Final-State Constrained Optimal Control via a Projection Operator Approach

In this paper we develop a numerical method to solve nonlinear optimal control problems with final-state constraints. Specifically, we extend the PRojection Operator based Netwon's method for Trajectory Optimization (PRONTO), which was proposed by Hauser for unconstrained optimal control problems. While in the standard method final-state constraints can be only approximately handled by means of a terminal penalty, in this work we propose a methodology to meet the constraints exactly. Moreover, our method guarantees recursive feasibility of the final-state constraint. This is an appealing property especially in realtime applications in which one would like to be able to stop the computation even if the desired tolerance has not been reached, but still satisfy the constraints. Following the same conceptual idea of PRONTO, the proposed strategy is based on two main steps which (differently from the standard scheme) preserve the feasibility of the final-state constraints: (i) solve a quadratic approximation of the nonlinear problem to find a descent direction, and (ii) get a (feasible) trajectory by means of a feedback law (which turns out to be a nonlinear projection operator). To find the (feasible) descent direction we take advantage of final-state constrained Linear Quadratic optimal control methods, while the second step is performed by suitably designing a constrained version of the trajectory tracking projection operator. The effectiveness of the proposed strategy is tested on the optimal state transfer of an inverted pendulum

Data-driven distributed MPC of dynamically coupled linear systems

In this paper, we present a data-driven distributed model predictive control (MPC) scheme to stabilise the origin of dynamically coupled discrete-time linear systems subject to decoupled input constraints. The local optimisation problems solved by the subsystems rely on a distributed adaptation of the Fundamental Lemma by Willems et al., allowing to parametrise system trajectories using only measured input-output data without explicit model knowledge. For the local predictions, the subsystems rely on communicated assumed trajectories of neighbours. Each subsystem guarantees a small deviation from these trajectories via a consistency constraint. We provide a theoretical analysis of the resulting non-iterative distributed MPC scheme, including proofs of recursive feasibility and (practical) stability. Finally, the approach is successfully applied to a numerical example

Symmetry Breaking in Linearly Coupled Dynamical Lattices

We examine one- and two-dimensional (1D and 2D) models of linearly coupled lattices of the discrete-nonlinear-Schr{\"{o}}dinger type. Analyzing ground states of the systems with equal powers in the two components, we find a symmetry-breaking phenomenon beyond a critical value of the squared $l^2$-norm. Asymmetric states, with unequal powers in their components, emerge through a subcritical pitchfork bifurcation, which, for very weakly coupled lattices, changes into a supercritical one. We identify the stability of various solution branches. Dynamical manifestations of the symmetry breaking are studied by simulating the evolution of the unstable branches. The results present the first example of spontaneous symmetry breaking in 2D lattice solitons. This feature has no counterpart in the continuum limit, because of the collapse instability in the latter case.Comment: 9 pages, 9 figures, submitted to Phys. Rev. E, Apr, 200

Nucleon-Nucleon Optical Model for Energies to 3 GeV

Several nucleon-nucleon potentials, Paris, Nijmegen, Argonne, and those derived by quantum inversion, which describe the NN interaction for T-lab below 300$ MeV are extended in their range of application as NN optical models. Extensions are made in r-space using complex separable potentials definable with a wide range of form factor options including those of boundary condition models. We use the latest phase shift analyses SP00 (FA00, WI00) of Arndt et al. from 300 MeV to 3 GeV to determine these extensions. The imaginary parts of the optical model interactions account for loss of flux into direct or resonant production processes. The optical potential approach is of particular value as it permits one to visualize fusion, and subsequent fission, of nucleons when T-lab above 2 GeV. We do so by calculating the scattering wave functions to specify the energy and radial dependences of flux losses and of probability distributions. Furthermore, half-off the energy shell t-matrices are presented as they are readily deduced with this approach. Such t-matrices are required for studies of few- and many-body nuclear reactions.Comment: Latex, 40 postscript pages including 17 figure

Indication on the universal hadron substructure - constituent quarks

The universality of single-spin asymmetry on inclusive pi-meson production is discussed. This universality can be related to the hadron substructure - constituent quarks.Comment: 3 pages, 3 figures, references adde

Bicarbonate-controlled reduction of oxygen by the QA semiquinone in Photosystem II in membranes

Photosystem II (PSII), the water/plastoquinone photo-oxidoreductase, plays a key energy input role in the biosphere. Q∙−A, the reduced semiquinone form of the nonexchangeable quinone, is often considered capable of a side reaction with O2, forming superoxide, but this reaction has not yet been demonstrated experimentally. Here, using chlorophyll fluorescence in plant PSII membranes, we show that O2 does oxidize Q∙−A at physiological O2 concentrations with a t1/2 of 10 s. Superoxide is formed stoichiometrically, and the reaction kinetics are controlled by the accessibility of O2 to a binding site near Q∙−A, with an apparent dissociation constant of 70 ± 20 µM. Unexpectedly, Q∙−A could only reduce O2 when bicarbonate was absent from its binding site on the nonheme iron (Fe2+) and the addition of bicarbonate or formate blocked the O2-dependant decay of Q∙−A. These results, together with molecular dynamics simulations and hybrid quantum mechanics/molecular mechanics calculations, indicate that electron transfer from Q∙−A to O2 occurs when the O2 is bound to the empty bicarbonate site on Fe2+. A protective role for bicarbonate in PSII was recently reported, involving long-lived Q∙−A triggering bicarbonate dissociation from Fe2+ [Brinkert et al., Proc. Natl. Acad. Sci. U.S.A. 113, 12144–12149 (2016)]. The present findings extend this mechanism by showing that bicarbonate release allows O2 to bind to Fe2+ and to oxidize Q∙−A. This could be beneficial by oxidizing Q∙−A and by producing superoxide, a chemical signal for the overreduced state of the electron transfer chain

Proton-proton scattering above 3 GeV/c

A large set of data on proton-proton differential cross sections, analyzing powers and the double polarization parameter A_NN is analyzed employing the Regge formalism. We find that the data available at proton beam momenta from 3 GeV/c to 50 GeV/c exhibit features that are very well in line with the general characteristics of Regge phenomenology and can be described with a model that includes the rho, omega, f_2, and a_2 trajectories and single Pomeron exchange. Additional data, specifically for spin-dependent observables at forward angles, would be very helpful for testing and refining our Regge model.Comment: 16 pages, 19 figures; revised version accepted for publication in EPJ

Observation of the Charge Symmetry Breaking d + d -> 4He + pi0 Reaction Near Threshold

We report the first observation of the charge symmetry breaking d + d -> 4He + pi0 reaction near threshold at the Indiana University Cyclotron Facility. Kinematic reconstruction permitted the separation of 4He + pi0 events from double radiative capture 4He + gamma + gamma events. We measured total cross sections for neutron pion production of 12.7 +- 2.2 pb at 228.5 MeV and 15.1 +- 3.1 pb at 231.8 MeV. The uncertainty is dominated by statistical errors.Comment: 7 pages, 2 figures, plain Te