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We present a model for the autonomous and simultaneous learning of active binocular and motion vision. The model is based on the Active Efficient Coding (AEC) framework, a recent generalization of classic efficient coding theories to active perception. The model learns how to efficiently encode the incoming visual signals generated by an object moving in 3-D through sparse coding. Simultaneously, it learns how to produce eye movements that further improve the efficiency of the sensory coding. This learning is driven by an intrinsic motivation to maximize the system's coding efficiency. We test our approach on the humanoid robot iCub using simulations. The model demonstrates self-calibration of accurate object fixation and tracking of moving objects. Our results show that the model keeps improving until it hits physical constraints such as camera or motor resolution, or limits on its internal coding capacity. Furthermore, we show that the emerging sensory tuning properties are in line with results on disparity, motion, and motion-in-depth tuning in the visual cortex of mammals. The model suggests that vergence and tracking eye movements can be viewed as fundamentally having the same objective of maximizing the coding efficiency of the visual system and that they can be learned and calibrated jointly through AEC.
Die vorliegende Dissertation untersucht die Nichtgleichgewichtsdynamik von relativistischen Schwerionenkollisionen ausgehend von der anfänglichen Produktion von Teilchen durch den Zerfall von Strings, der Bildung eines Quark-Gluon-Plasmas (QGP), dessen kinetische und chemische Äquilibrierung als Funktion der Zeit sowie seine Transporteigenschaften im Gleichgewicht bei endlicher Temperatur und endlichem chemischen Potential. Ein Verständnis der frühen Phase der Schwerionenkollisionen ist insbesondere von großen Interesse, da letztere eine Verbindung zwischen den ersten Nukleon-Nukleon Kollisionen und der Quark-Gluon-Plasma Phase herstellen, die zu einem späteren Zeitpunkt ein gewisses Maß an Thermalisierung zeigt. Allerdings können nur Nichtgleichgewichts-Theorien eine Verbindung zwischen dem anfänglichen QGP und seiner - zumindest partiellen - Thermalisierung herstellen. Um die Dynamik eines stark wechselwirkenden Mediums wie des Quark-Gluon-Plasmas zu beschreiben, reichen übliche Transportgleichungen (basierend auf der Boltzmann-Gleichung) nicht aus und es müssen komplexere Theorien, die auch für stark korrelierte Medien geeignet sind, angewendet werden. Hier kommen hydrodynamische Simulationen oder Transportrechnungen - basierend auf verallgemeinerten Transportgleichungen - zum Einsatz. Solche verallgemeinerte Transportgleichungen, wie die Kadanoff-Baym-Gleichungen, ergeben sich aus der quantenmechanischen Nichtgleichgewichts-Vielteilchentheorie, in der Green’s- Funktionen in Minkowski Raum-Zeit die interessierenden Größen sind, um die Dynamik des betrachteten Mediums zu beschreiben. Mit geeigneten Näherungen kann man so kinetische Transportgleichungen erhalten, die eine einheitliche Behandlung von stabilen und instabilen Teilchen auch außerhalb des Gleichgewichts ermöglichen. Diese Bestandteile bilden die Basis des Transportmodells Parton-Hadron-String Dynamics (PHSD), welches daher ein geeignetes ’Instrument’ ist um die verschiedenen Phasen einer Schwerionenkollision zu analysieren, egal ob die verschiedenen Formen der Materie im Gleichgewicht sind oder nicht.
In dieser Arbeit wird zunächst die Quantenchromodynamik (QCD) vorgestellt und erklärt, wie diese Theorie im Laufe der Jahre entwickelt wurde um ein wichtiger Bestandteil des Standardmodells der Teilchenphysik zu werden. Wir werden weiterhin die verbleibenden Herausforderungen in unserem Verständnis der QCD vorstellen, die sich primär auf das Phasendiagramm der stark wechselwirkenden Materie konzentrieren.
Im zweiten Kapitel untersuchen wir die Nichtgleichgewichts-Feldtheorie und die damit verbundenen Techniken - wie die Keldysh-Kontur - zur Beschreibung der Green’schen Funktionen als wesentlichen Freiheitsgrade. Wir leiten die Evolutionsgleichung für die Green’schen Funktionen her, d. h. die Kadanoff Baym-Gleichungen am Beispiel einer skalaren Feldtheorie.
