One-loop four-graviton amplitude in eleven-dimensional supergravity

We find explicit expression for the one-loop four-graviton amplitude in eleven-dimensional supergravity compactified on a circle. Represented in terms of the string coupling (related to the compactification radius) it takes the form of an infinite sum of perturbative string loop corrections. We also compute the amplitude in the case of compactification on a 2-torus which is given by an SL(2,Z) invariant expansion in powers of the torus area. We discuss the structure of quantum corrections in eleven-dimensional theory and their relation to string theory.Comment: 14 pages, harvmac. Remarks on the amplitude in uncompactified D=11 space and on explicit structure of R^4 terms adde

Evaluating the Augmented Reality Human-Robot Collaboration System

This paper discusses an experimental comparison of three user interface techniques for interaction with a mobile robot located remotely from the user. A typical means of operating a robot in such a situation is to teleoperate the robot using visual cues from a camera that displays the robot’s view of its work environment. However, the operator often has a difficult time maintaining awareness of the robot in its surroundings due to this single ego-centric view. Hence, a multi-modal system has been developed that allows the remote human operator to view the robot in its work environment through an Augmented Reality (AR) interface. The operator is able to use spoken dialog, reach into the 3D graphic representation of the work environment and discuss the intended actions of the robot to create a true collaboration. This study compares the typical ego-centric driven view to two versions of an AR interaction system for an experiment remotely operating a simulated mobile robot. One interface provides an immediate response from the remotely located robot. In contrast, the Augmented Reality Human-Robot Collaboration (AR-HRC) System interface enables the user to discuss and review a plan with the robot prior to execution. The AR-HRC interface was most effective, increasing accuracy by 30% with tighter variation, while reducing the number of close calls in operating the robot by factors of ~3x. It thus provides the means to maintain spatial awareness and give the users the feeling they were working in a true collaborative environment

Collaborating with a Mobile Robot: An Augmented Reality Multimodal Interface

Invited paperWe have created an infrastructure that allows a human to collaborate in a natural manner with a robotic system. In this paper we describe our system and its implementation with a mobile robot. In our prototype the human communicates with the mobile robot using natural speech and gestures, for example, by selecting a point in 3D space and saying “go here” or “go behind that”. The robot responds using speech so the human is able to understand its intentions and beliefs. Augmented Reality (AR) technology is used to facilitate natural use of gestures and provide a common 3D spatial reference for both the robot and human, thus providing a means for grounding of communication and maintaining spatial awareness. This paper first discusses related work then gives a brief overview of AR and its capabilities. The architectural design we have developed is outlined and then a case study is discussed

Exactly solvable model of superstring in Ramond-Ramond plane wave background

We describe in detail the solution of type IIB superstring theory in the maximally supersymmetric plane-wave background with constant null Ramond-Ramond 5-form field strength. The corresponding light-cone Green-Schwarz action found in hep-th/0112044 is quadratic in both bosonic and fermionic coordinates. We find the spectrum of the light-cone Hamiltonian and the string representation of the supersymmetry algebra. The superstring Hamiltonian has a ``harmonic-oscillator'' form in both the string-oscillator and the zero-mode parts and thus has discrete spectrum in all 8 transverse directions. We analyze the structure of the zero-mode sector of the theory, establishing the precise correspondence between the lowest-lying ``massless'' string states and the type IIB supergravity fluctuation modes in the plane-wave background. The zero-mode spectrum has certain similarity to the supergravity spectrum in AdS_5 x S^5 of which the plane-wave background is a special limit. We also compare the plane-wave string spectrum with expected form of the light-cone gauge spectrum of superstring in AdS_5 x S^5.Comment: 33 pages, latex. v4: minor sign corrections in (1.5) and (3.62), to appear in PR

Superstrings in type IIB R-R plane-wave in semi-light-cone gauge and conformal invariance

We reconsider the analysis done by Kazama and Yokoi in arXiv:0801.1561 (hep-th). We find that although the right vacuum of the theory is the one associated to massless normal ordering (MNO), phase space normal ordering (PNO) plays crucial role in the analysis in the following way. While defining the quantum energy-momentum (EM) tensor one needs to take into account the field redefinition relating the space-time field and the corresponding world-sheet coupling. We argue that for a simple off-shell ansatz for the background this field redefinition can be taken to be identity if the interaction term is ordered according to PNO. This definition reproduces the correct physical spectrum when the background is on-shell. We further show that the right way to extract the effective equation of motion from the Virasoro anomaly is to first order the anomaly terms according to PNO at a finite regularization parameter \eps and then take the \eps \to 0 limit. This prescription fixes an ambiguity in taking the limit for certain bosonic and fermionic contributions to the Virasoro anomaly and is the natural one to consider given the above definition of the EM tensor.Comment: 22 page

