First results in terrain mapping for a roving planetary explorer

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain

Radiating dipoles in photonic crystals

The radiation dynamics of a dipole antenna embedded in a Photonic Crystal are modeled by an initially excited harmonic oscillator coupled to a non--Markovian bath of harmonic oscillators representing the colored electromagnetic vacuum within the crystal. Realistic coupling constants based on the natural modes of the Photonic Crystal, i.e., Bloch waves and their associated dispersion relation, are derived. For simple model systems, well-known results such as decay times and emission spectra are reproduced. This approach enables direct incorporation of realistic band structure computations into studies of radiative emission from atoms and molecules within photonic crystals. We therefore provide a predictive and interpretative tool for experiments in both the microwave and optical regimes.Comment: Phys. Rev. E, accepte

The Role of Repeated Exposure to Multimodal Input in Incidental Acquisition of Foreign Language Vocabulary

Prior research has reported incidental vocabulary acquisition with complete beginners in a foreign language (FL), within 8 exposures to auditory and written FL word forms presented with a picture depicting their meaning. However, important questions remain about whether acquisition occurs with fewer exposures to FL words in a multimodal situation and whether there is a repeated exposure effect. Here we report a study where the number of exposures to FL words in an incidental learning phase varied between 2, 4, 6, and 8 exposures. Following the incidental learning phase, participants completed an explicit learning task where they learned to recognize written translation equivalents of auditory FL word forms, half of which had occurred in the incidental learning phase. The results showed that participants performed better on the words they had previously been exposed to, and that this incidental learning effect occurred from as little as 2 exposures to the multimodal stimuli. In addition, repeated exposure to the stimuli was found to have a larger impact on learning during the first few exposures and decrease thereafter, suggesting that the effects of repeated exposure on vocabulary acquisition are not necessarily constant

On the equivalence of the Langevin and auxiliary field quantization methods for absorbing dielectrics

Recently two methods have been developed for the quantization of the electromagnetic field in general dispersing and absorbing linear dielectrics. The first is based upon the introduction of a quantum Langevin current in Maxwell's equations [T. Gruner and D.-G. Welsch, Phys. Rev. A 53, 1818 (1996); Ho Trung Dung, L. Kn\"{o}ll, and D.-G. Welsch, Phys. Rev. A 57, 3931 (1998); S. Scheel, L. Kn\"{o}ll, and D.-G. Welsch, Phys. Rev. A 58, 700 (1998)], whereas the second makes use of a set of auxiliary fields, followed by a canonical quantization procedure [A. Tip, Phys. Rev. A 57, 4818 (1998)]. We show that both approaches are equivalent.Comment: 7 pages, RevTeX, no figure

Multipole interaction between atoms and their photonic environment

Macroscopic field quantization is presented for a nondispersive photonic dielectric environment, both in the absence and presence of guest atoms. Starting with a minimal-coupling Lagrangian, a careful look at functional derivatives shows how to obtain Maxwell's equations before and after choosing a suitable gauge. A Hamiltonian is derived with a multipolar interaction between the guest atoms and the electromagnetic field. Canonical variables and fields are determined and in particular the field canonically conjugate to the vector potential is identified by functional differentiation as minus the full displacement field. An important result is that inside the dielectric a dipole couples to a field that is neither the (transverse) electric nor the macroscopic displacement field. The dielectric function is different from the bulk dielectric function at the position of the dipole, so that local-field effects must be taken into account.Comment: 17 pages, to be published in Physical Review

Resonant dipole-dipole interaction in the presence of dispersing and absorbing surroundings

Within the framework of quantization of the macroscopic electromagnetic field, equations of motion and an effective Hamiltonian for treating both the resonant dipole-dipole interaction between two-level atoms and the resonant atom-field interaction are derived, which can suitably be used for studying the influence of arbitrary dispersing and absorbing material surroundings on these interactions. The theory is applied to the study of the transient behavior of two atoms that initially share a single excitation, with special emphasis on the role of the two competing processes of virtual and real photon exchange in the energy transfer between the atoms. In particular, it is shown that for weak atom-field interaction there is a time window, where the energy transfer follows a rate regime of the type obtained by ordinary second-order perturbation theory. Finally, the resonant dipole-dipole interaction is shown to give rise to a doublet spectrum of the emitted light for weak atom-field interaction and a triplet spectrum for strong atom-field interaction.Comment: 15 pages, 1 figure, RevTE

