Robotics And Leonberger Dogs

Daily writing prompt
On what subject(s) are you an authority?

So, on what subject(s) am I an authority? My understanding on what being an authority on a subject means is that it is being an expert with recognized credibility on that subject. However, the word “authority” has so many other meanings and it brings to mind the “appeal to authority fallacy”. The “appeal to authority fallacy” refers to appealing to influential people or organizations who may not necessarily be experts, and regardless of the evidence.

In science you don’t really have such authorities, you have experts who often disagree with each other. In the event almost all experts agree on a certain fact that has been thoroughly vetted you can trust that fact with nearly 100% certainty, and that is not appeal to authority but a probability argument. Therefore, I don’t really like the use of the word authority in this context. It is confusing. I would have preferred the question to be “In what subject(s) do you have recognized expertise?”

This is a screenshot of a pdf file. It says, “Reflex Control for Obstacle Avoidance and Self Preservation by Thomas Wikman. Submitted in partial Fulfillment of requirements for the degree of Ph.D. Thesis advisor Dr. Wyatt S. Newman. Department of Electrical Engineering and Applied Physics. Case Western Reserve University.”
This is the front page of my PhD thesis “Reflex Control for Obstacle Avoidance and Self Preservation”.

Robotics

Reflex Control for Obstacle Avoidance and Self Preservation

My PhD thesis was in Robotics, specifically Reflex Control for Obstacle Avoidance and Self Preservation. Therefore, you can say that I am an expert on Reflex Control for Obstacle Avoidance and Self Preservation, Reflex Control (in Robotics) as well as Robotics. My expertise has been recognized through my published research papers, the citing of those papers, my PhD thesis, and my peers including Rodney Brooks.

Rodney Brooks is a former director of the MIT Computer Science and Artificial Intelligence Laboratory, founder of several robotics research companies, and he is arguably the most famous roboticist in the world. In the 1990’s he was featured on the front page in national magazines such as Time Magazine several times. During my internship at the Robotics Lab at Sandia National Laboratory in Albuquerque, New Mexico in 1993, I spoke to Rodney Brooks about my research, and he congratulated me on my research, which he liked.

Briefly, reflex control in Robotics refers to functionally simple, quick, and reliable behaviors that override whatever more complex algorithms or humans (joystick / telerobotics) are commanding in case those algorithms or humans execute dangerous motion. Take for example, a robot moving quickly among multiple objects and the path planning algorithm generates a faulty command that would result in a collision when executed. The reflex control layer would detect the problem (assuming it knows about the objects) and halt the robot before it collided with the object. This would need to happen quickly, in milliseconds, and always in a failsafe way. After the collision has been avoided the system or the human can figure out what went wrong and figure out a new path.

To do this the Reflex controller needs to be embedded with the motion controller, and know the characteristics of the motors, the robot configuration, and mechanical characteristics, such as mass, friction model, inertia, etc., exactly. The result is that when you drive a robot around among multiple objects such as boxes hanging from the ceiling, coat racks, and sombreros, and other robots it will avoid colliding with these objects regardless of input from people or high-level path planning algorithms. It looked like the objects were protected by an invisible force field.

The Robotics Research Corporation Robot / RRC Robot, is a seven-jointed silver colored robot. It is mounted to the floor and surrounded by objects | Robotics And Leonberger Dogs
This is an old black and white photo of the Robotics Research Corporation Robot surrounded by objects including boxes hanging in the ceiling, a coat rack, and a control cabinet. I took the photo, and I created the software for the robot and placed the objects in its workspace.

Robot Kinematics

In addition, to “Reflex Control for Obstacle Avoidance and Self Preservation” or “Reflex Control for Robots”, which is very narrow field, I gained expertise in fields of robotics that are a bit wider. One such field is robot kinematics. That includes, for example, calculating the position, speed and acceleration of the tool tip (the end tip) of the robot from the position and motion of the joints of the robot. Or it could be calculating the possible joint angles from the position of the tool tip. The RRC robot was a seven-jointed robot so this could get complicated. I should say that when I worked for ABB Robotics (after my Ph.D) I created the kinematic models for 30+ of ABB Robotics robots. Therefore, I have expertise and recognized credibility in Robot Kinematics as well.

This is a stick figure drawing of the RRC robot for the purpose of defining the coordinate systems for each joint.
The drawing shows the seven joints, the seven possible rotations around those joints, the seven joint angles (the thetas), and the seven coordinate systems and their origos (the O’s) at each joint.

Robot kinematics can get complicated, at least for a seven-jointed robot like the RRC Robot. An example is the Jacobian, which is a matrix that relates joint velocities to end-effector / tool-tip velocities. The Jacobian is crucial for understanding and controlling robot motion, particularly for inverse kinematics and trajectory planning. Below is the Jacobian for the first four joints of the RRC robot. I spent an entire day deriving it. Depending on your eyesight it is difficult to read the scribbles, but it is a bunch of very long, mostly trigonometric equations. Don’t worry about understanding the matrix, it is just to show how complicated robot kinematics can get.

