Using constrained intuitionistic linear logic for hybrid robotic planning problems

Synthesis of robot behaviors towards nontrivial goals often requires reasoning about both discrete and continuous aspects of the underlying domain. Existing approaches in building automated tools for such synthesis problems attempt to augment methods from either discrete planning or continuous control with hybrid elements, but largely fail to ensure a uniform treatment of both aspects of the domain. In this paper, we present a new formalism, Constrained Intuitionistic Linear Logic (CILL), merging continuous constraint solvers with linear logic to yield a single language in which hybrid properties of robotic behaviors can be expressed and reasoned with. Following a gentle introduction to linear logic, we describe the two new connectives of CILL, introduced to interface the constraint domain with the logical fragment of the language. We then illustrate the application of CILL for robotic planning problems within the Balanced Blocks World, a "physically realistic" extension of the Blocks World domain. Even though some of the formal proofs for the semantic foundations of the language as well as an efficient implementation of a theorem prover are yet to be completed, CILL promises to be a powerful formalism in reasoning within hybrid domains. © 2007 IEEE

Bounds on negative energy densities in flat spacetime

We generalise results of Ford and Roman which place lower bounds -- known as quantum inequalities -- on the renormalised energy density of a quantum field averaged against a choice of sampling function. Ford and Roman derived their results for a specific non-compactly supported sampling function; here we use a different argument to obtain quantum inequalities for a class of smooth, even and non-negative sampling functions which are either compactly supported or decay rapidly at infinity. Our results hold in $d$-dimensional Minkowski space ($d\ge 2$) for the free real scalar field of mass $m\ge 0$. We discuss various features of our bounds in 2 and 4 dimensions. In particular, for massless field theory in 2-dimensional Minkowski space, we show that our quantum inequality is weaker than Flanagan's optimal bound by a factor of 3/2.Comment: REVTeX, 13 pages and 2 figures. Minor typos corrected, one reference adde

The Quantum Interest Conjecture

Although quantum field theory allows local negative energy densities and fluxes, it also places severe restrictions upon the magnitude and extent of the negative energy. The restrictions take the form of quantum inequalities. These inequalities imply that a pulse of negative energy must not only be followed by a compensating pulse of positive energy, but that the temporal separation between the pulses is inversely proportional to their amplitude. In an earlier paper we conjectured that there is a further constraint upon a negative and positive energy delta-function pulse pair. This conjecture (the quantum interest conjecture) states that a positive energy pulse must overcompensate the negative energy pulse by an amount which is a monotonically increasing function of the pulse separation. In the present paper we prove the conjecture for massless quantized scalar fields in two and four-dimensional flat spacetime, and show that it is implied by the quantum inequalities.Comment: 17 pages, Latex, 3 figures, uses eps

Quantum Inequalities for the Electromagnetic Field

A quantum inequality for the quantized electromagnetic field is developed for observers in static curved spacetimes. The quantum inequality derived is a generalized expression given by a mode function expansion of the four-vector potential, and the sampling function used to weight the energy integrals is left arbitrary up to the constraints that it be a positive, continuous function of unit area and that it decays at infinity. Examples of the quantum inequality are developed for Minkowski spacetime, Rindler spacetime and the Einstein closed universe.Comment: 19 pages, 1 table and 1 figure. RevTex styl

Quantum inequalities for the free Rarita-Schwinger fields in flat spacetime

Using the methods developed by Fewster and colleagues, we derive a quantum inequality for the free massive spin-${3\over 2}$ Rarita-Schwinger fields in the four dimensional Minkowski spacetime. Our quantum inequality bound for the Rarita-Schwinger fields is weaker, by a factor of 2, than that for the spin-${1\over 2}$ Dirac fields. This fact along with other quantum inequalities obtained by various other authors for the fields of integer spin (bosonic fields) using similar methods lead us to conjecture that, in the flat spacetime, separately for bosonic and fermionic fields, the quantum inequality bound gets weaker as the the number of degrees of freedom of the field increases. A plausible physical reason might be that the more the number of field degrees of freedom, the more freedom one has to create negative energy, therefore, the weaker the quantum inequality bound.Comment: Revtex, 11 pages, to appear in PR

