A Passivity-Based Distributed Reference Governor for Constrained Robotic Networks

This paper focuses on a passivity-based distributed reference governor (RG) applied to a pre-stabilized mobile robotic network. The novelty of this paper lies in the method used to solve the RG problem, where a passivity-based distributed optimization scheme is proposed. In particular, the gradient descent method minimizes the global objective function while the dual ascent method maximizes the Hamiltonian. To make the agents converge to the agreed optimal solution, a proportional-integral consensus estimator is used. This paper proves the convergence of the state estimates of the RG to the optimal solution through passivity arguments, considering the physical system static. Then, the effectiveness of the scheme considering the dynamics of the physical system is demonstrated through simulations and experiments.Comment: 8 pages, International Federation of Automatic Conference 2017, 8 figure

Pterobreathers in a model for a layered crystal with realistic potentials: Exact moving breathers in a moving frame

In this article we perform a thorough analysis of breathers in a one-dimensional model for a layered silicate for which there exists fossil and experimental evidence of moving excitations along the close-packed lines of the K+ layers. Some of these excitations are likely breathers with a small energy of about 0.2 eV as the numerically obtained breathers described in the present model. Moving breathers as exact solutions of the dynamical equations are obtained at the price of being generically associated with a plane wave, a wing, with finite amplitude, although this amplitude can be very small. We call them pterobreathers. For some frequencies the wings disappear and the solutions become exact moving breathers with no wings, showing the phenomenon of supertransmission of energy. We perform a theoretical analysis of pterobreathers in systems with substrate potential and show that they are characterized by a single frequency in the moving frame plus the frequency of the wings. We have also studied high-energy stationary breathers which transform into single and double kinks and stable multibreathers with very strong localization.Ministerio de Economía y competitividad, FIS2015-65998- C2-2-PMinisterio de Ciencia e Innovación, PRX18/00360Junta de Andalucía, 2017/FQM-280Japan Society for the Promotion of Science, 16K05041Kyoto University Foundation and CASIO Science Promotion Foundation, H29-1

Exploration of new chemical materials using black-box optimization with the D-wave quantum annealer

In materials informatics, searching for chemical materials with desired properties is challenging due to the vastness of the chemical space. Moreover, the high cost of evaluating properties necessitates a search with a few clues. In practice, there is also a demand for proposing compositions that are easily synthesizable. In the real world, such as in the exploration of chemical materials, it is common to encounter problems targeting black-box objective functions where formalizing the objective function in explicit form is challenging, and the evaluation cost is high. In recent research, a Bayesian optimization method has been proposed to formulate the quadratic unconstrained binary optimization (QUBO) problem as a surrogate model for black-box objective functions with discrete variables. Regarding this method, studies have been conducted using the D-Wave quantum annealer to optimize the acquisition function, which is based on the surrogate model and determines the next exploration point for the black-box objective function. In this paper, we address optimizing a black-box objective function containing discrete variables in the context of actual chemical material exploration. In this optimization problem, we demonstrate results obtaining parameters of the acquisition function by sampling from a probability distribution with variance can explore the solution space more extensively than in the case of no variance. As a result, we found combinations of substituents in compositions with the desired properties, which could only be discovered when we set an appropriate variance.Comment: 14pages, 4figures, 4table

Lotus root-like appearance in the left anterior descending artery treated with a drug-coated balloon angioplasty

A lotus root-like appearance of the coronary artery diagnosed by optical coherence tomography (OCT) is characterized by old coronary thrombi that form small lumen channels. Herein, serial OCT images of a left anterior descending artery with a lotus root-like appearance, treated with drug-coated balloon angioplasty are described

Luminosity Functions of the Host Galaxies of Supernova

We present the luminosity functions and stellar mass functions of supernova (SN) host galaxies and test if they differ from the functions of normal field galaxies. We utilize homogeneous samples consisting of 273 SNe Ia ($z\leq0.3$) and 44 core-collapse (CC) SNe ($z \leq 0.1$) from the Sloan Digital Sky Survey (SDSS) II Supernova Survey and the high-signal-to-noise-ratio photometry of galaxies from the Hyper Suprime-Cam Subaru Strategic Program (HSC SSP). SN hosts are classified into star-forming and passive galaxy groups based on the spectral energy distribution (SED) fitting. We find that the SN host luminosity functions and stellar mass functions deviate from those of normal field galaxies. Star-forming galaxies dominate the low-mass end of the SN Ia host mass function, while passive galaxies dominate the high-mass end. CC SNe are predominantly hosted by star-forming galaxies. In addition, intermediate-mass hosts produce CC SNe with the highest efficiency, while the efficiency of producing SNe Ia monotonically increases as the hosts become more massive. Furthermore, We derive the pseudo mass normalized SN rates (pSNuM) based on the mass functions. We find that the star-forming component of pSNuM$_{Ia}$ is less sensitive to the changes in stellar mass, in comparison with the total rate. The behavior of pSNuM$_{CC}$ suggests that the CC rate is proportional to the star-forming rate

英国史劇におけるシェイクスピアの歴史叙述

学習院大学Gakushuin Universit

YEATS ノ モダニズム ト DONNE ノ エイキョウ

In　this　thesis，　I　will　consider　the　inHuence　H．　J．　C．　Grierson’sPoems　of／ohn ヱ）onne　had　on　W．　B．　Yeats　when　his　writing　changed　from　a　Victorian　mode　to a　Modernist　one．　It　has　o食en　been　said　and　taken　fbr　granted　that　Ezra　Pound roughened　Yeats’s　diction，　that　ls，　modernized　his　style．　Through　the　times， however，　literary　critics　have　come　to　reconsider　this　mythical　episode，　fbr　it　is obvious　that　Pound’s　development　of　the　imagist　aesthetic　was　promoted　by embracing　Yeats’s　purity　of　syntax　and　diction．　Indeed，　the　energy　of　this　twenty－ year　younger　poet　had　brought　about　great　changes　in　Yeats’screative　activ一 ity，　but　this　influence　has　been　emphasized　to　such　an　extent　that　other　influences 　which　should　not　go　unheeded　have　been　overlooked．　Therefore　I　would hke　to　discuss　the　influence　of　Donne　on　Yeats　in　the　transitive　period，　which has　not　received　much　attention．　In　the　first　half　of　this　paper　I　will　exam．ine how　Yeats　received　Grierson’s　edition　of　Donne　through　his　letter　thanking him　fbr　sending　it　to　him，　in　which　he　said，‘‘at　last　1　can　understand　Donne．”In the　second　half　I　will　investigate，　by　discussing　his“Sailing　to　Byzantium，” how　Yeats‘‘recover［ed］the　Vision　of　Evil，”which　he　noticed　Donne　possessed， 　though　Shelly　lacked

Nonlinear bandgap transmission by discrete rogue waves induced in a pendulum chain

We study numerically a discrete, nonlinear lattice, which is formed by a chain of pendula submitted to a harmonic-driving source with constant amplitude and parametrical excitation. A supratransmission phenomenon is obtained after the derivation of the homoclinic threshold for the case when the lattice is driven at one edge. The lattice traps gap solitons when the chain is subjected to a periodic horizontal displacement of the pivot. Discrete rogue waves are generated for the case when the pendulum is simultaneously driven and shaken. This work may pave the way for experimental generation of discrete rogue waves within simple devices.Comment: 9 pages, 9 figure