Hundreds of trigonometric expressions arranged in a 4 X 4 matrix.
First part of the 4-dimensional (first four joints) Jacobian for the RRC Robot.
Hundreds of trigonometric expressions arranged in a 4 X 4 matrix.
Second part of the 4-dimensional (first four joints) Jacobian for the RRC Robot.
Hundreds of trigonometric expressions arranged in a 4 X 4 matrix.
Third part of the 4-dimensional (first four joints) Jacobian for the RRC Robot.
Hundreds of trigonometric expressions arranged in a 4 X 4 matrix | Robotics And Leonberger Dogs
Fourth part of the 4-dimensional (first four joints) Jacobian for the RRC Robot.

Configuration Space in Robotics

Another subject I gained a lot of expertise in is configuration space or so-called C-space. It is related to robot kinematics. C-space is a mathematical representation of all possible configurations a robot can take. In C-space for a robot arm (like the RRC Robot) the coordinates are the joint angles instead of X, Y and Z.  For the seven-jointed RRC robot you have seven joint angles and C-space is thus seven dimensions. C-space is very useful if you succeed in representing obstacles in it. A point might become a curve, or multi-dimensional membrane in C-space, and a ball might become a multi-dimensional banana. I had a lot of fun creating algorithms for creating C-space with obstacles in it.

My Other Expertise

I also have a degree a master’s degree in engineering physics (Teknisk Fysik) from Uppsala University in Sweden. I should say that engineering physics in Uppsala was focused a lot on theoretical physics and modern physics as well as practical applications for physics. Case Western Reserve University later converted this degree to a master’s in electrical engineering. I loved physics and was a good student, but my special interest was the theory of relativity. Even though I had and still have a hard time with the General Theory of relativity and I studied the special theory of relativity way beyond what was required at school, and I read dozens of technical books on the subject. So, this is also sort of an area expertise for me.

Below are some links to topics related to the special theory of relativity on this website:

I spent at least 30 years working with software as a software engineer / robotics engineer and gained a lot of experience in software development. It was mostly embedded software but also graphical user interfaces, things you can see on a screen, and Networking Software Development. I worked a lot with Visual Studio, a powerful, expandable, and popular integrated development environment (IDE) from Microsoft.

I developed a lot of code using C++ and C#, .Net, WPF, but also other languages and libraries. I started with Visual Studio 97 (in 1997), then Visual Studio 6, Visual Studio .NET 2002, Visual Studio .NET 2003, Visual Studio 2005, Visual Studio 2008, Visual Studio 2010, Visual Studio 2012, Visual Studio 2015, Visual Studio 2017, but I never got around to Visual Studio 2019 and Visual Studio 2022. So, you can say that I am an expert on Visual Studio with C++ and C# and .NET (I am less of an expert on the other languages typically used with Visual Studio).

Later in life I also came to learn a lot about climate change / climate disruption / global warming / the greenhouse effect whatever you call it. I used to be skeptical about climate change, and I thought it might be politicized by the scientific community, but after some interesting red flags I took a deep dive into the subject, and I learned that climate change is very real and caused by us. I was politicized not the scientific community. There is a scientific consensus on the subject for very good reasons. I continued by reading dozens of climate science papers and several dozens of technical and non-technical books on the topic. Therefore, at this point I know more about it than a lot of people. Maybe expert is a strong word, but almost expert.

Least but not last

Being a Leonberger Dog Expert

I know a lot about Leonbergers because my family was lucky enough to live with one for thirteen years. His name was Le Bronco von der Löwenhöhle—but we called him “Bronco” for short. Bronco wasn’t our only dog, but our world wouldn’t have been the same without him. For instance, he once saved the life of our pug by fending off an attack from another dog. He probably saved our Labrador’s life, too, by sniffing out an impending insulin shock before it happened. Then there was the time he scared off a trespasser who’d been terrorizing my wife and other women in the neighborhood.

A big Leonberger is standing on a large red leather sofa and stretching out to give me a hug | Robotics And Leonberger Dogs
Bronco loved to dance and hug. Here he is giving me a hug (not yet fully grown).

Bronco is no longer with us, but even in his passing he was distinctive. Leonbergers tend to live less than nine years—but Bronco came very close to reaching his thirteenth birthday. In fact, he received an award for longevity called the “Grey Muzzle Award.”  We already knew he was a special dog, but we sent his DNA to two labs for research anyway. I wrote a book about our amazing Bronco and his many amusing adventures and included helpful information on Leonbergers for new owners and interested dog lovers. I also have a Leonberger website.

In the process of writing my book about Bronco and Leonbergers I came to learn a lot about Leonberger dogs, the Leonberger breed standard, their history, health issues, Leonberger organizations, health and care, etc. I became a bit of a Leonberger expert. If you are interested in the book, check it out here or here. You can also get it from Amazon in many other countries, Barnes & Noble, Chapters Indigo and many other bookstores. For more information check here.


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There is a lot of Uranium in your Backyard

Super fact 49 : The top one-meter (3.3 feet) of a typical 10 meters (33 feet) by 40 meters (131 feet) garden contains 2 kilograms (4.4 pounds) of Uranium. For comparison, the Hiroshima bomb contained 64 kilograms (121 pounds) of Uranium. Certain rocks such as Granite and Shale contain much more Uranium than soil. Uranium also exists in the atmosphere and there is 4.5 billion tons of Uranium in the ocean.