Warped space-time for phonons moving in a perfect nonrelativistic fluid

We construct a kinematical analogue of superluminal travel in the ``warped'' space-times curved by gravitation, in the form of ``super-phononic'' travel in the effective space-times of perfect nonrelativistic fluids. These warp-field space-times are most easily generated by considering a solid object that is placed as an obstruction in an otherwise uniform flow. No violation of any condition on the positivity of energy is necessary, because the effective curved space-times for the phonons are ruled by the Euler and continuity equations, and not by the Einstein field equations.Comment: 7 pages, 1 figure. Version as published; references update

Attractors in fully asymmetric neural networks

The statistical properties of the length of the cycles and of the weights of the attraction basins in fully asymmetric neural networks (i.e. with completely uncorrelated synapses) are computed in the framework of the annealed approximation which we previously introduced for the study of Kauffman networks. Our results show that this model behaves essentially as a Random Map possessing a reversal symmetry. Comparison with numerical results suggests that the approximation could become exact in the infinite size limit.Comment: 23 pages, 6 figures, Latex, to appear on J. Phys.

Relaxation, closing probabilities and transition from oscillatory to chaotic attractors in asymmetric neural networks

Attractors in asymmetric neural networks with deterministic parallel dynamics were shown to present a "chaotic" regime at symmetry eta < 0.5, where the average length of the cycles increases exponentially with system size, and an oscillatory regime at high symmetry, where the typical length of the cycles is 2. We show, both with analytic arguments and numerically, that there is a sharp transition, at a critical symmetry \e_c=0.33, between a phase where the typical cycles have length 2 and basins of attraction of vanishing weight and a phase where the typical cycles are exponentially long with system size, and the weights of their attraction basins are distributed as in a Random Map with reversal symmetry. The time-scale after which cycles are reached grows exponentially with system size $N$, and the exponent vanishes in the symmetric limit, where $T\propto N^{2/3}$. The transition can be related to the dynamics of the infinite system (where cycles are never reached), using the closing probabilities as a tool. We also study the relaxation of the function $E(t)=-1/N\sum_i |h_i(t)|$, where $h_i$ is the local field experienced by the neuron $i$. In the symmetric system, it plays the role of a Ljapunov function which drives the system towards its minima through steepest descent. This interpretation survives, even if only on the average, also for small asymmetry. This acts like an effective temperature: the larger is the asymmetry, the faster is the relaxation of $E$, and the higher is the asymptotic value reached. $E$ reachs very deep minima in the fixed points of the dynamics, which are reached with vanishing probability, and attains a larger value on the typical attractors, which are cycles of length 2.Comment: 24 pages, 9 figures, accepted on Journal of Physics A: Math. Ge

Restrictions on negative energy density in a curved spacetime

Recently a restriction ("quantum inequality-type relation") on the (renormalized) energy density measured by a static observer in a "globally static" (ultrastatic) spacetime has been formulated by Pfenning and Ford for the minimally coupled scalar field, in the extension of quantum inequality-type relation on flat spacetime of Ford and Roman. They found negative lower bounds for the line integrals of energy density multiplied by a sampling (weighting) function, and explicitly evaluate them for some specific spacetimes. In this paper, we study the lower bound on spacetimes whose spacelike hypersurfaces are compact and without boundary. In the short "sampling time" limit, the bound has asymptotic expansion. Although the expansion can not be represented by locally invariant quantities in general due to the nonlocal nature of the integral, we explicitly evaluate the dominant terms in the limit in terms of the invariant quantities. We also make an estimate for the bound in the long sampling time limit.Comment: LaTex, 23 Page

Quantum Inequalities on the Energy Density in Static Robertson-Walker Spacetimes

Quantum inequality restrictions on the stress-energy tensor for negative energy are developed for three and four-dimensional static spacetimes. We derive a general inequality in terms of a sum of mode functions which constrains the magnitude and duration of negative energy seen by an observer at rest in a static spacetime. This inequality is evaluated explicitly for a minimally coupled scalar field in three and four-dimensional static Robertson-Walker universes. In the limit of vanishing curvature, the flat spacetime inequalities are recovered. More generally, these inequalities contain the effects of spacetime curvature. In the limit of short sampling times, they take the flat space form plus subdominant curvature-dependent corrections.Comment: 18 pages, plain LATEX, with 3 figures, uses eps