Topology of parametrised motion planning algorithms

We introduce and study a new concept of parameterised topological complexity, a topological invariant motivated by the motion planning problem of robotics. In the parametrised setting, a motion planning algorithm has high degree of universality and flexibility, it can function under a variety of external conditions (such as positions of the obstacles etc). We explicitly compute the parameterised topological complexity of obstacle-avoiding collision-free motion of many particles (robots) in 3-dimensional space. Our results show that the parameterised topological complexity can be significantly higher than the standard (nonparametrised) invariant

Analytic frameworks for assessing dialogic argumentation in online learning environments

Over the last decade, researchers have developed sophisticated online learning environments to support students engaging in argumentation. This review first considers the range of functionalities incorporated within these online environments. The review then presents five categories of analytic frameworks focusing on (1) formal argumentation structure, (2) normative quality, (3) nature and function of contributions within the dialog, (4) epistemic nature of reasoning, and (5) patterns and trajectories of participant interaction. Example analytic frameworks from each category are presented in detail rich enough to illustrate their nature and structure. This rich detail is intended to facilitate researchers’ identification of possible frameworks to draw upon in developing or adopting analytic methods for their own work. Each framework is applied to a shared segment of student dialog to facilitate this illustration and comparison process. Synthetic discussions of each category consider the frameworks in light of the underlying theoretical perspectives on argumentation, pedagogical goals, and online environmental structures. Ultimately the review underscores the diversity of perspectives represented in this research, the importance of clearly specifying theoretical and environmental commitments throughout the process of developing or adopting an analytic framework, and the role of analytic frameworks in the future development of online learning environments for argumentation

Ab-initio spin dynamics applied to nanoparticles: canted magnetism of a finite Co chain along a Pt(111) surface step edge

In order to search for the magnetic ground state of surface nanostructures we extended first principles adiabatic spin dynamics to the case of fully relativistic electron scattering. Our method relies on a constrained density functional theory whereby the evolution of the orientations of the spin-moments results from a semi-classical Landau-Lifshitz equation. This approach is applied to a study of the ground state of a finite Co chain placed along a step edge of a Pt(111) surface. As far as the ground state spin orientation is concerned we obtain excellent agreement with the experiment. Furthermore we observe noncollinearity of the atom-resolved spin and orbital moments. In terms of magnetic force theorem calculations we also demonstrate how a reduction of symmetry leads to the existence of canted magnetic states.Comment: 4 pages, ReVTeX + 3 figures (Encapsulated Postscript), submitted to PR

Network Inference via the Time-Varying Graphical Lasso

Many important problems can be modeled as a system of interconnected entities, where each entity is recording time-dependent observations or measurements. In order to spot trends, detect anomalies, and interpret the temporal dynamics of such data, it is essential to understand the relationships between the different entities and how these relationships evolve over time. In this paper, we introduce the time-varying graphical lasso (TVGL), a method of inferring time-varying networks from raw time series data. We cast the problem in terms of estimating a sparse time-varying inverse covariance matrix, which reveals a dynamic network of interdependencies between the entities. Since dynamic network inference is a computationally expensive task, we derive a scalable message-passing algorithm based on the Alternating Direction Method of Multipliers (ADMM) to solve this problem in an efficient way. We also discuss several extensions, including a streaming algorithm to update the model and incorporate new observations in real time. Finally, we evaluate our TVGL algorithm on both real and synthetic datasets, obtaining interpretable results and outperforming state-of-the-art baselines in terms of both accuracy and scalability

Surveyor batteries Final engineering report

Design and performance of Surveyor spacecraft silver-zinc main batter

Supersymmetry, homology with twisted coefficients and n-dimensional knots

Let $n$ be any natural number. Let $K$ be any $n$-dimensional knot in $S^{n+2}$. We define a supersymmetric quantum system for $K$ with the following properties. We firstly construct a set of functional spaces (spaces of fermionic \{resp. bosonic\} states) and a set of operators (supersymmetric infinitesimal transformations) in an explicit way. Thus we obtain a set of the Witten indexes for $K$. Our Witten indexes are topological invariants for $n$-dimensional knots. Our Witten indexes are not zero in general. If $K$ is equivalent to the trivial knot, all of our Witten indexes are zero. Our Witten indexes restrict the Alexander polynomials of $n$-knots. If one of our Witten indexes for an $n$-knot $K$ is nonzero, then one of the Alexander polynomials of $K$ is nontrivial. Our Witten indexes are connected with homology with twisted coefficients. Roughly speaking, our Witten indexes have path integral representation by using a usual manner of supersymmetric theory.Comment: 10pages, no figure