The numbers above come from the IAEA (International Atomic Energy Agency) and Stanford University . I should mention that the numbers vary depending on Geography, type of soil, etc. For example, there is much less Uranium in the soil in Florida compared to the soil in the Midwest.

This may come as a surprise to many people. Isn’t Uranium radioactive? How come we are still alive? That’s why I call this a super fact. The answer is that even though Uranium is used in nuclear bombs and nuclear reactors, it is by itself not very radioactive. You can hold natural uranium in your hand without much risk. The radioactivity from, for example, nuclear explosions come mainly from the fission process and the radioactivity from nuclear reactor waste is mainly from other isotopes created by the fission process in the reactor rather than the uranium itself.

An enormous nuclear bomb explosion in the dessert featuring a huge mushroom cloud | There is a lot of Uranium in your Backyard
If Uranium is not very radioactive, how come a nuclear bomb spread so much radioactivity. The answer is that the radioactivity comes from the fission process and the resulting new isotopes, not the uranium.

What Are Isotopes?

Before I explain some facts about the radioactivity and decay rate of Uranium, I should explain what an isotope is. Atoms consist of a nucleus and electrons surrounding the nucleus. In the nucleus there are protons and neutrons (and some other stuff). Neutral atoms have an equal amount of electrons and protons, which determines what kind of element it is. Hydrogen has one electron and one proton. Helium has two electrons and two protons. Oxygen has eight electrons and eight protons, etc. The number of protons/electrons is called the atomic number of the element.

The number of protons plus the number of neutrons is called the mass number. Atoms of the same element but different number of neutrons are called isotopes. Uranium-235 or U-235 has 92 protons and 235 – 92 = 143 neutrons. The number if protons/electrons determine the chemical properties of the element. The number of neutrons determines nuclear properties such as the stability of the nucleus, radioactivity, etc., as well as the weight. Therefore U-238 and U-235 are identical chemically and look and feel the same, but U-235 is more radioactive, and you can use U-235 for fission but not U-238.

Bohr model representation of the uranium atom, number 92 and symbol U. Conceptual vector illustration of uranium-238 isotope atom, mass number 238 and electron configuration 2, 8, 18, 32, 21, 9, 2
This is a simplified Bohr model of the Uranium atom. There are 92 little blue balls circling a nucleus in the middle of the atom. Those are electrons. In the nucleus there are 92 protons. Those are the red balls with plus signs. In addition, there is a yellowish smudge around the protons in the nucleus. Those are the neutrons. Depending on the isotope, there are 143 neutrons for U-235, 146 neutrons for U-238 and 142 neutrons for U-234. Shutterstock asset id: 1999370450 by Patricia F. Carvalho

The decay rate of Uranium

There are three main Uranium isotopes. Uranium-234, Uranium-235, and Uranium-238. Uranium-238 is the most common. 99.28% of natural Uranium is Uranium-238, 0.72% is Uranium-235 and 0.0057% is Uranium-234. Uranium-235 is the isotope we use for nuclear weapons.

The different isotopes have different decay rates and different levels of radioactivity. The half life of a radioactive isotope is the time it takes for an isotope to decay so that only half of it is left. The half-life of Uranium-238 is four and half billion years. That means that it will be around for a very long time, but since its decay rate is so slow, it is not very radioactive. The half-life of Uranium-235 is 710 million years, again it will be around for a very long time, but again, since its decay rate is so slow, it is not very radioactive. The half-life Uranium-234 is 247,000 years, a little bit faster but it still has a pretty slow decay rate.

This should be compared to Cesium-137, which has a half-life of roughly 30 years. In other words, it decays 150 million times faster than Uranium-238 and 23.7 million times faster than Uranium-235. Since Cesium-137 decays so much faster than the Uranium isotopes it means that each atom of Cesium-137 will send out radioactive particles much more often than a Uranium atom will, making it much more radioactive.

If you want to read about when I was walking around a whole day with a Cesium-137 sample in the back pocket of my jeans, click here. Radon-222, an extremely radioactive isotope of radon, which seeps into our basements from the inside of earth. It has a half-life of 3.82 days giving it a decay rate that is 430 billion times faster than Uranium-238 and 68 billion times faster than Uranium-235.

What makes it possible to make a nuclear bomb from Uranium-235 is not because it is very radioactive. It is not. It is because it has properties that make it perfect for bomb making. Each nucleus emits more than one neutron, in fact more than two on average, and the neutrons colliding with other Uranium-235 nucleuses can be made to travel at the correct speed to cause fission. In other words, it is fissile. It is a goldilocks situation. It is just right. Below is an illustration showing a chain reaction. Observe, the picture indicates that Uranium has 95 protons. This is wrong. Uranium has 92 protons. When I have the time, I will fix this picture.

Illustration of nuclear chain reaction. Uranium-235 fission | There is a lot of Uranium in your Backyard
This is an illustration of a chain reaction with fission of a Uranium-235 isotope. Notice the atomic number (number of protons) is incorrectly stated as 95 in the picture. It is 92.  When I have time, I will fix that. Shutterstock Asset id: 73714504 by Mpanchenko.

