Neural Controller for a Mobile Robot in a Nonstationary Enviornment

Recently it has been introduced a neural controller for a mobile robot that learns both forward and inverse odometry of a differential-drive robot through an unsupervised learning-by-doing cycle. This article introduces an obstacle avoidance module that is integrated into the neural controller. This module makes use of sensory information to determine at each instant a desired angle and distance that causes the robot to navigate around obstacles on the way to a final target. Obstacle avoidance is performed in a reactive manner by representing the objects and target in the robot's environment as Gaussian functions. However, the influence of the Gaussians is modulated dynamically on the basis of the robot's behavior in a way that avoids problems with local minima. The proposed module enables the robot to operate successfully with different obstacle configurations, such as corridors, mazes, doors and even concave obstacles.Air Force Office of Scientific Research (F49620-92-J-0499

Observation of the Askaryan Effect: Coherent Microwave Cherenkov Emission from Charge Asymmetry in High Energy Particle Cascades

We present the first direct experimental evidence for the charge excess in high energy particle showers predicted nearly 40 years ago by Askaryan. We directed bremsstrahlung photons from picosecond pulses of 28.5 GeV electrons at the SLAC Final Focus Test Beam facility into a 3.5 ton silica sand target, producing electromagnetic showers several meters long. A series of antennas spanning 0.3 to 6 GHz were used to detect strong, sub-nanosecond radio frequency pulses produced whenever a shower was present. The measured electric field strengths are consistent with a completely coherent radiation process. The pulses show 100% linear polarization, consistent with the expectations of Cherenkov radiation. The field strength versus depth closely follows the expected particle number density profile of the cascade, consistent with emission from excess charge distributed along the shower. These measurements therefore provide strong support for experiments designed to detect high energy cosmic rays and neutrinos via coherent radio emission from their cascades.Comment: 10 pages, 4 figures. Submitted to Phys. Rev. Let

Bending behavior analysis of geogrid reinforced adobe walls

La tierra cruda constituye el material de construcción más importante en muchas regiones del planeta. Dado el riesgo sísmico existente en la mayor parte de estas regiones, es necesario el desarrollo de técnicas de refuerzo eficaces y adecuadas desde un punto de vista tecnológico y socioeconómico. Este artículo analiza desde un punto experimental y analítico el comportamiento a flexión de muros de adobe reforzados con geomallas. Las leyes momento-curvatura de los muros ensayados son aproximadas mediante una serie de modelos analíticos que permiten analizar el comportamiento del material compuesto adobe-geomalla. Los resultados obtenidos muestran como la geomalla mejora el comportamiento de la mampostería de adobe en términos de resistencia y ductilidad, mejorando así su comportamiento en caso de movimiento sísmico.Rammed earth is a widely used building material in many regions of the world. Due to the high seismic risk in those areas, earthen constructions require suitable and efficient reinforcement techniques from a technological and socioeconomic point of view. This paper analyzes the bending behavior of geogrid reinforced adobe walls from an experimental and analytical point of view. The experimental bending moment-curvature relationships are analytically approached. The results show how geogrid reinforcement improves the performance of adobe masonry in terms of strength and ductility. Thus, a better seismic performance is achieve

Radio Detection of High Energy Particles: Coherence Versus Multiple Scales

Radio Cherenkov emission underlines detection of high energy particles via a signal growing like the particle-energy-squared. Cosmic ray-induced electromagnetic showers are a primary application. While many studies have treated the phenomenon approximately, none have attempted to incorporate all the physical scales involved in problems with time- or spatially- evolving charges. We find it is possible to decompose the calculated fields into the product of a form factor, characterizing a moving charge distribution, multiplying a general integral which depends on the charge evolution. In circumstances of interest for cosmic ray physics, the resulting expressions can be evaluated explicitely in terms of a few parameters obtainable from shower codes. The classic issues of Frauhofer and Fresnel zones play a crucial role in the coherence.Comment: 25 pages, 10 figure

Testing effects of Lorentz invariance violation in the propagation of astroparticles with the Pierre Auger Observatory

