arXiv subjects

Gerard Kennedy

Publications and source records attributed to Gerard Kennedy.

16 recordsLinked to original sources

arXiv2025

Perspectives on Quantum Friction, Self-Propulsion, and Self-Torque

This paper provides an overview of the nonequilibrium fluctuational forces and torques acting on a body either in motion or at rest relative to another body or to the thermal vacuum blackbody radiation. We consider forces and torques beyond the usual static Casimir-Polder and Casimir forces and torques. For a moving body, a retarding force emerges, called quantum or Casimir friction, which in vacuum was first predicted by Einstein and Hopf in 1910. Nonreciprocity may allow a stationary body, out of thermal equilibrium with its environment, to experience a torque. Moreover, if a stationary reciprocal body is not in thermal equilibrium with the blackbody vacuum, a self-propulsive force or torque can appear, resulting in a potentially observable linear or angular terminal velocity, even after thermalization.

quant-ph↗

arXiv2024

Spontaneous Torque on an Inhomogeneous Chiral Body out of Thermal Equilibrium

In a previous paper we showed that an inhomogeneous body in vacuum will experience a spontaneous force if it is not in thermal equilibrium with its environment. This is due to the asymmetric asymptotic radiation pattern such an object emits. We demonstrated this self-propulsive force by considering an expansion in powers of the electric susceptibility: A torque arises in first order, but only if the material constituting the body is nonreciprocal. No force arises in first order. A force does occur for bodies made of ordinary (reciprocal) materials in second order. Here we extend these considerations to the torque. As one would expect, a spontaneous torque will also appear on an inhomogeneous chiral object if it is out of thermal equilibrium with its environment. Once a chiral body starts to rotate, it will experience a small quantum frictional torque, but much more important, unless a mechanism is provided to maintain the nonequilibrium state, is thermalization: The body will rapidly reach thermal equilibrium with the vacuum, and the angular acceleration will essentially become zero. For a small, or even a large, inhomogeneous chiral body, a terminal angular velocity will result, which seems to be in the realm of observability.

quant-ph↗

arXiv2024

Quantum Vacuum Self-Propulsion and Torque

This article summarizes our recent efforts to understand spontaneous quantum vacuum forces and torques, which require that a stationary object be out of thermal equilibrium with the blackbody background radiation. We proceed by a systematic expansion in powers of the electric susceptibility. In first order, no spontaneous force can arise, although a torque can appear, but only if the body is composed of nonreciprocal material. In second order, both forces and torques can appear, with ordinary materials, but only if the body is inhomogeneous. In higher orders, this last requirement may be removed. We give a number of examples of bodies displaying second-order spontaneous forces and torques, some of which might be amenable to observation.

quant-ph↗

arXiv2024

Quantum Self-Propulsion of an Inhomogeneous Object out of Thermal Equilibrium

In an earlier paper, we explored how quantum vacuum torque can arise: a body or nanoparticle that is out of thermal equilibrium with its environment experiences a spontaneous torque. But this requires that the body be composed of nonreciprocal material, which seems to necessitate the presence of an external influence, such as a magnetic field. Then the electric polarizability of the particle has a real part that is nonsymmetric. This effect occurs to first order in the polarizability. To that order, no self-propulsive force can arise. Here, we consider second-order effects, and show that spontaneous forces can arise in vacuum, without requiring exotic electromagnetic properties. Thermal nonequilibrium is still necessary, but the electric susceptibility of the body need only be inhomogeneous. We investigate four examples of such a body: a needle composed of distinct halves; a sphere and a ball, each hemisphere being made of a different substance; and a thin slab, each face of which is different. The results found are consistent with previous numerical investigations. Here, we take into account the skin depth of metal surfaces. We also consider the frictional forces that would cause the body to acquire a terminal velocity, which might be observable. More likely to be important is relaxation to thermal equilibrium, which can still lead to a terminal velocity that might be experimentally verifiable. A general treatment of such forces on a moving body, expressed in momentum space, is provided, which incorporates both propulsive and frictional forces. The source of the propulsive force is the nonsymmetric pattern of radiation from different parts of the body, the higher reflectivity of the metal portion playing a crucial role.