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Review of Atomic Awakening

I recently read a very interesting book on the history of nuclear power and its possible future, Atomic Awakening: A New Look at the History and Future of Nuclear Power by James Mahaffey. Something like 90% of the book was history, the history of physics, nuclear physics, the Manhattan project, the nuclear bombs, the nuclear tests, nuclear reactors, etc.

About 10% of the book examined the viability of nuclear power and discussed the public’s fear of it. His approach to that is something like; well, no wonder people are afraid of nuclear power, look at the history. However, that fear is still irrational. The awesome power of nuclear power can give us safe and clean energy, replace fossil fuels and fight global warming, and also take us to the stars. He points out that nuclear reactions are millions of times more powerful than chemical reactions.

What Are Isotopes?

I should explain what an isotope is. Atoms consist of a nucleus and electrons surrounding the nucleus. In the nucleus there are protons and neutrons (and some other stuff). Neutral atoms have an equal amount of electrons and protons, which determines what kind of element it is. Hydrogen has one electron and one proton. Helium has two electrons and two protons. Oxygen has eight electrons and eight protons, etc. The number of protons/electrons is called the atomic number of the element.

The number of protons plus the number of neutrons is called the mass number. Atoms of the same element but different number of neutrons are called isotopes. Uranium-235 or U-235 has 92 protons and 235 – 92 = 143 neutrons. The number if protons/electrons determine the chemical properties of the element. The number of neutrons determines nuclear properties such as the stability of the nucleus, radioactivity, etc., as well as the weight. Therefore U-238 and U-235 are identical chemically and look and feel the same, but U-235 is more radioactive, and you can use U-235 for fission but not U-238.

Illustration of nuclear chain reaction. Uranium-235 fission.
This is an illustration of a chain reaction with fission of a Uranium-235 isotope. Notice the atomic number (number of protons) is incorrectly stated as 95 in the picture. It is 92.  When I have time, I will fix that. Shutterstock Asset id: 73714504 by Mpanchenko.

Cesium-137 in my Pocket

Before I continue with my review of the book I am going to tell a story about my crazy adventure with a Cesium-137, a very radioactive and dangerous isotope. In fact, Atomic Awakening claims that Cesium-137 and Strontium-90 are the two isotopes of the greatest concern with regards to nuclear waste.

Once when I was a young student of engineering physics, I was around 20 years old, we were doing experiments with radioactivity. We were using Cesium-137. There were signs on the walls warning about radioactivity and the Cesium-137 sample was enclosed in a little house built from lead bricks. We were supposed to quickly remove the lead bricks, take out the sample, do the experiment quickly, put the sample back and enclose it with the lead bricks. However, I got distracted by something and put the Cesium-137 sample in the back pocket of my jeans.

I walked around school with the Cesium-137 sample in my back pocket the whole day and after school I went shopping at the grocery store still having it in my back pocket. I discovered it once I got back to my room. I put in a drawer and stayed as far away from it as I could. The next day I woke up early, put the sample in my bag, went to the lab at school and when no one was looking I put the sample back in the lead brick house.

No, I don’t have any extra heads growing out of my buttocks, and I did not turn into the Hulk, but so much for nuclear safety.

Atomic Awakening Formats

Atomic Awakening: A New Look at the History and Future of Nuclear Power by James Mahaffey comes in four formats. I bought the hardback format.

  • Hardcover –  Publisher : Pegasus Books (June 23, 2009), ASIN : 1605980404, ISBN-13 : 978-1605980409, 352 pages, item weight : 1.42 pounds, dimensions : ‎ 6.4 x 1.2 x 9.3 inches, it costs $49.29 on US Amazon. Click here to order it from Amazon.com.
  • Paperback –  Publisher – Pegasus Books (October 15, 2010), ISBN-10 : 1605981273, ISBN-13 : 978-1605981277, 368 pages, item weight : 12.8 ounces, dimensions : ‎ 6 x 0.92 x 9 inches, it costs $15.63 on US Amazon. Click here to order it from Amazon.com.
  • Kindle –  Publisher : Pegasus Books (October 15, 2010), ASIN : B004GUS68I, ISBN-13 : 978-1605982038, Item 369 pages, it costs $13.99 on US Amazon. Click here to order it from Amazon.com.
  • Audio–  Publisher : Audible Studios (September 24, 2013), Listening Length : 11 hours and 44 minutes, ASIN : B00FBPGS78, it costs $21.83 on US Amazon. Click here to order it from Amazon.com.
Front cover of hardback format of the book Atomic Awakening: A New Look at the History and Future of Nuclear Power By James Mahaffey
Front cover of hardback format of the book Atomic Awakening: A New Look at the History and Future of Nuclear Power. Click on the image to go to the Amazon page for the hardcover version of the book.

Amazon’s Description of Atomic Awakening

Nuclear power is a paradox of danger and salvation―how is it that the renewable energy source our society so desperately needs is the one we are most afraid to use?

