Inflationary Cosmological Perturbations of Quantum-Mechanical Origin

This review article aims at presenting the theory of inflation. We first describe the background spacetime behavior during the slow-roll phase and analyze how inflation ends and the Universe reheats. Then, we present the theory of cosmological perturbations with special emphasis on their behavior during inflation. In particular, we discuss the quantum-mechanical nature of the fluctuations and show how the uncertainty principle fixes the amplitude of the perturbations. In a next step, we calculate the inflationary power spectra in the slow-roll approximation and compare these theoretical predictions to the recent high accuracy measurements of the Cosmic Microwave Background radiation (CMBR) anisotropy. We show how these data already constrain the underlying inflationary high energy physics. Finally, we conclude with some speculations about the trans-Planckian problem, arguing that this issue could allow us to open a window on physical phenomena which have never been probed so far.Comment: Review Article, 47 pages, 3 figures. Lectures given at the 40th Karpacz Winter School on Theoretical Physics (Poland, Feb. 2004), submitted to Lecture Notes in Physic

New Constraints on Neutralino Dark Matter in the Supersymmetric Standard Model

We investigate the prospects for neutralino dark matter within the Supersymmetric Standard Model (SSM) including the constraints from universal soft supersymmetry breaking and radiative breaking of the electroweak symmetry. The latter is enforced by using the one-loop Higgs effective potential which automatically gives the one-loop corrected Higgs boson masses. We perform an exhaustive search of the allowed five-dimensional parameter space and find that the neutralino relic abundance $\Omega_\chi h^2_0$ depends most strongly on the ratio $\xi_0\equiv m_0/m_{1/2}$. For $\xi_0\gg1$ the relic abundance is almost always much too large, whereas for $\xi_0\ll1$ the opposite occurs. For $\xi_0\sim1$ there are wide ranges of the remaining parameters for which $\Omega_\chi\sim1$. We also determine that m_{\tilde q}\gsim250\GeV and m_{\tilde l}\gsim100\GeV are necessary in order to possibly achieve $\Omega_\chi\sim1$. These lower bounds are much weaker than the corresponding ones derived previously when radiative breaking was {\it not} enforced.Comment: 12 pages plus 6 figures (not included), CERN-TH.6584/92, CTP-TAMU-56/92, UAHEP921

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

This paper describes a multi-fingered haptic palpation method using stiffness feedback actuators for simulating tissue palpation procedures in traditional and in robot-assisted minimally invasive surgery. Soft tissue stiffness is simulated by changing the stiffness property of the actuator during palpation. For the first time, granular jamming and pneumatic air actuation are combined to realize stiffness modulation. The stiffness feedback actuator is validated by stiffness measurements in indentation tests and through stiffness discrimination based on a user study. According to the indentation test results, the introduction of a pneumatic chamber to granular jamming can amplify the stiffness variation range and reduce hysteresis of the actuator. The advantage of multi-fingered palpation using the proposed actuators is proven by the comparison of the results of the stiffness discrimination performance using two-fingered (sensitivity: 82.2%, specificity: 88.9%, positive predicative value: 80.0%, accuracy: 85.4%, time: 4.84 s) and single-fingered (sensitivity: 76.4%, specificity: 85.7%, positive predicative value: 75.3%, accuracy: 81.8%, time: 7.48 s) stiffness feedback