Im nächsten Kapitel wird das Transportmodell Parton-Hadron-String Dynamics (PHSD), welches die Anwendung der verallgemeinerten Transportgleichungen zur Beschreibung relativistischer Schwerionenkollisionen darstellt, vorgestellt.
Wir beginnen im Kapitel 4 mit der Untersuchung der Nichtgleichgewichtseigenschaften des Quark-Gluon-Plasmas, welches bei relativistischen Schwerionenkollisionen erzeugt wird. Zu diesem Zweck vergleichen wir die Quark-Gluon-Plasmaentwicklung aus dem PHSD mit einem viskosen hydrodynamischen Modell, bei dem ein lokales kinetisches und chemisches Gleichgewicht angenommen wird.
Im Kapitel 5 konzentrieren wir uns auf das frühe Vorgleichgewichtsstadium ultra-relativistischer Schwerionenkollisionen und insbesondere auf die Freiheitsgrade der QGP-Phase in diesem Stadium. Wir untersuchen die Auswirkungen eines QGP, welches anfänglich entweder aus einem System aus massiven Gluonen (Szenario I) oder alternativ aus Quarks und Antiquarks (Szenario II) besteht. Das nächste Kapitel wird ebenfalls die Produktion von Teilchen im Frühstadium von Schwerionenkollisionen behandeln, jedoch bei niedrigeren Kollisionsenergien. Hier wird eine mikroskopische Beschreibung des K+/pi+-Verhältnisses im Vordergrund stehen, d. h. die Erklärung des Maximums in diesem Verhältnis bei etwa 30 A GeV ("Horn") in zentralen Au+Au (oder Pb+Pb) Kollisionen. Insbesonders werden wir die Modifikation des String-Fragmentierungsprozesses (über den Schwinger-Mechanismus) in einer Umgebung mit hoher hadronischer Dichte aufgrund der teilweisen Wiederherstellung der chiralen Symmetrie untersuchen.
In Kapitel 7 erweitern wir das Parton-Hadron-String Dynamics (PHSD)-Transportmodell im partonischen Sektor, indem wir explizit die totalen und differentiellen partonischen Streuungsquerschnitte als Funktion der Temperatur T und des baryochemischen Potentials μB berechnen auf der Basis der effektiven Propagatoren und Kopplungen des Dynamical QuasiParticle Models (DQPM), welches auch die generelle Zeitentwicklung der partonischen Freiheitsgrade beschreibt. Wir finden nur eine sehr bescheidene Änderung von n/s mit dem baryonchemischen Potential μB in Abhängigkeit von der skalierten Temperatur T/Tc(μB). Dies gilt auch für eine Vielzahl von hadronischen Observablen aus zentralen A+A Kollisionen im Energiebereich von 5 GeV < vsNN < 200 GeV bei der Implementierung der differentiellen Querschnitte in das PHSD-Modell. Da wir in Schwerionen-Observablen nur kleine Spuren einer μB-Abhängigkeit finden - obwohl die effektiven Partonenmassen und Kollisionsbreiten sowie deren Partonenquerschnitte eindeutig von μB abhängen - impliziert dies, dass man eine beträchtliche Partonendichte und ein großes Raum-Zeit-QGP-Volumen zur Untersuchung der Dynamik in der partonischen Phase benötigt. Diese Bedingungen sind nur bei hohen Kollisionsenergien erfüllt, bei denen μB jedoch eher niedrig ist. Wenn andererseits die Kollisionsenergie verringert und somit μB erhöht wird, wird die hadronische Phase dominant und dementsprechend wird es zunehmend schwieriger, Signale aus der Partonendynamik auf der Basis von "Bulk"-Observablen zu extrahieren.
HADES (High Acceptance DiElectron Spectrometer), located at GSI, is a versatile detector for precise spectroscopy of e+ e- pairs and charged hadrons produced on a fixed target in a 1 to 3.5 AGeV kinetic beam energy region. The main experimental goal is to investigate properties of dense nuclear matter created in heavy ion collisions and learn about in-medium hadron properties.