The American public’s introduction to nuclear technology was manifested in destruction and death. With Hiroshima and the Cold War still ringing in our ears, our perception of all things nuclear is seen through the lens of weapons development. Nuclear power is full of mind-bending theories, deep secrets, and the misdirection of public consciousness, some deliberate, some accidental. The result of this fixation on bombs and fallout is that the development of a non-polluting, renewable energy source stands frozen in time.

It has been said that if gasoline were first used to make napalm bombs, we would all be driving electric cars. Our skewed perception of nuclear power is what makes James Mahaffey’s new look at the extraordinary paradox of nuclear power so compelling. From medieval alchemy to Marie Curie, Albert Einstein, and the Manhattan Project, atomic science is far from the spawn of a wicked weapons program. The discovery that the atom can be split brought forth the ultimate puzzle of the modern age: Now that the energy of the universe is available to us, how do we use it? For death and destruction? Or as a fuel for our society that has a minimal impact on the environment and future generations?

Outlining nuclear energy’s discovery and applications throughout history, Mahaffey’s brilliant and accessible book is essential to understanding the astounding phenomenon of nuclear power in an age where renewable energy and climate change have become the defining concerns of the twenty-first century.

My five-star review for Atomic Awakening

The Amazing History of Everything Nuclear

The book is divided into three parts with five chapters each. The first third of the book (titled the Fantasy) recounts the history of physics, electromagnetics, light, the Michelson-Morley experiment, relativity, the nonexistence of simultaneous events, Einstein’s miraculous year, atoms, spectrometry, atomic models, isotopes, the photoelectric effect, radioactivity, quantum physics, nuclear physics, nuclear decay, fission, fusion, and why nuclear reactions are millions of times more energetic than chemical reactions. I already knew a lot of this history having a degree in physics, but I did not know all of it and the way it was written made it very interesting.

The second third of the book (titled the Puzzle) describes the discovery of fission and fusion and it is explained why the isotopes Uranium-235 and Plutonium-239 (among 3000+ isotopes) were perfect for fission. The author provides an account of the Manhattan Project’s history, and he explains in a general sense how a nuclear reactor and a nuclear bomb work. This section reminded me of the movie Oppenheimer. He describes a bit about the various nuclear reactor designs and how the first nuclear submarine came into existence.

This part of the book is filled with interesting and surprising anecdotes about the various scientists. The first part of the book also contained many interesting anecdotes, but this part of the book really has some very interesting and crazy stories to tell. The author points out that because of Hitler there were many Jewish top scientist and other top scientists who had to flee Europe to the US, thus turning the United States into the scientific superpower it wasn’t before. He explains why the Germans did not have a chance creating a nuclear bomb. I found it interesting that the Soviets deduced that the US was working on a nuclear bomb from the fact that so many US. physicist stopped publishing in physics journals. Apparently, the Germans and the Japanese did not figure this out. However, silence is suspicious, very suspicious.

The third part of the book (titled the Paradox) is about what came after the Second World War. The author describes the development of better and safer nuclear reactors (BWR, PWR, CANDU, etc.) as well as giving us an overview of many nuclear accidents, one of them being the terrible Chernobyl accident, which largely happened because of the extremely dangerous and bad reactor design, a so called RBMK reactor. RBMK reactors are monsters that cannot be built in the West. He recounts the development of new nuclear bomb technology, such as thermonuclear bombs, more popularly called hydrogen bombs.

He also tells us about the large number of nuclear tests performed including the detonation of Tsar Bomba, the Soviet 50 Megaton bomb. It was 3,300 times more powerful than the Hiroshima bomb. He makes it clear that there were thousands of nuclear bomb tests, but he did not specify an exact number, but I looked it up. There’s been more than 2,000 nuclear tests corresponding to a yield of 42,000 Hiroshima bombs. Many of the tests were not military. For example, project plowshare was about making a bigger and deeper Panama Canal by blowing a series of deep holes through Panama using hydrogen bombs. There were 35 nuclear bombs tests to determine the feasibility of creating giant holes with hydrogen bombs. He also explains how a nuclear bomb driven spaceship works and how we could have used it for interstellar space travel (Project Orion).

Towards the end of the book, he successfully makes the case that modern Nuclear Power (not the RBMK of course) is safe and clean. We avoid pollution, and it can be used to fight global warming. The same is true for solar and wind. However, he argues that the base power source must be constantly running, high-output nuclear stations. He argues that the public got a very bad impression of anything nuclear because of how it all started with nuclear bombs, nuclear tests, bad reactor designs and accidents, and how misinformation and miscalculations added to the bad impression. We often ignore the many tens of millions of victims of fossil fuels, and the hundreds of thousands of deaths from hydro, while exaggerating the dangers of nuclear power.

However, in nuclear power we have an immense power source that we are eventually bound to start using. That’s the Atomic Awakening. One of the shocking statements in this part of the book is that “all the medical and industrial radioisotopes, used daily in impressive quantities in the United States, are made in one reactor in Canada”. He blamed this on irrational fear of nuclear power. I checked whether this scary situation still existed today. Luckily, it is not as bad. Medical and industrial radioisotopes are still all imported but they also come from Europe and Australia. It is not just one reactor in Canada. He states that “the Paradox of Nuclear Power is that far more people die each year of radiation-induced disease from standing out in the sun than have ever died from the application of nuclear power” (page 223).