Charge disproportionation and the pressure-induced insulator?metal transition in cubic perovskite PbCrO3

The perovskite PbCrO3 is an antiferromagnetic insulator. However, the fundamental interactions leading to the insulating state in this single-valent perovskite are unclear. Moreover, the origin of the unprecedented volume drop observed at a modest pressure of P = 1.6 GPa remains an outstanding problem. We report a variety of in situ pressure measurements including electron transport properties, X-ray absorption spectrum, and crystal structure study by X-ray and neutron diffraction. These studies reveal key information leading to the elucidation of the physics behind the insulating state and the pressure-induced transition. We argue that a charge disproportionation 3Cr4+ → 2Cr3+ + Cr6+ in association with the 6s-p hybridization on the Pb2+ is responsible for the insulating ground state of PbCrO3 at ambient pressure and the charge disproportionation phase is suppressed under pressure to give rise to a metallic phase at high pressure. The model is well supported by density function theory plus the correlation energy U (DFT+U) calculations.Fil: Cheng, Jinguang. University Of Texas At Austin; Estados Unidos. Chinese Academy Of Sciences; República de China. University of Tokyo. Institute for Solid State Physics; JapónFil: Kweon, K. E.. University Of Texas At Austin; Estados UnidosFil: Larregola, Sebastian Alberto. University Of Texas At Austin; Estados Unidos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Luis. Instituto de Investigaciones en Tecnología Química; ArgentinaFil: Ding, Yang. Argonne National Laboratory; Estados UnidosFil: Shirako, Y.. University Of Texas At Austin; Estados UnidosFil: Marshall, L. G.. University Of Texas At Austin; Estados Unidos. Northeastern University; Estados UnidosFil: Li, Z. Y.. University Of Texas At Austin; Estados UnidosFil: Li, X.. University Of Texas At Austin; Estados UnidosFil: Dos Santos, António M.. Oak Ridge National Laboratory. Quantum Condensed Matter Division; Estados UnidosFil: Suchomel, M. R.. Argonne National Laboratory; Estados UnidosFil: Matsubayashi, K.. University of Tokyo. Institute for Solid State Physics; JapónFil: Uwatoko, Y.. University of Tokyo. Institute for Solid State Physics; JapónFil: Hwang, G. S.. University Of Texas At Austin; Estados UnidosFil: Goodenough, John B.. University Of Texas At Austin; Estados UnidosFil: Zhou, J. S.. University Of Texas At Austin; Estados Unido

Net Charge Fluctuations in Au + Au Interactions at sqrt(s_NN) = 130 GeV

Data from Au + Au interactions at sqrt(s_NN) = 130 GeV, obtained with the PHENIX detector at RHIC, are used to investigate local net charge fluctuations among particles produced near mid-rapidity. According to recent suggestions, such fluctuations may carry information from the Quark Gluon Plasma. This analysis shows that the fluctuations are dominated by a stochastic distribution of particles, but are also sensitive to other effects, like global charge conservation and resonance decays.Comment: 6 pages, RevTeX 3, 3 figures, 307 authors, submitted to Phys. Rev. Lett. on 21 March, 2002. Plain text data tables for the points plotted in figures for this and previous PHENIX publications are (will be made) publicly available at http://www.phenix.bnl.gov/phenix/WWW/run/phenix/papers.htm

Event-by-event fluctuations in Mean pTp_T and Mean eTe_T in sqrt(s_NN) = 130 GeV Au+Au Collisions

Distributions of event-by-event fluctuations of the mean transverse momentum and mean transverse energy near mid-rapidity have been measured in Au+Au collisions at sqrt(s_NN) = 130 GeV at RHIC. By comparing the distributions to what is expected for statistically independent particle emission, the magnitude of non-statistical fluctuations in mean transverse momentum is determined to be consistent with zero. Also, no significant non-random fluctuations in mean transverse energy are observed. By constructing a fluctuation model with two event classes that preserve the mean and variance of the semi-inclusive p_T or e_T spectra, we exclude a region of fluctuations in sqrt(s_NN) = 130 GeV Au+Au collisions.Comment: 10 pages, RevTeX 3, 7 figures, 4 tables, 307 authors, submitted to Phys. Rev. C on 22 March 2002. Plain text data tables for the points plotted in figures for this and previous PHENIX publications are (will be made) publicly available at http://www.phenix.bnl.gov/phenix/WWW/run/phenix/papers.htm