Adaptive Path Planning for Depth Constrained Bathymetric Mapping with an Autonomous Surface Vessel

This paper describes the design, implementation and testing of a suite of algorithms to enable depth constrained autonomous bathymetric (underwater topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth and a bounding polygon, the ASV will find and follow the intersection of the bounding polygon and the depth contour as modeled online with a Gaussian Process (GP). This intersection, once mapped, will then be used as a boundary within which a path will be planned for coverage to build a map of the Bathymetry. Methods for sequential updates to GP's are described allowing online fitting, prediction and hyper-parameter optimisation on a small embedded PC. New algorithms are introduced for the partitioning of convex polygons to allow efficient path planning for coverage. These algorithms are tested both in simulation and in the field with a small twin hull differential thrust vessel built for the task.Comment: 21 pages, 9 Figures, 1 Table. Submitted to The Journal of Field Robotic

Proposal for manipulating and detecting spin and orbital states of trapped electrons on helium using cavity quantum electrodynamics

We propose to couple an on-chip high finesse superconducting cavity to the lateral-motion and spin state of a single electron trapped on the surface of superfluid helium. We estimate the motional coherence times to exceed 15 microseconds, while energy will be coherently exchanged with the cavity photons in less than 10 nanoseconds for charge states and faster than 1 microsecond for spin states, making the system attractive for quantum information processing and cavity quantum electrodynamics experiments. Strong interaction with cavity photons will provide the means for both nondestructive readout and coupling of distant electrons.Comment: 4 pages, 3 figures, supplemental material

Effect of nonequilibrium phonons on hot-electron spin relaxation in n-type GaAs quantum wells

We have studied the effect of nonequilibrium longitudinal optical phonons on hot-electron spin relaxation in $n$-type GaAs quantum wells. The longitudinal optical phonons, due to the finite relaxation rate, are driven to nonequilibrium states by electrons under an in-plane electric field. The nonequilibrium phonons then in turn influence the electron spin relaxation properties via modifying the electron heating and drifting. The spin relaxation time is elongated due to the enhanced electron heating and thus the electron-phonon scattering in the presence of nonequilibrium phonons. The frequency of spin precession, which is roughly proportional to the electron drift velocity, can be either increased (at low electric field and/or high lattice temperature) or decreased (at high electric field and/or low lattice temperature). The nonequilibrium phonon effect is more pronounced when the electron density is high and the impurity density is low.Comment: 6 pages, 3 figure

Can Hall drag be observed in Coulomb coupled quantum wells in a magnetic field?

We study the transresistivity \tensor\rho_{21} (or equivalently, the drag rate) of two Coulomb-coupled quantum wells in the presence of a perpendicular magnetic field, using semi-classical transport theory. Elementary arguments seem to preclude any possibility of observation of ``Hall drag'' (i.e., a non-zero off-diagonal component in \tensor\rho_{21}). We show that these arguments are specious, and in fact Hall drag can be observed at sufficiently high temperatures when the {\sl intra}layer transport time $\tau$ has significant energy-dependence around the Fermi energy $\varepsilon_F$. The ratio of the Hall to longitudinal transresistivities goes as $T^2 B s$, where $T$ is the temperature, $B$ is the magnetic field, and $s = [\partial\tau/ \partial\varepsilon] (\varepsilon_F)$.Comment: LaTeX, 13 pages, 2 figures (to be published in Physica Scripta, Proc. of the 17th Nordic Semiconductor Conference

Point force manipulation and activated dynamics of polymers adsorbed on structured substrates

We study the activated motion of adsorbed polymers which are driven over a structured substrate by a localized point force.Our theory applies to experiments with single polymers using, for example, tips of scanning force microscopes to drag the polymer.We consider both flexible and semiflexible polymers,and the lateral surface structure is represented by double-well or periodic potentials. The dynamics is governed by kink-like excitations for which we calculate shapes, energies, and critical point forces. Thermally activated motion proceeds by the nucleation of a kink-antikink pair at the point where the force is applied and subsequent diffusive separation of kink and antikink. In the stationary state of the driven polymer, the collective kink dynamics can be described by an one-dimensional symmetric simple exclusion process.Comment: 7 pages, 2 Figure