There were a few things that I did not like about the book. The first is that the author often describes complex experimental setups, designs, or tools that really could be better understood with an illustration, or a picture, but there were none. I found a typo on page 308, where he refers to fission as fusion in the third sentence. I think he spent too little space on the feasibility of Nuclear Power in the modern world and maybe too much on the history of physics. Nuclear Power seems to be what the book should be about and yet this topic was concentrated to the last 10% of the book and I don’t think he made his case as well as he could have. The end of the book seems rushed. On the other hand, it was a fascinating journey before we got there. Overall, I think this book is extremely interesting, it was a fun to read, and it was fact filled and a great learning experience. I loved reading this book, so even though I have a few misgivings I still think it is a five-star book. I highly recommend it.

Back cover of hardback format of the book Atomic Awakening: A New Look at the History and Future of Nuclear Power By James Mahaffey
Back cover of hardback format of the book Atomic Awakening: A New Look at the History and Future of Nuclear Power. Click on the image to go to the Amazon page for the paperback version of the book.

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Relativity by Albert Einstein

This is not a super fact post but another kind of fact-oriented post. It is a book review for a book that I find interesting, Relativity: The Special and the General Theory by Albert Einstein. Yes, the book was written by Albert Einstein in 1916 and translated into English in 1920. It is written for laymen, average readers, and despite being more than 100 years old (well this reprint is from 1995) it does not feel outdated.

I should say that I wrote my review decades ago and Amazon has hidden about 900 of the oldest reviews including mine. So, you can no longer find it. Luckily, I still had it, but I cannot provide a link to it. The book comes in formats, hardcover (2024), paperback (1995), Kindle (2014), Audio (2009). I bought the paperback version.

  • Publisher : Independently published (July 29, 2024), ASIN : B0DBQVVJVQ, ISBN-13 : 979-8334454118, 109 pages, item weight : 7.8 ounces, dimensions : ‎ 6 x 0.47 x 9 inches, Translator : Robert W. Lawson, it costs $12.33 on US Amazon. Click here to order it from Amazon.com.
  • Paperback –  Publisher : Crown (June 6, 1995), ASIN : 0517884410, ISBN-13 :  978-0517884416, 208 pages, item weight : 8 ounces, dimensions : ‎ 5.2 x 0.5 x 8 inches, it costs $7.89 on US Amazon. Click here to order it from Amazon.com.
  • Kindle –  Publisher : Amazon Kindle Direct Publishing (February 23, 2014), ASIN : B004M8S53U, 126 pages, it costs $0.99 on US Amazon. Click here to order it from Amazon.com.
  • Audiobook –  Publisher : HighBridge, a division of Recorded Books (November 14, 2009), ASIN : B002XGLDAA, Listening Length : 2 hours and 14 minutes, it costs $12.09 on US Amazon. Click here to order it from Amazon.com.
The front cover of the paperback version feature Albert Einstein in front of a black board full of equations, title “Relativity: The Special and the General Theory” and author – Albert Einstein | Relativity by Albert Einstein
Front cover of Relativity: The Special and the General Theory by Albert Einstein. Click on the image to go to the Amazon page for the paperback version of the book.

Amazon’s Description of Relativity by Albert Einstein

This book was originally written in German by Albert Einstein in 1916 and later translated to English by Robert W. Lawson in 1920. In Einstein’s own words, “The present book is intended, as far as possible, to give an exact insight into the theory of Relativity to those readers who, from a general scientific and philosophical point of view, are interested in the theory, but who are not conversant with the mathematical apparatus of theoretical physics. It is an easy-to-understand collection of the ideas of one of the greatest scientists of the twentieth century including the idea he is most known for, the theory of relativity.

Redesigned inside and out to have a fresh, appealing look, this new edition of a classic Crown Trade Paperback is a collection of Einstein’s own popular writings on his work and describes the meaning of his main theories in a way virtually everyone can understand.

Below is my review for Relativity: The Special and the General Theory by Albert Einstein. First, I should mention that the book is divided into two sections, one for the Special Theory of Relativity and another for the General Theory of Relativity. In addition, there are five short appendices. The five appendices are not written for layman and require at least high school mathematics.

Relativity Explained by Einstein himself

I found it very interesting to read an explanation of the theories of relativity by the developer of those theories. However, it is important to remember that the inventors of science theories aren’t always the best ones to explain them. Isaac Newton is a prime example.

Another thing to remember is that today there are a lot of books and online graphics that use clever pedagogic techniques and visualizations to assist you in understanding these theories, and naturally this book does not contain any of that.

This book was originally written in 1916 and updated in 1920 and since then it has been reprinted/edited several times (as this book is an example of). I should say that the General Theory of Relativity had just been published so there weren’t much else out there for laymen at the time.

I’ve already read many good books on relativity, and I believe I understand special relativity pretty well, but my understanding of general relativity is partial. I did not buy this book to understand relativity. The reason I bought this book was to gain another perspective on the subject. If you just want to learn and understand relativity, I recommend Relativity Visualized by Lewis Carroll Epstein instead.

