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In an effort to explain the formation of a narrow third radiation belt at ultra-relativistic energies detected during a solar storm in September 20121, Mann et al.2 present simulations from which they conclude it arises from a process of outward radial diffusion alone, without the need for additional loss processes from higher frequency waves. The comparison of observations with the model in Figs 2 and 3 of their Article clearly shows that even with strong radial diffusion rates, the model predicts a third belt near L* = 3 that is twice as wide as observed and approximately an order of magnitude more intense. We therefore disagree with their interpretation that “the agreement between the absolute fluxes from the model and those observed by REPT [the Relativistic Electron Proton Telescope] shown on Figs 2 and 3 is excellent.”
Previous studies3 have shown that outward radial diffusion plays a very important role in the dynamics of the outer belt and is capable of explaining rapid reductions in the electron flux. It has also been shown that it can produce remnant belts (Fig. 2 of a long-term simulation study4). However, radial diffusion alone cannot explain the formation of the narrow third belt at multi-MeV during September 2012. An additional loss mechanism is required.
Higher radial diffusion rates cannot improve the comparison of model presented by Mann et al. with observations. A further increase in the radial diffusion rates (reported in Fig. 4 of the Supplementary Information of ref. 2) results in the overestimation of the outer belt fluxes by up to three orders of magnitude at energy of 3.4 MeV.
Observations at 2 MeV, where belts show only a two-zone structure, were not presented by Mann et al. Moreover, simulations of electrons with energies below 2 MeV with the same diffusion rates and boundary conditions used by the authors would probably produce very strong depletions down to L = 3–3.5, where L is radial distance from the centre of the Earth to the given field line in the equatorial plane. Observations do not show a non-adiabatic loss below L ∼ 4.5 for 2 MeV. Such different dynamics between 2 MeV and above 4 MeV at around L = 3.5 are another indication that particles are scattered by electromagnetic ion cyclotron (EMIC) waves that affect only energies above a certain threshold.
Observations of the phase space density (PSD) provide additional evidence for the local loss of electrons. Around L* = 3.5–4 PSD shows significant decrease by an order of magnitude starting in the afternoon of 3 September (Fig. 1a), while PSD above L* = 4 is increasing. The minimum in PSD between L* = 3.5–4 continues to decrease until 4 September. This evolution demonstrates that the loss is not produced by outward diffusion. Radial diffusion cannot produce deepening minima, as it works to smooth gradients. Just as growing peaks in PSD show the presence of localized acceleration5, deepening minima show the presence of localized loss.
Figure 1: Time evolution of radiation profiles in electron PSD at relativistic and ultra-relativistic energies.
figure 1
a, Similar to Supplementary Fig. 3 of ref. 2, but using TS07D model10 and for μ = 2,500 MeV G−1, K = 0.05 RE G0.5 (where RE is the radius of the Earth). b, Similar to Supplementary Fig. 3 of ref. 2, but using TS07D model and for μ = 700 MeV G−1, corresponding to MeV energies in the heart of the belt. Minimum in PSD in the heart of the multi-MeV electron radiation belt between 3.5 and 4 RE deepening between the afternoon of 3 September and 5 September clearly show that the narrow remnant belt at multi-MeV below 3.5 RE is produced by the local loss.
Full size image
The minimum in the outer boundary is reached on the evening of 2 September. After that, the outer boundary moves up, while the minimum decreases by approximately an order of magnitude, clearly showing that this main decrease cannot be explained by outward diffusion, and requires additional loss processes. The analysis of profiles of PSD is a standard tool used, for example, in the study about electron acceleration5 and routinely used by the entire Van Allen Probes team. In the Supplementary Information, we show that this analysis is validated by using different magnetic field models. The Supplementary Information also shows that measurements are above background noise.
Deepening minima at multi-MeV during the times when the boundary flux increases are clearly seen in Fig. 1a. They show that there must be localized loss, as radial diffusion cannot produce a minimum that becomes lower with time. At lower energies of 1–2 MeV, which corresponds to lower values of the first adiabatic invariant μ (Fig. 1b), the profiles are monotonic between L* = 3–3.5, consistent with the absence of scattering by EMIC waves that affect only electrons above a certain energy threshold6,7,8,9.
In summary, the results of the modelling and observations presented by Mann et al. do not lend support to the claim of explaining the dynamics of the ultra-relativistic third Van Allen radiation belt in terms of an outward radial diffusion process alone. While the outward radial diffusion driven by the loss to the magnetopause2 is certainly operating during this storm, there is compelling observational and modelling2,6 evidence that shows that very efficient localized electron loss operates during this storm at multi-MeV energies, consistent with localized loss produced by EMIC waves.