quant-ph↗

arXiv2023

Quantum Torque on a Non-Reciprocal Body out of Thermal Equilibrium and Induced by a Magnetic Field of Arbitrary Strength

A stationary body that is out of thermal equilibrium with its environment, and for which the electric susceptibility is non-reciprocal, experiences a quantum torque. This arises from the spatially non-symmetric electrical response of the body to its interaction with the non-equilibrium thermal fluctuations of the electromagnetic field: the non-equilibrium nature of the thermal field fluctuations results in a net energy flow through the body, and the spatially non-symmetric nature of the electrical response of the body to its interaction with these field fluctuations causes that energy flow to be transformed into a rotational motion. We establish an exact, closed-form, analytical expression for this torque in the case that the environment is the vacuum and the material of the body is described by a damped oscillator model, where the non-reciprocal nature of the electric susceptibility is induced by an external magnetic field, as for magneto-optical media. We also generalise this expression to the context in which the body is slowly rotating. By exploring the high-temperature expansion of the torque, we are able to identify the separate contributions from the continuous spectral distribution of the non-reciprocal electric susceptibility, and from the resonance modes. In particular, we find that the torque persists in the limiting case of zero damping parameter, due to the contribution of the resonance modes. We also consider the low-temperature expansion of the torque. This work extends our previous consideration of this model to an external magnetic field of arbitrary strength, thereby including non-linear magnetic field effects.

quant-ph↗

arXiv2023

Vacuum torque, propulsive forces, and anomalous tangential forces: Effects of nonreciprocal media out of thermal equilibrium

From the generalized fluctuation-dissipation theorem, it is known that a body at rest made of nonreciprocal material may experience a torque, even in vacuum, if it is not in thermal equilibrium with its environment. However, it does not experience self-propulsion in such circumstances, except in higher order. Nevertheless, such a body may experience both a normal torque and a lateral force when adjacent to an ordinary surface with transverse translational symmetry. We explore how these phenomena arise, discuss what terminal velocities might be achieved, and point out some of the limitations of applying our results to observations, including the Lorenz-Lorentz correction, and the cooling due to radiation. In spite of these limitations, the effects discussed would seem to be observable.

quant-ph↗

arXiv2023

Quantum friction in the presence of a perfectly conducting plate

A neutral but polarizable particle at rest near a perfectly conducting plate feels a force normal to the surface of the plate, which tends to pull the particle towards the plate. This is the well-known Casimir-Polder force, which has long been theoretically proposed and experimentally observed. In this paper, we explore the transverse frictional force on an atom moving uniformly parallel to a perfectly conducting plate. Although many theoretical predictions can be found for the quantum friction on a particle moving above an imperfect surface, the extreme situation with a perfectly conducting plate seems to have been largely ignored by the theoretical community. We investigate this ideal case as a natural extension of our previous works on quantum vacuum friction (blackbody friction), and conclude that there does exist a quantum frictional force on an atom moving above a perfectly conducting plate. Very interestingly, the distance dependence, the temperature dependence and even the sign of the frictional force can depend on the polarization state of the atom. For an isotropic atom with a static polarizability, the resultant frictional force is found to be negative definite and therefore remains a true drag. Just above the surface of the plate, the magnitude of the frictional force is twice that of the quantum vacuum friction in the absence of the plate.

quant-ph↗

arXiv2022

Casimir Self-Entropy of Nanoparticles with Classical Polarizabilities: Electromagnetic Field Fluctuations

Not only are Casimir interaction entropies not guaranteed to be positive, but also, more strikingly, Casimir self-entropies of bodies can be negative. Here, we attempt to interpret the physical origin and meaning of these negative self-entropies by investigating the Casimir self-entropy of a neutral spherical nanoparticle. After extracting the polarizabilities of such a particle by examining the asymptotic behavior of the scattering Green's function, we compute the corresponding free energy and entropy. Two models for the nanoparticle, namely a spherical plasma $\delta$-function shell and a homogeneous dielectric/diamagnetic ball, are considered at low temperature, because that is all that can be revealed from a nanoparticle perspective. The second model includes a contribution to the entropy from the bulk free energy, referring to the situation where the medium inside or outside the ball fills all space, which must be subtracted on physical grounds in order to maintain consistency with van der Waals interactions, corresponding to the self-entropy of each bulk. (The van der Waals calculation is described in Appendix A.) The entropies so calculated agree with known results in the low-temperature limit, appropriate for a small particle, and are negative. But we suggest that the negative self-entropy is simply an interaction entropy, the difference between the total entropy and the blackbody entropy of the two bulks, outside or inside of the nanosphere. The vacuum entropy is always positive and overwhelms the interaction entropy. Thus the interaction entropy can be negative, without contradicting the principles of statistical thermodynamics. Because the entropy of blackbody radiation by itself plays an important role, it is also discussed, including dispersive effects, in detail.