“Relativity: The Special and the General Theory” features no derivations of the formulas in relativity (except in the appendix) and no visualizations demonstrating relativistic effects and phenomena. The book is focused on the conceptual foundations of relativity and physics.

For example, what are Geometrical propositions, what does it mean to measure the length of a rod, or the time of an event, what do we mean by speed, what is simultaneity, what is the difference between what we observe and what we measure, etc? Einstein spends one and a half page explaining addition of velocities in classical-pre-relativistic kinematics (w = v + u) and what assumptions that are inherent with the approach. In that sense the book is quite philosophical, which is what I meant by “another perspective”. The book covers both the Special Theory of Relativity and the General Theory of Relativity. However, the sections on the General Theory of Relativity are quite short and very introductory.

There are some issues with the book. In appendix 1 Einstein (I presume) derives the Lorentz transforms. However, it is not, in my opinion, the best derivation from a pedagogical standpoint and it also had typos in it. As far as I can tell the formula on page 50 is wrong unless what Einstein means with the “m” is “additional relative mass” and not actual “mass” as stated.

The book features an addition written in 1920 where he is discussing an ad hoc modification to his theory that he had previously made but it turned out to be unnecessary (related to cosmology). The language is also very old fashioned. On the other hand, this kind of stuff makes you feel as if you travel back in time to when the theories of relativity were being churned out.

I don’t recommend the book for learning the theories of relativity but overall I liked the book. It focuses very much on basic concepts and near philosophical aspects of time, space and relativity. The book presents a valuable perspective if you already understand what the theories of relativity are about.

The back cover of the paperback features an overview of the background to relativity and to this book as well as ISBN number and publisher | Relativity by Albert Einstein
Back cover of Relativity: The Special and the General Theory by Albert Einstein. Click on the image to go to the Amazon page for the hardback version of the book.

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Ukraine Gave up Thousands of Nuclear Warheads

Super fact 47 : In 1991, after the dissolution of the Soviet Union, Ukraine became the third largest nuclear power in the world after Russia and the United States. Ukraine held about one third of the former Soviet nuclear weapons and delivery systems. Ukraine agreed to transfer these weapons to Russia for dismantlement in exchange for economic compensation and assurances to respect Ukrainian independence and borders.

After the dissolution of the Soviet Union in 1991, Ukraine inherited an estimated 1,700 to 1,900 strategic nuclear warheads, 130 UR-100N intercontinental ballistic missiles (ICBM) with six warheads each, 46 RT-23 Molodets ICBMs with ten warheads apiece, and an estimated 2,650-4,200 tactical nuclear weapons. It should be noted that these nuclear warheads were not under Ukrainian control.

In 1994, Ukraine agreed to transfer these weapons to Russia for dismantlement in exchange for economic compensation and assurances from Russia, the United States and the United Kingdom to respect Ukrainian independence and sovereignty within its existing borders. These political agreements are referred to as the Budapest Memorandum.

These events are relevant to what is happening in Ukraine today, and yet it is seldom discussed, and many people are unaware of or have forgotten about this history. It also comes as a surprise to many that there are nuclear states who have relinquished their nuclear weapons. This is why I call this fact a super fact.

Atomic bomb explosion in a city - nuclear attack on a crowded city – 3D rendering of a mushroom cloud encompassing a city with skyscrapers.
Nuclear bomb dropped on a big city. Shutterstock, asset id: 2188083835 by CI Photos.

Nine Nuclear States

There are nine nuclear states in the world as of 2025 according to the Federation of Atomic Scientists. There are 12,331 nuclear warheads including 9,600 in active military stockpiles.

  • Russia – 5,449 warheads
  • The United States – 5,277 warheads
  • China – 600 warheads
  • France – 290 warheads
  • United Kingdom – 225 warheads
  • India – 180 warheads
  • Pakistan – 170 warheads
  • Israel – 90 warheads
  • North Korea – 50 warheads

There are also countries that are hosting nuclear warheads owned by other countries.

  • Italy (the United States) – 35 warheads
  • Turkey (the United States) – 20 warheads
  • Belgium (the United States) – 15 warheads
  • Germany (the United States) – 15 warheads
  • Netherlands (the United States) – 15 warheads
  • Belarus (Russia) – ? warheads
Nuclear bomb, chemical weapons, missile defense, a system of salvo fire.
Four missiles aimed at the sky at sunset.  Shutterstock, asset id: 2131803989 by Hamara

Four nations that relinquished their nuclear weapons programs

The four nations that relinquished their nuclear weapons programs are Belarus, Kazakhstan, South Africa, and Ukraine. Belarus, Kazakhstan, and Ukraine returned their inherited nuclear weapons to Russia after the dissolution of the Soviet Union. However, it should be noted that in 2023 Russia began deploying tactical nuclear weapons to Belarus. However, Belarus does not currently possess its own nuclear weapons. South Africa voluntarily dismantled its nuclear weapons program in 1991.