In the HADES set-up 24 Mini Drift Chambers (MDC) allow for track reconstruction and determining the particle momentum by exploiting charged particle deflection in a magnetic field. In addition, the drift chambers contribute to particle identification by measuring the energy loss. The read-out concept foresees each sensing wire to be equipped with a preamplifier, analog pulse shaper and discriminator. In the current front-end electronics, the ASD-8 ASIC comprises the above modules. Due to limitations of the current on-board time to digital converters (TDC), especially regarding higher reaction rates expected at the future FAIR facility (HADES at SIS-100), the electronics need to be replaced by new board featuring multi-hit TDCs. Whereas ASD-8 chips cannot be procured anymore, a promising replacement candidate is the PASTTREC ASIC, developed by JU Krakow, which was tested w.r.t. suitability for MDC read-out in a variety of set-ups and, where possible, in direct comparison to ASD-8.
The timing precision, being the most crucial performance parameter of the joint system of detector and read-out electronics, was assessed in two different set-ups, i.e. a cosmic muon tracking set-up and a beam test at the COSY accelerator at Juelich using a minimum ionizing proton beam.
The beam test results were reproduced and can thus be quantitatively explained in a three dimensional GARFIELD simulation of a HADES MDC drift cell. In particular, the simulation is able to describe the characteristic dependence of the time precision on the track position within the cell.
A circuit simulation (SPICE) was used to closely model the time development of a raw drift chamber pulse, measured as a response to X-rays from a 55 Fe source. The insights gained from this model were used for attributing realistic charge values to the time over threshold values measured with the read-out ASICs in a charge calibration set-up. Furthermore, a high-level circuit simulation of the PASTTREC shaper is implemented to serve as a demonstration of the effect of the individual shaping and tail cancellation stages which are present in both ASICs.
Für das direkte Bild des Schwarzen Lochs benötigten die Astronomen ein Teleskop von bisher unerreichter Präzision und Empfindlichkeit. Das Event-Horizon-Teleskop ist kein einzelnes Teleskop, sondern eine Vernetzung von acht Radioteleskopen auf der ganzen Welt an Standorten mit teilweise herausfordernden klimatischen Bedingungen: auf dem Gipfel des Mauna Kea auf Hawaii, in der Atacama-Wüste in Chile, der Antarktis, in Mexiko, Arizona und der Sierra Nevada in Südspanien. ...
A review will be presented on the algebraic extension of the standard Teory of Relativity (GR) to the pseudocomplex formulation (pc-GR). Te pc-GR predicts the existence of a dark energy outside and inside the mass distribution, corresponding to a modifcation of the GR-metric. Te structure of the emission profle of an accretion disc changes also inside a star. Discussed are the consequences of the dark energy for cosmological models, permitting diferent outcomes on the evolution of the universe.
This thesis is a summary of existing and upcoming publications, with a focus on high order methods in numerical relativity and general relativistic flows. The text is structed in five chapters. In the first three ones, the ADER-DG technique and its application to the Einstein-Euler equations is introduced. Novel formulations for both the Einstein equations in the 3+1 split as well as the general relativistic magnetohydrodynamics (GRMHD) had to be derived. The first order conformal and covariant Z4 formulation of Einstein equations (FO-CCZ4) is proposed and proven to be strongly hyperbolic. Together with the fluid equations of general relativistic magnetohydodynamics (GRMHD), a number of benchmark scenarios is presented to show both the correctness of the PDEs as well as the applicability of the numerical scheme.
As an application in astrophysics, a general-relativistic study of the treshold mass for a prompt-collapse of a binary neutron star merger with realistic nuclear equation of states has been carried out. A nonlinear universal relation between the treshold mass and the maximum compactness is found. Furthermore, by taking recent measurements of GW170817 into account, lower limits on the stellar radii for any mass can be given.
Furthermore, an (unpaired) work in quantum mechanical black hole engineering is presented. Higher dimensional extensions of generalized Heisenberg’s uncertainty principle (GUP) are studied. A number of new phenomenology is found, such as the existence of a conical singularity which mimics the effect of a gravitational monopole on short scale and that of a Schwarzschild black hole at a large scale, as well as oscillating Hawking temperatures which we call "lighthouse effect". All results are consistent with the self complete paradigm and a cold evaporation endpoint remnant.