Iron concentrations in neurons and glial cells with estimates on ferritin concentrations

BACKGROUND: Brain iron is an essential as well as a toxic redox active element. Physiological levels are not uniform among the different cell types. Besides the availability of quantitative methods, the knowledge about the brain iron lags behind. Thereby, disclosing the mechanisms of brain iron homeostasis helps to understand pathological iron-accumulations in diseased and aged brains. With our study we want to contribute closing the gap by providing quantitative data on the concentration and distribution of iron in neurons and glial cells in situ. Using a nuclear microprobe and scanning proton induced X-ray emission spectrometry we performed quantitative elemental imaging on rat brain sections to analyze the iron concentrations of neurons and glial cells. RESULTS: Neurons were analyzed in the neocortex, subiculum, substantia nigra and deep cerebellar nuclei revealing an iron level between [Formula: see text] and [Formula: see text]. The iron concentration of neocortical oligodendrocytes is fivefold higher, of microglia threefold higher and of astrocytes twofold higher compared to neurons. We also analyzed the distribution of subcellular iron concentrations in the cytoplasm, nucleus and nucleolus of neurons. The cytoplasm contains on average 73 of the total iron, the nucleolus-although a hot spot for iron-due to its small volume only 6 of total iron. Additionally, the iron level in subcellular fractions were measured revealing that the microsome fraction, which usually contains holo-ferritin, has the highest iron content. We also present an estimate of the cellular ferritin concentration calculating [Formula: see text] ferritin molecules per [Formula: see text] in rat neurons. CONCLUSION: Glial cells are the most iron-rich cells in the brain. Imbalances in iron homeostasis that lead to neurodegeneration may not only be originate from neurons but also from glial cells. It is feasible to estimate the ferritin concentration based on measured iron concentrations and a reasonable assumptions on iron load in the brain

Query processing of spatial objects: Complexity versus Redundancy

The management of complex spatial objects in applications, such as geography and cartography, imposes stringent new requirements on spatial database systems, in particular on efficient query processing. As shown before, the performance of spatial query processing can be improved by decomposing complex spatial objects into simple components. Up to now, only decomposition techniques generating a linear number of very simple components, e.g. triangles or trapezoids, have been considered. In this paper, we will investigate the natural trade-off between the complexity of the components and the redundancy, i.e. the number of components, with respect to its effect on efficient query processing. In particular, we present two new decomposition methods generating a better balance between the complexity and the number of components than previously known techniques. We compare these new decomposition methods to the traditional undecomposed representation as well as to the well-known decomposition into convex polygons with respect to their performance in spatial query processing. This comparison points out that for a wide range of query selectivity the new decomposition techniques clearly outperform both the undecomposed representation and the convex decomposition method. More important than the absolute gain in performance by a factor of up to an order of magnitude is the robust performance of our new decomposition techniques over the whole range of query selectivity

Anisotropic weakly localized transport in nitrogen-doped ultrananocrystalline diamond films

We establish the dominant effect of anisotropic weak localization (WL) in three dimensions associated with a propagative Fermi surface, on the conductivity correction in heavily nitrogen doped ultrananocrystalline diamond (UNCD) films based on magneto-resistance studies at low temperatures. Also, low temperature electrical conductivity can show weakly localized transport in 3D combined with the effect of electron-electron interactions in these materials, which is remarkably different from the conductivity in 2DWL or strong localization regime. The corresponding dephasing time of electronic wavefunctions in these systems described as ~ T^-p with p < 1, follows a relatively weak temperature dependence compared to the generally expected nature for bulk dirty metals having $p \geq 1$. The temperature dependence of Hall (electron) mobility together with an enhanced electron density has been used to interpret the unusual magneto-transport features and show delocalized electronic transport in these n-type UNCD films, which can be described as low-dimensional superlattice structures.Comment: 27 pages, 6 figures, To be published in Physical Review