hep-th↗

arXiv2022

Energetics of quantum vacuum friction. II: Dipole fluctuations and field fluctuations

As a second paper in series with arXiv:2108.01539, we discuss here quantum vacuum friction on an intrinsically dissipative particle. The friction arises not only from the field fluctuations but also from the dipole fluctuations intrinsic to the particle. As a result, the dissipative particle can be out of the nonequilibrium steady state (NESS), where it loses or gains internal energy. Only if the temperature of the particle equals a special NESS temperature will the particle be in NESS. We first derive the NESS conditions which give the NESS temperature of the particle as a function of the radiation temperature and the velocity of the particle. Imposing the NESS conditions, we then obtain an expression for the quantum vacuum friction in NESS. The NESS quantum vacuum friction is shown to be always negative definite, therefore a true drag. The NESS temperature and quantum vacuum friction are calculated numerically for various models. Out of NESS, even though the quantum vacuum frictional force no longer has a definite sign in the rest frame of the radiation, we find the external force needed to keep the particle moving must be in the same direction as the motion of the particle. This then excludes the possibility of making a perpetual motion machine, which could convert the vacuum energy into useful mechanical work. In addition, we find that the deviation of the temperature of the particle from its NESS temperature causes the particle to lose or gain internal energy in such a way that the particle would return to NESS after deviating from it. This enables experimental measurements of the NESS temperature of the particle to serve as a feasible signature for these quantum vacuum frictional effects.

hep-th↗

arXiv2021

The energetics of quantum vacuum friction: Field fluctuations

Quantum fluctuations can induce a friction on a neutral but polarizable particle and cause it to radiate energy even if the particle is moving in free space filled with blackbody radiation, and is not in contact with or close to any surface or other object. We explore the energetics of such a particle moving uniformly in vacuum, continuing our previous investigations of quantum friction. The intrinsic polarizability of the particle is considered to be purely real before it is dressed by radiation. The particle is then guaranteed to be in the nonequilibrium steady state (NESS), where it absorbs and emits energy at the same rate. We first calculate the quantum frictional power and force on the particle in the rest frame of the blackbody radiation from first principles, namely the Maxwell-Heaviside equations and the Lorentz force law. Then we provide a simpler method of obtaining the same quantities in the rest frame of the particle by using the principle of virtual work. The equivalence of the two approaches is illustrated. The formulas we derive for quantum vacuum frictional power and force are fully relativistic and applicable to finite temperature. In NESS, the quantum vacuum frictional force on the particle is shown to be a true drag, independent of the model for polarizability and the polarization state of the particle. Finally, we give an estimate of the quantum vacuum friction on a gold atom and comment on the feasibility of detecting such quantum vacuum frictional effects.

hep-th↗

arXiv2021

Iterative Optimisation with an Innovation CNN for Pose Refinement

Object pose estimation from a single RGB image is a challenging problem due to variable lighting conditions and viewpoint changes. The most accurate pose estimation networks implement pose refinement via reprojection of a known, textured 3D model, however, such methods cannot be applied without high quality 3D models of the observed objects. In this work we propose an approach, namely an Innovation CNN, to object pose estimation refinement that overcomes the requirement for reprojecting a textured 3D model. Our approach improves initial pose estimation progressively by applying the Innovation CNN iteratively in a stochastic gradient descent (SGD) framework. We evaluate our method on the popular LINEMOD and Occlusion LINEMOD datasets and obtain state-of-the-art performance on both datasets.