Lorentz invariance violation (LIV) is often described by dispersion relations of the form Ei2 = mi2+pi2+δi,n E2+n with delta different based on particle type i, with energy E, momentum p and rest mass m. Kinematics and energy thresholds of interactions are modified once the LIV terms become comparable to the squared masses of the particles involved. Thus, the strongest constraints on the LIV coefficients δi,n tend to come from the highest energies. At sufficiently high energies, photons produced by cosmic ray interactions as they propagate through the Universe could be subluminal and unattenuated over cosmological distances. Cosmic ray interactions can also be modified and lead to detectable fingerprints in the energy spectrum and mass composition observed on Earth. The data collected at the Pierre Auger Observatory are therefore possibly sensitive to both the electromagnetic and hadronic sectors of LIV. In this article, we explore these two sectors by comparing the energy spectrum and the composition of cosmic rays and the upper limits on the photon flux from the Pierre Auger Observatory with simulations including LIV. Constraints on LIV parameters depend strongly on the mass composition of cosmic rays at the highest energies. For the electromagnetic sector, while no constraints can be obtained in the absence of protons beyond 1019 eV, we obtain δγ,0 > -10-21, δγ,1 > -10-40 eV-1 and δγ,2 > -10-58 eV-2 in the case of a subdominant proton component up to 1020 eV. For the hadronic sector, we study the best description of the data as a function of LIV coefficients and we derive constraints in the hadronic sector such as δhad,0 < 10-19, δhad,1 < 10-38 eV-1 and δhad,2 < 10-57 eV-2 at 5σ CL.The successful installation, commissioning, and operation of the Pierre Auger Observatory would not have been possible without the strong commitment and effort from the technical and administrative staff in Malargüe. We are very grateful to the following agencies and organizations for financial support: Argentina — Comisión Nacional de Energía Atómica; Agencia Nacional de Promoción Científica y Tecnológica (ANPCyT); Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET); Gobierno de la Provincia de Mendoza; Municipalidad de Malargüe; NDM Holdings and Valle Las Leñas; in gratitude for their continuing cooperation over land access; Australia — the Australian Research Council; Belgium — Fonds de la Recherche Scientifique (FNRS); Research Foundation Flanders (FWO); Brazil — Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq); Financiadora de Estudos e Projetos (FINEP); Fundação de Amparo à Pesquisa do Estado de Rio de Janeiro (FAPERJ); São Paulo Research Foundation (FAPESP) Grants No. 2019/10151-2, No. 2010/07359-6 and No. 1999/05404-3; Ministério da Ciência, Tecnologia, Inovações e Comunicações (MCTIC); Czech Republic — Grant No. MSMT CR LTT18004, LM2015038, LM2018102, CZ.02.1.01/0.0/0.0/16_013/0001402, CZ.02.1.01/0.0/0.0/18_046/0016010 and CZ.02.1.01/0.0/0.0/17_049/0008422; France — Centre de Calcul IN2P3/CNRS; Centre National de la Recherche Scientifique (CNRS); Conseil Régional Ile-de-France; Département Physique Nucléaire et Corpusculaire (PNC-IN2P3/CNRS); Département Sciences de l’Univers (SDU-INSU/CNRS); Institut Lagrange de Paris (ILP) Grant No. LABEX ANR-10-LABX-63 within the Investissements d’Avenir Programme Grant No. ANR-11-IDEX-0004-02; Germany — Bundesministerium für Bildung und Forschung (BMBF); Deutsche Forschungsgemeinschaft (DFG); Finanzministerium Baden-Württemberg; Helmholtz Alliance for Astroparticle Physics (HAP); Helmholtz-Gemeinschaft Deutscher Forschungszentren (HGF); Ministerium für Innovation, Wissenschaft und Forschung des Landes Nordrhein-Westfalen; Ministerium für Wissenschaft, Forschung und Kunst des Landes Baden-Württemberg; Italy — Istituto Nazionale di Fisica Nucleare (INFN); Istituto Nazionale di Astrofisica (INAF); Ministero dell’Istruzione, dell’Università e della Ricerca (MIUR); CETEMPS Center of Excellence; Ministero degli Affari Esteri (MAE); México — Consejo Nacional de Ciencia y Tecnología (CONACYT) No. 167733; Universidad Nacional Autónoma de México (UNAM); PAPIIT DGAPA-UNAM; The Netherlands — Ministry of Education, Culture and Science; Netherlands Organisation for Scientific Research (NWO); Dutch national e-infrastructure with the support of SURF Cooperative; Poland — Ministry of Education and Science, grant No. DIR/WK/2018/11; National Science Centre, Grants No. 2016/22/M/ST9/00198, 2016/23/B/ST9/01635, and 2020/39/B/ST9/01398; Portugal — Portuguese national funds and FEDER funds within Programa Operacional Factores de Competitividade through Fundação para a Ciência e a Tecnologia (COMPETE); Romania — Ministry of Research, Innovation and Digitization, CNCS/CCCDI — UEFISCDI, projects PN19150201/16N/2019, PN1906010, TE128 and PED289, within PNCDI III; Slovenia — Slovenian Research Agency, grants P1-0031, P1-0385, I0-0033, N1-0111; Spain — Ministerio de Economía, Industria y Competitividad (FPA2017-85114-P and PID2019-104676GB-C32), Xunta de Galicia (ED431C 2017/07), Junta de Andalucía (SOMM17/6104/UGR, P18-FR-4314) Feder Funds, RENATA Red Nacional Temática de Astropartículas (FPA2015-68783-REDT) and María de Maeztu Unit of Excellence (MDM-2016-0692); U.S.A. — Department of Energy, Contracts No. DE-AC02-07CH11359, No. DE-FR02-04ER41300, No. DE-FG02-99ER41107 and No. DE-SC0011689; National Science Foundation, Grant No. 0450696; The Grainger Foundation; Marie Curie-IRSES/EPLANET; European Particle Physics Latin American Network; and UNESCO.S

