coupling produce local pairing superconductivity in the strongly correlated regime. Spin-triplet superconductivity driven by the Hund's rule coupling emerges from the pairing mediated by local fluctuations in pair exchange. In contrast to the conventional spin-triplet theories, the local orbital degrees of freedom has the anti-symmetric part of the exchange symmetry, leaving the spatial part as fully gapped and symmetric s-wave.Comment: 9 pages, 7 figure

Single-Electron Traps: A Quantitative Comparison of Theory and Experiment

We have carried out a coordinated experimental and theoretical study of single-electron traps based on submicron aluminum islands and aluminum oxide tunnel junctions. The results of geometrical modeling using a modified version of MIT's FastCap were used as input data for the general-purpose single-electron circuit simulator MOSES. The analysis indicates reasonable quantitative agreement between theory and experiment for those trap characteristics which are not affected by random offset charges. The observed differences between theory and experiment (ranging from a few to fifty percent) can be readily explained by the uncertainty in the exact geometry of the experimental nanostructures.Comment: 17 pages, 21 figures, RevTex, eps

Coordination motifs and large-scale structural organization in atomic clusters

The structure of nanoclusters is complex to describe due to their noncrystallinity, even though bonding and packing constraints limit the local atomic arrangements to only a few types. A computational scheme is presented to extract coordination motifs from sample atomic configurations. The method is based on a clustering analysis of multipole moments for atoms in the first coodination shell. Its power to capture large-scale structural properties is demonstrated by scanning through the ground state of the Lennard-Jones and C$_{60}$ clusters collected at the Cambridge Cluster Database.Comment: 6 pages, 7 figure

Deriving global structure of the Galactic Magnetic Field from Faraday Rotation Measures of extragalactic sources

We made use of the two latest sets of Rotational Measures (RMs) of extra-galactic radio sources, namely the NRAO VLA Sky Survey otation Measures Catalogue, and a compilation by Kronberg&Newton-McGee(2011), to infer the global structure of the Galactic Magnetic Field (GMF). We have checked that these two data sets are consistent with each other. Motivated by clear patterns in the observed distribution of RMs over the sky, we considered GMF models consisting of the two components: disk (spiral or ring) and halo. The parameters of these components were determined by fitting different model field geometries to the observed RMs. We found that the model consisting of a symmetric (with respect to the Galactic plane) spiral disk and anti-symmetric halo fits the data best, and reproduces the observed distribution of RMs over the sky very well. We confirm that ring disk models are disfavored. Our results favor small pitch angles around -5 degrees and an increased vertical scale of electron distribution, in agreement with some previous studies. Based on our fits, we identify two benchmark models suitable for studies of cosmic ray propagation, including the ultra-high energies.Comment: 15 pages, 14 figures, 4 tables misprints corrected, presentation improved generally matches the published versio

The triple degenerate star WD1704+481

WD1704+481 is a visual binary in which both components are white dwarfs. We present spectra of the H-alpha line of both stars which show that one component (WD1704+481.2 = Sanduleak B = GR 577) is a close binary with two white dwarf components. Thus, WD1704+481 is the first known triple degenerate star. From radial velocity measurements of the close binary we find an orbital period of 0.1448d, a mass ratio, q=Mbright/Mfaint of q=0.70+-0.03 and a difference in the gravitational redshifts of 11.5+-2.3km/s. The masses of the close pair of white dwarfs predicted by the mass ratio and gravitational redshift difference combined with theoretical cooling curves are 0.39+-0.05 solar mass and 0.56+-0.07 solar masses. WD1704+481 is therefore also likely to be the first example of a double degenerate in which the less massive white dwarf is composed of helium and the other white dwarf is composed of carbon and oxygen.Comment: 5 pages, 4 figure

Suppression of dephasing by qubit motion in superconducting circuits

We suggest and demonstrate a protocol which suppresses dephasing due to the low-frequency noise by qubit motion, i.e., transfer of the logical qubit of information in a system of $n \geq 2$ physical qubits. The protocol requires only the nearest-neighbor coupling and is applicable to different qubit structures. We further analyze its effectiveness against noises with arbitrary correlations. Our analysis, together with experiments using up to three superconducting qubits, shows that for the realistic uncorrelated noises, qubit motion increases the dephasing time of the logical qubit as $\sqrt{n}$. In general, the protocol provides a diagnostic tool to measure the noise correlations.Comment: 5 pages with 3 embedded figures, plus supplementary informatio