In 2023 Russia began deploying tactical nuclear weapons to Belarus.
Russia and Ukraine as well as the borders of Russia and Ukraine are colored and look different from other countries.
Russia (green) and Ukraine (brown) map on a world map. Ukraine is about the size of Texas. Russia is about twice the area of the United States. Belarus is the country located immediately to the north of Ukraine and Kazakhstan is the big country immediately to the south of Russia and east of Ukraine. Shutterstock Asset id: 2121271067 by buraktumler

How to Build a Nuclear Bomb

This section is just some extra reading that is only somewhat related to the topic. However, since it is an interesting topic somewhat related to the topic I might as well explain how to build a nuclear bomb. Don’t worry I will not present any engineering details, only general principals, which is all I know, and which are already all over internet. Besides if I were to give detailed engineering instructions some peacenik hippie might have a hissing fit and swear in the comment section (that was a joke).

Anyway, the main idea behind a nuclear fission bomb is to achieve a runaway chain reaction. A fusion bomb, or a so-called hydrogen bomb is different. To create a fission bomb you are not looking for the most radioactive materials there are. You are looking for a fuel which you can use to create a runaway chain reaction, and which is also stable enough to make a bomb possible, in other words not too radioactive. Basically, the fuel must be just right. The primary fuels used in fission bombs are uranium-235 and plutonium-239. These isotopes undergo fission when struck by neutrons, releasing a massive amount of energy in a chain reaction.

The image shows a Uranium atom on the left arrows in the middle and an alpha particle, a gamma ray, a proton, a neutron, and an electron on the right | Ukraine Gave up Thousands Nuclear Warheads
Uranium-235 and Uranium-238 are both not very radioactive and can be used for radiometric dating that stretches millions and billions of years. Uranium-235 is also the “just-right” uranium isotope that can be used for bomb making. Shutterstock Vector ID: 2417370135 by grayjay

I should explain, isotopes are different forms of an element. For example, hydrogen comes in three different forms, a nucleus with just a proton, a nucleus with one proton and one neutron (deuterium), and a nucleus with one proton and two neutrons (tritium). Isotopes for the same element are chemically identical but have different atomic weight and they may or may not be radioactive.

The three isotopes of Uranium are uranium-234, uranium-235, and uranium-238. The one we need is uranium-235, which has 92 protons and 143 neutrons in the nucleus. The isotopes of Plutonium include Pu-238, Pu-239, Pu-240, Pu-241, and Pu-242 but there are others. The one we need is plutonium-239, which has 94 protons and 145 neutrons in the nucleus. There are more than 3,500 known isotopes of which 3,000 are radioactive.

During Uranium-235 fission, an average of 2.5 neutrons are released. Specifically, the fission of U-235 typically releases 2 or 3 neutrons, with the average being close to 2.5. During the fission of plutonium-239, an average of 2.9 neutrons are released (depending on the energy of the incident neutron). The important thing for bomb making is that one atom/nucleus releases enough neutrons so that the neutrons from one nucleus cause more than one fission. For example, a nucleus releases three neutrons and two of those neutrons cause two more fission events, which in turn cause four fission events, etc. 2, 4, 8, 16, 32, 64, a trillion…

From left to right : a neutron strikes a uranium nucleus, and it breaks apart into a Krypton and Barium isotope and release three neutrons, which strike three uranium nucleuses, causing three fission events and releasing nine neutrons in total, etc | Ukraine Gave up Thousands Nuclear Warheads
Illustration of nuclear chain reaction. Uranium-235 fission. Unfortunately, the picture has an error in it. It is 92 protons not 95 in a U-235 isotope. – Shutterstock asset id: 73714504 by Mpanchenko.

By putting together enough U-235 you can make it so that one fission event will result in more than one additional fission event. This is called the critical mass. The critical mass for U-235 is 47 kilograms (104 pounds). Theoretically, you can achieve this by taking a 24-kilogram half sphere of U-235 in your right hand and a 24-kilogram half sphere of U-235 in your left hand and bring them together. You will achieve a limited chain reaction for a nano second, but you will just blow the two halves apart and kill yourself, but your city will survive. This is called a fizzle. To make most of the 48-kilogram mass undergo fission you have to force them together long enough for the chain reaction to complete (or almost complete). This requires force and precise calculations. See the illustration below.

A piece of arrow shaped uranium-235 is shot from the left to the right to collide with a larger half-sphere-shaped uranium-235 core thus achieving critical mass forcefully and quickly | Ukraine Gave up Thousands Nuclear Warheads
Components Inside of Uranium Nuclear Fission Bomb illustration – Shutterstock asset id: 2271462995 by BlueRingMedia.

Another difficulty is obtaining nearly 100% U-235 from natural uranium. 99% of the Uranium you find in nature is U-238. U-235 and U-238 chemically identical so extracting U-235 from natural uranium is difficult. However, U-235 is slightly lighter than U-238 so you can use centrifugal separation as you do to separate cream from milk. What is typically done is using a uranium compound, uranium hexafluoride, heat it into gaseous form and then utilize centrifugal separation to extract the uranium hexafluoride with U-235 isotopes. After that you can chemically extract the uranium, which is now U-235.

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