Manufacturing industries are undergoing a major paradigm shift towards more autonomy. Automated planning and scheduling then becomes a necessity. The Planning and Execution Competition for Logistics Robots in Simulation held at ICAPS is based on this scenario and provides an interesting testbed. However, the posed problem is challenging as also demonstrated by the somewhat weak results in 2017. The domain requires temporal reasoning and dealing with uncertainty. We propose a novel planning system based on Answer Set Programming and the Clingo solver to tackle these problems and incentivize robot cooperation. Our results show a significant performance improvement, both, in terms of lowering computational requirements and better game metrics.
Declarative languages for knowledge representation and reasoning provide constructs to define preference relations over the set of possible interpretations, so that preferred models represent optimal solutions of the encoded problem. We introduce the notion of approximation for replacing preference relations with stronger preference relations, that is, relations comparing more pairs of interpretations. Our aim is to accelerate the computation of a non-empty subset of the optimal solutions by means of highly specialized algorithms. We implement our approach in Answer Set Programming (ASP), where problems involving quantitative and qualitative preference relations can be addressed by ASPRIN, implementing a generic optimization algorithm. Unlike this, chains of approximations allow us to reduce several preference relations to the preference relations associated with ASP’s native weak constraints and heuristic directives. In this way, ASPRIN can now take advantage of several highly optimized algorithms implemented by ASP solvers for computing optimal solutions
We propose a new temporal extension of the logic of Here-and-There (HT) and its equilibria obtained by combining it with dynamic logic over (linear) traces. Unlike previous temporal extensions of HT based on linear temporal logic, the dynamic logic features allow us to reason about the composition of actions. For instance, this can be used to exercise fine grained control when planning in robotics, as exemplified by GOLOG. In this paper, we lay the foundations of our approach, and refer to it as Linear Dynamic Equilibrium Logic, or simply DEL. We start by developing the formal framework of DEL and provide relevant characteristic results. Among them, we elaborate upon the relationships to traditional linear dynamic logic and previous temporal extensions of HT.
Modern routing algorithms reduce query time by depending heavily on preprocessed data. The recently developed Navigation Data Standard (NDS) enforces a separation between algorithms and map data, rendering preprocessing inapplicable. Furthermore, map data is partitioned into tiles with respect to their geographic coordinates. With the limited memory found in portable devices, the number of tiles loaded becomes the major factor for run time. We study routing under these restrictions and present new algorithms as well as empirical evaluations. Our results show that, on average, the most efficient algorithm presented uses more than 20 times fewer tile loads than a normal A*.
For theoretical analyses there are two specifics distinguishing GP from many other areas of evolutionary computation. First, the variable size representations, in particular yielding a possible bloat (i.e. the growth of individuals with redundant parts). Second, the role and realization of crossover, which is particularly central in GP due to the tree-based representation. Whereas some theoretical work on GP has studied the effects of bloat, crossover had a surprisingly little share in this work. We analyze a simple crossover operator in combination with local search, where a preference for small solutions minimizes bloat (lexicographic parsimony pressure); the resulting algorithm is denoted Concatenation Crossover GP. For this purpose three variants of the wellstudied Majority test function with large plateaus are considered. We show that the Concatenation Crossover GP can efficiently optimize these test functions, while local search cannot be efficient for all three variants independent of employing bloat control.
An efficient Design Space Exploration (DSE) is imperative for the design of modern, highly complex embedded systems in order to steer the development towards optimal design points. The early evaluation of design decisions at system-level abstraction layer helps to find promising regions for subsequent development steps in lower abstraction levels by diminishing the complexity of the search problem. In recent works, symbolic techniques, especially Answer Set Programming (ASP) modulo Theories (ASPmT), have been shown to find feasible solutions of highly complex system-level synthesis problems with non-linear constraints very efficiently. In this paper, we present a novel approach to a holistic system-level DSE based on ASPmT. To this end, we include additional background theories that concurrently guarantee compliance with hard constraints and perform the simultaneous optimization of several design objectives. We implement and compare our approach with a state-of-the-art preference handling framework for ASP. Experimental results indicate that our proposed method produces better solutions with respect to both diversity and convergence to the true Pareto front.
Utilizing quad-trees for efficient design space exploration with partial assignment evaluation
(2018)
Recently, it has been shown that constraint-based symbolic solving techniques offer an efficient way for deciding binding and routing options in order to obtain a feasible system level implementation. In combination with various background theories, a feasibility analysis of the resulting system may already be performed on partial solutions. That is, infeasible subsets of mapping and routing options can be pruned early in the decision process, which fastens the solving accordingly. However, allowing a proper design space exploration including multi-objective optimization also requires an efficient structure for storing and managing non-dominated solutions. In this work, we propose and study the usage of the Quad-Tree data structure in the context of partial assignment evaluation during system synthesis. Out experiments show that unnecessary dominance checks can be avoided, which indicates a preference of Quad-Trees over a commonly used list-based implementation for large combinatorial optimization problems.