Numerically improved computational scheme for the optical conductivity tensor in layered systems

The contour integration technique applied to calculate the optical conductivity tensor at finite temperatures in the case of layered systems within the framework of the spin-polarized relativistic screened Korringa-Kohn-Rostoker band structure method is improved from the computational point of view by applying the Gauss-Konrod quadrature for the integrals along the different parts of the contour and by designing a cumulative special points scheme for two-dimensional Brillouin zone integrals corresponding to cubic systems.Comment: 17 pages, LaTeX + 4 figures (Encapsulated PostScript), submitted to J. Phys.: Condensed Matter (19 Sept. 2000

Electrical Resistivity of a Thin Metallic Film

The electrical resistivity of a pure sample of a thin metallic film is found to depend on the boundary conditions. This conclusion is supported by a free-electron model calculation and confirmed by an ab initio relativistic Korringa-Kohn-Rostoker computation. The low-temperature resistivity is found to be zero for a free-standing film (reflecting boundary conditions) but nonzero when the film is sandwiched between two semi-infinite samples of the same material (outgoing boundary conditions). In the latter case, this resistivity scales inversely with the number of monolayers and is due to the background diffusive scattering by a finite lattice.Comment: 20 pages. To be published in Physical Review B, December 15, 199

Non-collinear magnetic structures: a possible cause for current induced switching

Current induced switching in Co/Cu/Co trilayers is described in terms of ab-initio determined magnetic twisting energies and corresponding sheet resistances. In viewing the twisting energy as an energy flux the characteristic time thereof is evaluated by means of the Landau-Lifshitz-Gilbert equation using ab-initio parameters. The obtained switching times are in very good agreement with available experimental data. In terms of the calculated currents, scalar quantities since a classical Ohm's law is applied, critical currents needed to switch magnetic configurations from parallel to antiparallel and vice versa can unambiguously be defined. It is found that the magnetoresistance viewed as a function of the current is essentially determined by the twisting energy as a function of the relative angle between the orientations of the magnetization in the magnetic slabs, which in turn can also explain in particular cases the fact that after having switched off the current the system remains in the switched magnetic configuration. For all ab-initio type calculations the fully relativistic Screened Korringa-Kohn-Rostoker method and the corresponding Kubo-Greenwood equation in the context of density functional theory are applied.Comment: 20 pages, 4 tables and 15 figures, submitted to PR

Finite-temperature magnetism of Fex_xPd1−x_{1-x} and Cox_xPt1−x_{1-x} alloys

The finite-temperature magnetic properties of Fe$_x$Pd$_{1-x}$ and Co$_x$Pt$_{1-x}$ alloys have been investigated. It is shown that the temperature-dependent magnetic behaviour of alloys, composed of originally magnetic and non-magnetic elements, cannot be described properly unless the coupling between magnetic moments at magnetic atoms (Fe,Co) mediated through the interactions with induced magnetic moments of non-magnetic atoms (Pd,Pt) is included. A scheme for the calculation of the Curie temperature ($T_C$) for this type of systems is presented which is based on the extended Heisenberg Hamiltonian with the appropriate exchange parameters $J_{ij}$ obtained from {\em ab-initio} electronic structure calculations. Within the present study the KKR Green's function method has been used to calculate the $J_{ij}$ parameters. A comparison of the obtained Curie temperatures for Fe$_x$Pd$_{1-x}$ and Co$_x$Pt$_{1-x}$ alloys with experimental data shows rather good agreement.Comment: 10 pages, 12 figure