Behavior is characterized by sequences of goal oriented conducts, such as food uptake, socializing and resting. Classically, one would define for each task a corresponding satisfaction level, with the agent engaging, at a given time, in the activity having the lowest satisfaction level. Alternatively, one may consider that the agent follows the overarching objective to generate sequences of distinct activities. To achieve a balanced distribution of activities would then be the primary goal, and not to master a specific task. In this setting the agent would show two types of behaviors, task-oriented and task-searching phases, with the latter interseeding the former. We study the emergence of autonomous task switching for the case of a simulated robot arm. Grasping one of several moving objects corresponds in this setting to a specific activity. Overall, the arm should follow a given object temporarily and then move away, in order to search for a new target and reengage. We show that this behavior can be generated robustly when modeling the arm as an adaptive dynamical system. The dissipation function is in this approach time dependent. The arm is in a dissipative state when searching for a nearby object, dissipating energy on approach. Once close, the dissipation function starts to increase, with the eventual sign change implying that the arm will take up energy and wander off. The resulting explorative state ends when the dissipation function becomes again negative and the arm selects a new target. We believe that our approach may be generalized to generate self-organized sequences of activities in general.
The differences between contemporary Monte Carlo generators of high energy hadronic interactions are discussed and their impact on the interpretation of experimental data on ultra-high energy cosmic rays (UHECRs) is studied. Key directions for further model improvements are outlined. The prospect for a coherent interpretation of the data in terms of the UHECR composition is investigated.
Real-time observation of X-ray-induced intramolecular and interatomic electronic decay in CH2I2
(2019)
The increasing availability of X-ray free-electron lasers (XFELs) has catalyzed the development of single-object structural determination and of structural dynamics tracking in real-time. Disentangling the molecular-level reactions triggered by the interaction with an XFEL pulse is a fundamental step towards developing such applications. Here we report real-time observations of XFEL-induced electronic decay via short-lived transient electronic states in the diiodomethane molecule, using a femtosecond near-infrared probe laser. We determine the lifetimes of the transient states populated during the XFEL-induced Auger cascades and find that multiply charged iodine ions are issued from short-lived (∼20 fs) transient states, whereas the singly charged ones originate from significantly longer-lived states (∼100 fs). We identify the mechanisms behind these different time scales: contrary to the short-lived transient states which relax by molecular Auger decay, the long-lived ones decay by an interatomic Coulombic decay between two iodine atoms, during the molecular fragmentation.
Mechanism of the electroneutral sodium/proton antiporter PaNhaP from transition-path shooting
(2019)
Na+/H+ antiporters exchange sodium ions and protons on opposite sides of lipid membranes. The electroneutral Na+/H+ antiporter NhaP from archaea Pyrococcus abyssi (PaNhaP) is a functional homolog of the human Na+/H+ exchanger NHE1, which is an important drug target. Here we resolve the Na+ and H+ transport cycle of PaNhaP by transition-path sampling. The resulting molecular dynamics trajectories of repeated ion transport events proceed without bias force, and overcome the enormous time-scale gap between seconds-scale ion exchange and microseconds simulations. The simulations reveal a hydrophobic gate to the extracellular side that opens and closes in response to the transporter domain motion. Weakening the gate by mutagenesis makes the transporter faster, suggesting that the gate balances competing demands of fidelity and efficiency. Transition-path sampling and a committor-based reaction coordinate optimization identify the essential motions and interactions that realize conformational alternation between the two access states in transporter function.
Mit immer komplexeren Experimenten erhöhen sich die Anforderungen an die Detektoren und diese Arbeit ist ein neuer Beitrag für eine weiterentwickelte technologische Lösung. In der vorliegenden Dissertation wurde eine nichtinvasive optische Strahldiagnose für intensive Ionenstrahlen in starken Magnetfeldern entwickelt. Das optische System besteht aus miniaturisierten Einplatinen CMOS-Kameras. Sowohl die hardwareseitige Entwicklung als auch die softwareseitige Implementierung der Algorithmen zur Kamerakalibrierung, Netzwerksteuerung und Strahlrekonstruktion wurden in dieser Arbeit entwickelt. Die Leistungsstärke dieses neuartigen Diagnosesystems wurde dann experimentell an einem Teststand demonstriert. Dabei wurde das optische System ins Vakuumstrahlrohr eingebettet. Ein Wasserstoffionenstrahl mit einer Energie von 7keV bis 10keV und einem Strahlstrom bis 1mA wurde in einer Stickstoffatmosphäre bis 1E-5 mbar untersucht. Dabei wurde der Ionenstrahl entlang des Strahlrohres des Toroidsegmentmagnetes mit einer Bogenlänge von 680mm mit einem xy-Kamerasystem beobachtet.