cs.CV↗

arXiv2020

Self-force on moving electric and magnetic dipoles: dipole radiation, Vavilov-Čerenkov radiation, friction with a conducting surface, and the Einstein-Hopf effect

The classical electromagnetic self-force on an arbitrary time-dependent electric or magnetic dipole moving with constant velocity in vacuum, and in a medium, is considered. Of course, in vacuum there is no net force on such a particle. Rather, because of loss of mass by the particle due to radiation, the self-force precisely cancels this inertial effect, and thus the spectral distribution of the energy radiated by dipole radiation is deduced without any consideration of radiation fields or of radiation reaction, in both the nonrelativistic and relativistic regimes. If the particle is moving in a homogeneous medium faster than the speed of light in the medium, Vavilov-Čerenkov radiation results. This is derived for the different polarization states, in agreement with the earlier results of Frank. The friction experienced by a point (time-independent) dipole moving parallel to an imperfectly conducting surface is examined. Finally, the quantum/thermal Einstein-Hopf effect is rederived. We obtain a closed form for the spectral distribution of the force, and demonstrate that, even if the atom and the blackbody background have independent temperatures, the force is indeed a drag in the case that the imaginary part of the polarizability is proportional to a power of the frequency.

hep-th↗

arXiv2020

Electrodynamic friction of a charged particle passing a conducting plate

The classical electromagnetic friction of a charged particle moving with prescribed constant velocity parallel to a planar imperfectly conducting surface is reinvestigated. As a concrete example, the Drude model is used to describe the conductor. The transverse electric and transverse magnetic contributions have very different character both in the low velocity (nonrelativistic) and high velocity (ultrarelativistic) regimes. Both numerical and analytical results are given. Most remarkably, the transverse magnetic contribution to the friction has a maximum for $|\mathbf{v}|<c$, and persists in the limit of vanishing resistivity for sufficiently high velocities. We also show how Vavilov-Čerenkov radiation can be treated in the same formalism.

physics.class-ph↗

arXiv2019

Self-Stress on a Dielectric Ball and Casimir-Polder Forces

It has always been conventionally understood that, in the dilute limit, the Casimir energy of interaction between bodies or the Casimir self-energy of a dielectric body could be identified with the sum of the van der Waals or Casimir-Polder energies of the constituents of the bodies. Recently, this proposition for self-energies has been challenged by Avni and Leonhardt [Ann.\ Phys.\ {\bf 395}, 326 (2018)], who find that the energy or self-stress of a homogeneous dielectric ball with permittivity $\varepsilon$ begins with a term of order $\varepsilon-1$. Here we demonstrate that this cannot be correct. The only possible origin of a term linear in $\varepsilon-1$ lies in the bulk energy, that energy which would be present if either the material of the body, or of its surroundings, filled all space. Since Avni and Leonhardt correctly subtract the bulk terms, the linear term they find likely arises from their omission of an integral over the transverse stress tensor.

hep-th↗

arXiv2019

Casimir forces in inhomogeneous media: renormalization and the principle of virtual work

We calculate the Casimir forces in two configurations, namely, three parallel dielectric slabs and a dielectric slab between two perfectly conducting plates, where the dielectric materials are dispersive and inhomogeneous in the direction perpendicular to the interfaces. A renormalization scheme is proposed consisting of subtracting the effect of one interface with a single inhomogeneous medium. Some examples are worked out to illustrate this scheme. Our method always gives finite results and is consistent with the principle of virtual work; it extends the Dzyaloshinskii-Lifshitz-Pitaeveskii force to inhomogeneous media.

hep-th↗

arXiv2018

Simultaneous Localization and Mapping with Dynamic Rigid Objects

Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to formulate the estimation problem, however, the real world has a significant amount of dynamics that can be exploited for a more accurate localization and versatile representation of the environment. In this paper we propose a technique to integrate the motion of dynamic objects into the SLAM estimation problem, without the necessity of estimating the pose or the geometry of the objects. To this end, we introduce a novel representation of the pose change of rigid bodies in motion and show the benefits of integrating such information when performing SLAM in dynamic environments. Our experiments show consistent improvement in robot localization and mapping accuracy when using a simple constant motion assumption, even for objects whose motion slightly violates this assumption.

cs.RO↗