Probabilistic and Distributed Control of a Large-Scale Swarm of Autonomous Agents

We present a novel method for guiding a large-scale swarm of autonomous agents into a desired formation shape in a distributed and scalable manner. Our Probabilistic Swarm Guidance using Inhomogeneous Markov Chains (PSG-IMC) algorithm adopts an Eulerian framework, where the physical space is partitioned into bins and the swarm's density distribution over each bin is controlled. Each agent determines its bin transition probabilities using a time-inhomogeneous Markov chain. These time-varying Markov matrices are constructed by each agent in real-time using the feedback from the current swarm distribution, which is estimated in a distributed manner. The PSG-IMC algorithm minimizes the expected cost of the transitions per time instant, required to achieve and maintain the desired formation shape, even when agents are added to or removed from the swarm. The algorithm scales well with a large number of agents and complex formation shapes, and can also be adapted for area exploration applications. We demonstrate the effectiveness of this proposed swarm guidance algorithm by using results of numerical simulations and hardware experiments with multiple quadrotors.Comment: Submitted to IEEE Transactions on Robotic

Tell Me More: A Creative, Fresh Look at Helping Children and Youth Tell Their Story

Tell Me More. This interactive workshop is designed to both refresh and expand the counseling skills necessary for helping children and youth tell their story. Participants will discuss, explore, and engage in creative, therapeutic techniques that promote the following elements: implementing engaging storytelling, increasing client self-awareness; and fostering a client\u27s sense of being seen, heard, and understood. Stories matter, because they belong to a person

Three-loop HTL QCD thermodynamics

The hard-thermal-loop perturbation theory (HTLpt) framework is used to calculate the thermodynamic functions of a quark-gluon plasma to three-loop order. This is the highest order accessible by finite temperature perturbation theory applied to a non-Abelian gauge theory before the high-temperature infrared catastrophe. All ultraviolet divergences are eliminated by renormalization of the vacuum, the HTL mass parameters, and the strong coupling constant. After choosing a prescription for the mass parameters, the three-loop results for the pressure and trace anomaly are found to be in very good agreement with recent lattice data down to $T \sim 2-3\,T_c$, which are temperatures accessible by current and forthcoming heavy-ion collision experiments.Comment: 27 pages, 11 figures; corresponds with published version in JHE

Direct Separation of Short Range Order in Intermixed Nanocrystalline and Amorphous Phases

Diffraction anomalous fine-structure (DAFS) and extended x-ray absorption fine-structure (EXAFS) measurements were combined to determine short range order (SRO) about a single atomic type in a sample of mixed amorphous and nanocrystalline phases of germanium. EXAFS yields information about the SRO of all Ge atoms in the sample, while DAFS determines the SRO of only the ordered fraction. We determine that the first-shell distance distribution is bimodal; the nanocrystalline distance is the same as the bulk crystal, to within 0.01(2)   Å, but the mean amorphous Ge-Ge bond length is expanded by 0.076(19)   Å. This approach can be applied to many systems of mixed amorphous and nanocrystalline phases

Polarization Switching Dynamics Governed by Thermodynamic Nucleation Process in Ultrathin Ferroelectric Films

A long standing problem of domain switching process - how domains nucleate - is examined in ultrathin ferroelectric films. We demonstrate that the large depolarization fields in ultrathin films could significantly lower the nucleation energy barrier (U*) to a level comparable to thermal energy (kBT), resulting in power-law like polarization decay behaviors. The "Landauer's paradox": U* is thermally insurmountable is not a critical issue in the polarization switching of ultrathin ferroelectric films. We empirically find a universal relation between the polarization decay behavior and U*/kBT.Comment: 5 pages, 4 figure

Observation of Conduction Band Satellite of Ni Metal by 3p-3d Resonant Inverse Photoemission Study

Resonant inverse photoemission spectra of Ni metal have been obtained across the Ni 3$p$ absorption edge. The intensity of Ni 3$d$ band just above Fermi edge shows asymmetric Fano-like resonance. Satellite structures are found at about 2.5 and 4.2 eV above Fermi edge, which show resonant enhancement at the absorption edge. The satellite structures are due to a many-body configuration interaction and confirms the existence of 3$d^8$ configuration in the ground state of Ni metal.Comment: 4 pages, 3 figures, submitted to Physical Review Letter

Local moment, itinerancy and deviation from Fermi liquid behavior in Nax_xCoO2_2 for 0.71≤x≤0.840.71 \leq x \leq 0.84

Here we report the observation of Fermi surface (FS) pockets via the Shubnikov de Haas effect in Na$_x$CoO$_2$ for $x = 0.71$ and 0.84, respectively. Our observations indicate that the FS expected for each compound intersects their corresponding Brillouin zones, as defined by the previously reported superlattice structures, leading to small reconstructed FS pockets, but only if a precise number of holes per unit cell is \emph{localized}. For $0.71 \leq x < 0.75$ the coexistence of itinerant carriers and localized $S =1/2$ spins on a paramagnetic triangular superlattice leads at low temperatures to the observation of a deviation from standard Fermi-liquid behavior in the electrical transport and heat capacity properties, suggesting the formation of some kind of quantum spin-liquid ground state.Comment: 4 pages, 4 figure