Magnetic flux tube models in superstring theory

Superstring models describing curved 4-dimensional magnetic flux tube backgrounds are exactly solvable in terms of free fields. We first consider the simplest model of this type (corresponding to `Kaluza-Klein' Melvin background). Its 2d action has a flat but topologically non-trivial 10-dimensional target space (there is a mixing of angular coordinate of the 2-plane with an internal compact coordinate). We demonstrate that this theory has broken supersymmetry but is perturbatively stable if the radius R of the internal coordinate is larger than R_0=\sqrt{2\a'}. In the Green-Schwarz formulation the supersymmetry breaking is a consequence of the presence of a flat but non-trivial connection in the fermionic terms in the action. For R < R_0 and the magnetic field strength parameter q > R/2\a' there appear instabilities corresponding to tachyonic winding states. The torus partition function Z(q,R) is finite for R > R_0 (and vanishes for qR=2n, n=integer). At the special points qR=2n (2n+1) the model is equivalent to the free superstring theory compactified on a circle with periodic (antiperiodic) boundary condition for space-time fermions. Analogous results are obtained for a more general class of static magnetic flux tube geometries including the a=1 Melvin model.Comment: 28 pages, harvmac. Minor changes, final version to appear in NP

Exploring temporal aspects of climate-change effects due to bioenergy

The greenhouse gas emissions associated with bioenergy are often temporally dispersed and can be a mixture of long-term forcers (such as carbon dioxide) and short-term forcers (such as methane). These factors affect the timing and magnitude of climate-change impacts associated with bioenergy in ways that cannot be clearly communicated with a single metric. This is critical as key comparisons that determine incentives and policy for bioenergy are based upon climate-change impacts expressed as carbon dioxide equivalent calculated with GWP100. This paper explores these issues further and presents a spreadsheet tool to facilitate quick assessment of these temporal effects. The potential effect of (i) a mix of GHGs and (ii) emissions that change with time are illustrated through two case studies. In case study 1, variations in the mix of greenhouse gases mean that apparently similar impacts after 100-years, mask radically different impacts before then. In case study 2, variations in the timing of emissions cause their climate-change impacts (integrated radiative-forcing and temperature change) to differ from the impacts that an emissions-balance would suggest. The effect of taking alternative approaches to considering “CO2-equivalence” are also assessed. In both cases, a single metric for climate-change effects was found to be wanting. A simple tool has been produced to help practitioners evaluate whether this is the case for any given system. If complex dynamics are apparent, it is recommended that additional metrics, more detailed inventory, or full time-series impact results are used in order to accurately communicate these climate-change effects.</p

Waves, boosted branes and BPS states in M-theory

Certain type II string non-threshold BPS bound states are shown to be related to non-static backgrounds in 11-dimensional theory. The 11-d counterpart of the bound state of NS-NS and R-R type IIB strings wound around a circle is a pure gravitational wave propagating along a generic cycle of 2-torus. The extremal (q_1,q_2) string with non-vanishing momentum along the circle (or infinitely boosted black string) corresponds in D=11 to a 2-brane wrapped around 2-torus with momentum flow along the (q_1,q_2) cycle. Applying duality transformations to the string-string solution we find type IIA background representing a bound state of 2-brane and 0-brane. Its lift to 11 dimensions is simply a 2-brane finitely boosted in transverse direction. This 11-d solution interpolates between a static 2-brane (zero boost) and a gravitational wave in 11-th dimension (infinite boost). Similar interpretations are given for various bound states involving 5-branes. Relations between transversely boosted M-branes and 1/2 supersymmetric non-threshold bound states 2+0 and 5+0 complement relations between M-branes with momentum in longitudinal direction and 1/4 supersymmetric threshold bound states 1+0 and 4+0. In the second part of the paper we establish the correspondence between the BPS states of type IIB strings on a circle and oscillating states of a fundamental supermembrane wrapped around a 2-torus. We show that the (q_1,q_2) string spectrum is reproduced by the membrane BPS spectrum, determined using a certain limit. This supports the picture suggested by Schwarz.Comment: 26 pages, harvmac (minor corrections; T-duality relation between IIB string-string solution and boosted 0-brane made explicit

Optimizing internal wave drag in a forward barotropic model with semidiurnal tides

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/109739/1/ocemod_buijsmanetal_2015.pd