Report on the Stanford/Ames direct-link space suit prehensor

Researchers at the Center for Design Research at Stanford University, in collaboration with NASA Ames at Moffet Field, California, are developing hand-powered mechanical prehensors to replace gloves for EVA spacesuits. The design and functional properties of the first version Direct Link Prehensor (DLP) is discussed. It has a total of six degrees-of-freedom and is the most elaborate of three prehensors being developed for the project. The DLP has a robust design and utilizes only linkages and revolute joints for the drive system. With its anthropomorphic configuration of two fingers and a thumb, it is easy to control and is capable of all of the basic prehension patterns such as cylindrical or lateral pinch grasps. Kinematic analysis reveals that, assuming point contacts, a grasped object can be manipulated with three degrees-of-freedom. Yet, in practice more degrees-of-freedom are possible

The non-Abelian state-dependent gauge field in optics

The covariant formulation of the quantum dynamics in CP(1) should lead to the observable geometrodynamical effects for the local dynamical variable of the light polarization states.Comment: 8 pages, 3 figures, LaTe

Logical Pre- and Post-Selection Paradoxes, Measurement-Disturbance and Contextuality

Many seemingly paradoxical effects are known in the predictions for outcomes of measurements made on pre- and post-selected quantum systems. A class of such effects, which we call “logical pre- and post-selection paradoxes”, bear a striking resemblance to proofs of the Bell-Kochen-Specker theorem, which suggests that they demonstrate the contextuality of quantum mechanics. Despite the apparent similarity, we show that such effects can occur in noncontextual hidden variable theories, provided measurements are allowed to disturb the values of the hidden variables

Pre- and Post-selection paradoxes and contextuality in quantum mechanics

Many seemingly paradoxical effects are known in the predictions for outcomes of intermediate measurements made on pre- and post-selected quantum systems. Despite appearances, these effects do not demonstrate the impossibility of a noncontextual hidden variable theory, since an explanation in terms of measurement-disturbance is possible. Nonetheless, we show that for every paradoxical effect wherein all the pre- and post- selected probabilities are 0 or 1 and the pre- and post-selected states are nonorthogonal, there is an associated proof of contextuality. This proof is obtained by considering all the measurements involved in the paradoxical effect -- the pre-selection, the post-selection, and the alternative possible intermediate measurements -- as alternative possible measurements at a single time.Comment: 5 pages, 1 figure. Submitted to Phys. Rev. Lett. v2.0 revised in the light of referee comments, results unchange

Optimal simulation of two-qubit Hamiltonians using general local operations

We consider the simulation of the dynamics of one nonlocal Hamiltonian by another, allowing arbitrary local resources but no entanglement nor classical communication. We characterize notions of simulation, and proceed to focus on deterministic simulation involving one copy of the system. More specifically, two otherwise isolated systems $A$ and $B$ interact by a nonlocal Hamiltonian $H \neq H_A+H_B$. We consider the achievable space of Hamiltonians $H'$ such that the evolution $e^{-iH't}$ can be simulated by the interaction $H$ interspersed with local operations. For any dimensions of $A$ and $B$, and any nonlocal Hamiltonians $H$ and $H'$, there exists a scale factor $s$ such that for all times $t$ the evolution $e^{-iH'st}$ can be simulated by $H$ acting for time $t$ interspersed with local operations. For 2-qubit Hamiltonians $H$ and $H'$, we calculate the optimal $s$ and give protocols achieving it. The optimal protocols do not require local ancillas, and can be understood geometrically in terms of a polyhedron defined by a partial order on the set of 2-qubit Hamiltonians.Comment: (1) References to related work, (2) protocol to simulate one two-qudit Hamiltonian with another, and (3) other related results added. Some proofs are simplifie

A generalized no-broadcasting theorem

We prove a generalized version of the no-broadcasting theorem, applicable to essentially \emph{any} nonclassical finite-dimensional probabilistic model satisfying a no-signaling criterion, including ones with ``super-quantum'' correlations. A strengthened version of the quantum no-broadcasting theorem follows, and its proof is significantly simpler than existing proofs of the no-broadcasting theorem.Comment: 4 page

Olfactory learning alters navigation strategies and behavioral variability in C. elegans

Animals adjust their behavioral response to sensory input adaptively depending on past experiences. The flexible brain computation is crucial for survival and is of great interest in neuroscience. The nematode C. elegans modulates its navigation behavior depending on the association of odor butanone with food (appetitive training) or starvation (aversive training), and will then climb up the butanone gradient or ignore it, respectively. However, the exact change in navigation strategy in response to learning is still unknown. Here we study the learned odor navigation in worms by combining precise experimental measurement and a novel descriptive model of navigation. Our model consists of two known navigation strategies in worms: biased random walk and weathervaning. We infer weights on these strategies by applying the model to worm navigation trajectories and the exact odor concentration it experiences. Compared to naive worms, appetitive trained worms up-regulate the biased random walk strategy, and aversive trained worms down-regulate the weathervaning strategy. The statistical model provides prediction with $>90 \%$ accuracy of the past training condition given navigation data, which outperforms the classical chemotaxis metric. We find that the behavioral variability is altered by learning, such that worms are less variable after training compared to naive ones. The model further predicts the learning-dependent response and variability under optogenetic perturbation of the olfactory neuron AWC$^\mathrm{ON}$. Lastly, we investigate neural circuits downstream from AWC$^\mathrm{ON}$ that are differentially recruited for learned odor-guided navigation. Together, we provide a new paradigm to quantify flexible navigation algorithms and pinpoint the underlying neural substrates

Why interference phenomena do not capture the essence of quantum theory

Quantum interference phenomena are widely viewed as posing a challenge to the classical worldview. Feynman even went so far as to proclaim that they are the only mystery and the basic peculiarity of quantum mechanics. Many have also argued that such phenomena force us to accept a number of radical interpretational conclusions, including: that a photon is neither a particle nor a wave but rather a Jekyll-and-Hyde sort of entity that toggles between the two possibilities, that reality is observer-dependent, and that systems either do not have properties prior to measurements or else have properties that are subject to nonlocal or backwards-in-time causal influences. In this work, we show that such conclusions are not, in fact, forced on us by the phenomena. We do so by describing an alternative to quantum theory, a statistical theory of a classical discrete field (the `toy field theory') that reproduces the relevant phenomenology of quantum interference while rejecting these radical interpretational claims. It also reproduces a number of related interference experiments that are thought to support these interpretational claims, such as the Elitzur-Vaidman bomb tester, Wheeler's delayed-choice experiment, and the quantum eraser experiment. The systems in the toy field theory are field modes, each of which possesses, at all times, both a particle-like property (a discrete occupation number) and a wave-like property (a discrete phase). Although these two properties are jointly possessed, the theory stipulates that they cannot be jointly known. The phenomenology that is generally cited in favour of nonlocal or backwards-in-time causal influences ends up being explained in terms of inferences about distant or past systems, and all that is observer-dependent is the observer's knowledge of reality, not reality itself.Comment: In this updated version we have added appendices elaborating on a few points. Primarily, we discuss how one can describe our toy field theory in terms of spatially localized modes, in a manner analogous to a cellular automaton. Comments welcome. 47 pages, 11 figure