A general maximum entropy principle for self-gravitating perfect fluid

We consider a self-gravitating system consisting of perfect fluid with spherical symmetry. Using the general expression of entropy density, we extremize the total entropy $S$ under the constraint that the total number of particles is fixed. We show that extrema of $S$ coincides precisely with the relativistic Tolman-Oppenheimer-Volkoff (TOV) equation of hydrostatic equilibrium. Furthermore, we apply the maximum entropy principle to a charged perfect fluid and derive the generalized TOV equation. Our work provides a strong evidence for the fundamental relationship between general relativity and ordinary thermodynamics.Comment: 13 pages, no figure. The arguments have been improved so that the assumption p=p(\rho) is no longer neede

On Newman-Penrose constants of stationary electrovacuum spacetimes

A theorem related to the Newman-Penrose constants is proven. The theorem states that all the Newman-Penrose constants of asymptotically flat, stationary, asymptotically algebraically special electrovacuum spacetimes are zero. Straightforward application of this theorem shows that all the Newman-Penrose constants of the Kerr-Newman spacetime must vanish.Comment: 11pages, no figures accepted by PR

Local conditions for the generalized covariant entropy bound

A set of sufficient conditions for the generalized covariant entropy bound given by Strominger and Thompson is as follows: Suppose that the entropy of matter can be described by an entropy current $s^a$. Let $k^a$ be any null vector along $L$ and $s\equiv -k^a s_a$. Then the generalized bound can be derived from the following conditions: (i) $s'\leq 2\pi T_{ab}k^ak^b$, where s'=k^a\grad_a s and $T_{ab}$ is the stress energy tensor; (ii) on the initial 2-surface $B$, $s(0)\leq -{1/4}\theta(0)$, where $\theta$ is the expansion of $k^a$. We prove that condition (ii) alone can be used to divide a spacetime into two regions: The generalized entropy bound holds for all light sheets residing in the region where $s<-{1/4}\theta$ and fails for those in the region where $s>-{1/4}\theta$. We check the validity of these conditions in FRW flat universe and a scalar field spacetime. Some apparent violations of the entropy bounds in the two spacetimes are discussed. These holographic bounds are important in the formulation of the holographic principle.Comment: 10 pages, 7 figure

First law of black hole mechanics in Einstein-Maxwell and Einstein-Yang-Mills theories

The first law of black hole mechanics is derived from the Einstein-Maxwell (EM) Lagrangian by comparing two infinitesimally nearby stationary black holes. With similar arguments, the first law of black hole mechanics in Einstein-Yang-Mills (EYM) theory is also derived.Comment: Modified version, major changes made in the introduction. 14 pages, no figur

A face recognition system for assistive robots

Assistive robots collaborating with people demand strong Human-Robot interaction capabilities. In this way, recognizing the person the robot has to interact with is paramount to provide a personalized service and reach a satisfactory end-user experience. To this end, face recognition: a non-intrusive, automatic mechanism of identification using biometric identifiers from an user's face, has gained relevance in the recent years, as the advances in machine learning and the creation of huge public datasets have considerably improved the state-of-the-art performance. In this work we study different open-source implementations of the typical components of state-of-the-art face recognition pipelines, including face detection, feature extraction and classification, and propose a recognition system integrating the most suitable methods for their utilization in assistant robots. Concretely, for face detection we have considered MTCNN, OpenCV's DNN, and OpenPose, while for feature extraction we have analyzed InsightFace and Facenet. We have made public an implementation of the proposed recognition framework, ready to be used by any robot running the Robot Operating System (ROS). The methods in the spotlight have been compared in terms of accuracy and performance in common benchmark datasets, namely FDDB and LFW, to aid the choice of the final system implementation, which has been tested in a real robotic platform.This work is supported by the Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech, the research projects WISER ([DPI2017-84827-R]),funded by the Spanish Government, and financed by European RegionalDevelopment’s funds (FEDER), and MoveCare ([ICT-26-2016b-GA-732158]), funded by the European H2020 program, and by a postdoc contract from the I-PPIT-UMA program financed by the University of Málaga

The "physical process" version of the first law and the generalized second law for charged and rotating black holes

We investigate both the ``physical process'' version of the first law and the second law of black hole thermodynamics for charged and rotating black holes. We begin by deriving general formulas for the first order variation in ADM mass and angular momentum for linear perturbations off a stationary, electrovac background in terms of the perturbed non-electromagnetic stress-energy, $\delta T_{ab}$, and the perturbed charge current density, $\delta j^a$. Using these formulas, we prove the "physical process version" of the first law for charged, stationary black holes. We then investigate the generalized second law of thermodynamics (GSL) for charged, stationary black holes for processes in which a box containing charged matter is lowered toward the black hole and then released (at which point the box and its contents fall into the black hole and/or thermalize with the ``thermal atmosphere'' surrounding the black hole). Assuming that the thermal atmosphere admits a local, thermodynamic description with respect to observers following orbits of the horizon Killing field, and assuming that the combined black hole/thermal atmosphere system is in a state of maximum entropy at fixed mass, angular momentum, and charge, we show that the total generalized entropy cannot decrease during the lowering process or in the ``release process''. Consequently, the GSL always holds in such processes. No entropy bounds on matter are assumed to hold in any of our arguments.Comment: 35 pages; 1 eps figur