Experimental and Analytical Approach for the Assesment of Flexural Strength of Adobe Masonry

This paper presents an investigation about the flexural behavior of adobe masonry. It is focused on the development of constitutive models that can serve as a basis for the establishment of new design guidelines for adobe constructions, with special emphasis on seismic reinforcements. The paper analyzes the flexural behaviour of geogrid reinforced adobe walls. The experimental seismic tests of geogrid reinforced adobe houses have proven the effectiveness of the reinforcement technique. However, additional research is needed to develop constitutive models that can be used to quantify the actual performances of the reinforced adobe. For this purpose, bending tests have been carried out to obtain experimental curvature-moment relationships for reinforced and non reinforced adobe walls. Analytical models have been developed to approach these experimental laws, using equilibrium and compatibility equations similar to those usually applied for the flexural behaviour of reinforced concrete. The constitutive models of the individual materials are previously obtained through experimental tests, and simplified constitutive models are proposed for the governing equations. The analytical models show the ductility of adobe masonry, and how ductility increases when adobe is reinforced with geogrids. The proposed mathematical models and methodology can be applied to other structural elements and reinforcement systems. They can serve as a basis for the development of new design guidelines for adobe masonry

Bending behavior analysis of geogrid reinforced adobe walls

La tierra cruda constituye el material de construcción más importante en muchas regiones del planeta. Dado el riesgo sísmico existente en la mayor parte de estas regiones, es necesario el desarrollo de técnicas de refuerzo eficaces y adecuadas desde un punto de vista tecnológico y socioeconómico. Este artículo analiza desde un punto experimental y analítico el comportamiento a flexión de muros de adobe reforzados con geomallas. Las leyes momento-curvatura de los muros ensayados son aproximadas mediante una serie de modelos analíticos que permiten analizar el comportamiento del material compuesto adobe-geomalla. Los resultados obtenidos muestran como la geomalla mejora el comportamiento de la mampostería de adobe en términos de resistencia y ductilidad, mejorando así su comportamiento en caso de movimiento sísmico.Rammed earth is a widely used building material in many regions of the world. Due to the high seismic risk in those areas, earthen constructions require suitable and efficient reinforcement techniques from a technological and socioeconomic point of view. This paper analyzes the bending behavior of geogrid reinforced adobe walls from an experimental and analytical point of view. The experimental bending moment-curvature relationships are analytically approached. The results show how geogrid reinforcement improves the performance of adobe masonry in terms of strength and ductility. Thus, a better seismic performance is achieve