Learning Ground Traversability from Simulations

Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a convolutional neural network that, given an image representing the heightmap of a terrain patch, predicts whether the robot will be able to traverse such patch from left to right. The classifier is trained for a specific robot model (wheeled, tracked, legged, snake-like) using simulation data on procedurally generated training terrains; the trained classifier can be applied to unseen large heightmaps to yield oriented traversability maps, and then plan traversable paths. We extensively evaluate the approach in simulation on six real-world elevation datasets, and run a real-robot validation in one indoor and one outdoor environment.Comment: Webpage: http://romarcg.xyz/traversability_estimation

Cosmological Properties of a Gauged Axion

We analyze the most salient cosmological features of axions in extensions of the Standard Model with a gauged anomalous extra U(1) symmetry. The model is built by imposing the constraint of gauge invariance in the anomalous effective action, which is extended with Wess-Zumino counterterms. These generate axion-like interactions of the axions to the gauge fields and a gauged shift symmetry. The scalar sector is assumed to acquire a non-perturbative potential after inflation, at the electroweak phase transition, which induces a mixing of the Stuckelberg field of the model with the scalars of the electroweak sector, and at the QCD phase transition. We discuss the possible mechanisms of sequential misalignments which could affect the axions of these models, and generated, in this case, at both transitions. We compute the contribution of these particles to dark matter, quantifying their relic densities as a function of the Stuckelberg mass. We also show that models with a single anomalous U(1) in general do not account for the dark energy, due to the presence of mixed U(1)-SU(3) anomalies.Comment: 29 pages, 5 figures. Revised version, accepted by Phys. Rev.

High Performances Corrugated Feed Horns for Space Applications at Millimetre Wavelengths

We report on the design, fabrication and testing of a set of high performance corrugated feed horns at 30 GHz, 70 GHz and 100 GHz, built as advanced prototypes for the Low Frequency Instrument (LFI) of the ESA Planck mission. The electromagnetic designs include linear (100 GHz) and dual shaped (30 and 70 GHz) profiles. Fabrication has been achieved by direct machining at 30 GHz, and by electro-formation at higher frequencies. The measured performances on side lobes and return loss meet the stringent Planck requirements over the large (20%) instrument bandwidth. Moreover, the advantage in terms of main lobe shape and side lobes levels of the dual profiled designs has been demonstrated.Comment: 16 pages, 7 figures, accepted for publication in Experimental Astronom

A Light Supersymmetric Axion in an Anomalous Abelian Extension of the Standard Model

We present a supersymmetric extension of the Standard Model (USSM-A) with an anomalous U(1) and Stueckelberg axions for anomaly cancellation, generalizing similar non-supersymmetric constructions. The model, built by a bottom-up approach, is expected to capture the low-energy supersymmetric description of axionic symmetries in theories with gauged anomalous abelian interactions, previously explored in the non-supersymmetric case for scenarios with intersecting branes. The choice of a USSM-like superpotential, with one extra singlet superfield and an extra abelian symmetry, allows a physical axion-like particle in the spectrum. We describe some general features of this construction and in particular the modification of the dark-matter sector which involves both the axion and several neutralinos with an axino component. The axion is expected to be very light in the absence of phases in the superpotential but could acquire a mass which can also be in the few GeV range or larger. In particular, the gauging of the anomalous symmetry allows independent mass/coupling interaction to the gauge fields of this particle, a feature which is absent in traditional (invisible) axion models. We comment on the general implications of our study for the signature of moduli from string theory due to the presence of these anomalous symmetries.Comment: 46 pages, 28 figures. Revised version, accepted for a publication on Phys.Rev.