Der Strahlschwerpunkt und die Breite des Strahlprofils wurden im Ortsraum rekonstruiert. Die analytisch berechnete und in anderen Arbeiten simulierte Gyrationsbewegung sowie der RxB-Drift des Strahlschwerpunktes konnte experimentell bestätigt werden.
The Projectile Spectator Detector (PSD) of the CBM experiment at the future FAIR facility is a compensating lead-scintillator calorimeter designed to measure the energy distribution of the forward going projectile nucleons and nuclei fragments (reaction spectators) produced close to the beam rapidity. The detector performance for the centrality and reaction plane determination is reviewed based on Monte-Carlo simulations of gold-gold collisions by means of four different heavy-ion event generators. The PSD energy resolution and the linearity of the response measured at CERN PS for the PSD supermodule consisting of 9 modules are presented. Predictions of the calorimeter radiation conditions at CBM and response measurement of one PSD module equipped with neutron irradiated MPPCs used for the light read out are discussed.
From the colour glass condensate to filamentation: systematics of classical Yang–Mills theory
(2019)
The non-equilibrium early time evolution of an ultra-relativistic heavy ion collision is often described by classical lattice Yang–Mills theory, starting from the colour glass condensate (CGC) effective theory with an anisotropic energy momentum tensor as initial condition. In this work we investigate the systematics associated with such studies and their dependence on various model parameters (IR, UV cutoffs and the amplitude of quantum fluctuations) which are not yet fixed by experiment. We perform calculations for SU() and SU(), both in a static box and in an expanding geometry. Generally, the dependence on model parameters is found to be much larger than that on technical parameters like the number of colours, boundary conditions or the lattice spacing. In a static box, all setups lead to isotropisation through chromo-Weibel instabilities, which is illustrated by the accompanying filamentation of the energy density. However, the associated time scale depends strongly on the model parameters and in all cases is longer than the phenomenologically expected one. In the expanding system, no isotropisation is observed for any parameter choice. We show how investigations at fixed initial energy density can be used to better constrain some of the model parameters.
Chirality is omnipresent in living nature. On the single molecule level, the response of a chiral species to a chiral probe depends on their respective handedness. A prominent example is the difference in the interaction of a chiral molecule with left or right circularly polarized light. In the present study, we show by Coulomb explosion imaging that circularly polarized light can also induce a chiral fragmentation of a planar and thus achiral molecule. The observed enantiomer strongly depends on the orientation of the molecule with respect to the light propagation direction and the helicity of the ionizing light. This finding might trigger new approaches to improve laser-driven enantioselective chemical synthesis.
We study the well-known resonance ψ(4040), corresponding to a 33S1 charm–anticharm vector state ψ(3S), within a QFT approach, in which the decay channels into DD, D∗D, D∗D∗, DsDs and D∗s Ds are considered. The spectral function shows sizable deviations from a Breit–Wigner shape (an enhancement, mostly generated by DD∗loops, occurs); moreover, besides the c ¯ c pole of ψ(4040), a second dynamically generated broad pole at 4 GeV emerges. Naively, it is tempting to identify this new pole with the unconfirmed state Y (4008). Yet, this state was not seen inthe reaction e+e− → ψ(4040) → DD∗, but in processes with π+π−J/ψ in the final state. A detailed study shows a related but different mechanism: a broad peak at 4GeV in the process e+e− → ψ(4040) → DD∗ → π+π−J/ψ appears when DD∗ loops are considered. Its existence in this reaction is not necessarily connected to the existence of a dynamically generated pole, but the underlying mechanism – the strong coupling of c ¯ c to DD∗ loops – can generate both of them. Thus, the controversial state Y (4008) may not be a genuine resonance, but a peak generated by the ψ(4040) and D∗D loops with π+π−J/ψ in the final state.
We investigate the well-known vector state ψ(4040) in the frame-work of a quantum field theoretical model. In particular, we study its spectral function and search for the pole(s) in the complex plane. Quite interestingly, the spectral function has a non-standard shape and two poles are present. The role of the meson-meson quantum loops (in particular DD* ones) is crucial and could also explain the not yet conformed “state” Y(4008).