The Planck-LFI flight model composite waveguides

The Low Frequency Instrument on board the PLANCK satellite is designed to give the most accurate map ever of the CMB anisotropy of the whole sky over a broad frequency band spanning 27 to 77 GHz. It is made of an array of 22 pseudo-correlation radiometers, composed of 11 actively cooled (20 K) Front End Modules (FEMs), and 11 Back End Modules (BEMs) at 300K. The connection between the two parts is made with rectangular Wave Guides. Considerations of different nature (thermal, electromagnetic and mechanical), imposed stringent requirements on the WGs characteristics and drove their design. From the thermal point of view, the WG should guarantee good insulation between the FEM and the BEM sections to avoid overloading the cryocooler. On the other hand it is essential that the signals do not undergo excessive attenuation through the WG. Finally, given the different positions of the FEM modules behind the focal surface and the mechanical constraints given by the surrounding structures, different mechanical designs were necessary. A composite configuration of Stainless Steel and Copper was selected to satisfy all the requirements. Given the complex shape and the considerable length (about 1.5-2 m), manufacturing and testing the WGs was a challenge. This work deals with the development of the LFI WGs, including the choice of the final configuration and of the fabrication process. It also describes the testing procedure adopted to fully characterize these components from the electromagnetic point of view and the space qualification process they underwent. Results obtained during the test campaign are reported and compared with the stringent requirements. The performance of the LFI WGs is in line with requirements, and the WGs were successfully space qualified.Comment: this paper is part of the Prelaunch status LFI papers published on JINST: http://www.iop.org/EJ/journal/-page=extra.proc5/jins

Planck LFI flight model feed horns

this paper is part of the Prelaunch status LFI papers published on JINST: http://www.iop.org/EJ/journal/-page=extra.proc5/jinst The Low Frequency Instrument is optically interfaced with the ESA Planck telescope through 11 corrugated feed horns each connected to the Radiometer Chain Assembly (RCA). This paper describes the design, the manufacturing and the testing of the flight model feed horns. They have been designed to optimize the LFI optical interfaces taking into account the tight mechanical requirements imposed by the Planck focal plane layout. All the eleven units have been successfully tested and integrated with the Ortho Mode transducers.Comment: This is an author-created, un-copyedited version of an article accepted for publication in JINST. IOP Publishing Ltd is not responsible for any errors or omissions in this version of the manuscript or any version derived from it. The definitive publisher authenticated version is available online at 10.1088/1748-0221/4/12/T1200

Comments on Anomaly Cancellations by Pole Subtractions and Ghost Instabilities with Gravity

We investigate some aspects of anomaly cancellation realized by the subtraction of an anomaly pole, stressing on some of its properties in superspace. In a local formulation these subtractions can be described in terms of a physical scalar, an axion and related ghosts. They appear to be necessary for the unitarization of the theory in the ultraviolet, but they may generate an infrared instability of the corresponding effective action, signalled by ghost condensation. In particular the subtraction of the superanomaly multiplet by a pole in superspace is of dubious significance, due to the different nature of the chiral and conformal anomalies. In turn, this may set more stringent constraints on the coupling of supersymmetric theories to gravity.Comment: 18 pages. Revised version. To appear in "Classical and Quantum Gravity

Unitarity Bounds for Gauged Axionic Interactions and the Green-Schwarz Mechanism

We analyze the effective actions of anomalous models in which a four-dimensional version of the Green-Schwarz mechanism is invoked for the cancellation of the anomalies, and we compare it with those models in which gauge invariance is restored by the presence of a Wess-Zumino term. Some issues concerning an apparent violation of unitarity of the mechanism, which requires Dolgov-Zakharov poles, are carefully examined, using a class of amplitudes studied in the past by Bouchiat-Iliopoulos-Meyer (BIM), and elaborating on previous studies. In the Wess-Zumino case we determine explicitly the unitarity bound using a realistic model of intersecting branes (the Madrid model) by studying the corresponding BIM amplitudes. This is shown to depend significantly on the St\"uckelberg mass and on the coupling of the extra anomalous gauge bosons and allows one to identify Standard-Model-like regions (which are anomaly-free) from regions where the growth of certain amplitudes is dominated by the anomaly, separated by an inflection point which could be studied at the LHC. The bound can even be around 5-10 TeV's for a $Z'$ mass around 1 TeV and varies sensitively with the anomalous coupling. The results for the WZ case are quite general and apply to all the models in which an axion-like interaction is introduced as a generalization of the Peccei-Quinn mechanism, with a gauged axion.Comment: 50 pages, 28 figure