Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification

In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative controller to be implemented on each robot so that their motion are synchronized to a reference motion desired by a human operator, and then point out that each robot motion ensures passivity. Inter-robot communication channels are then designed via so-called scattering transformation which is a technique to passify the delayed channel. The resulting robotic network is then connected with human operator based on passivity theory. In order to demonstrate the present control architecture, we build an experimental testbed consisting of multiple robots and a tablet. In particular, we analyze the effects of the communication delays on the human operator's behavior

Tensor mesons produced in tau lepton decays

Light tensor mesons (T = a_2, f_2 and K_2^*) can be produced in decays of tau leptons. In this paper we compute the branching ratios of tau --> T pi nu decays by assuming the dominance of intermediate virtual states to model the form factors involved in the relevant hadronic matrix element. The exclusive f_2(1270) pi^- decay mode turns out to have the largest branching ratio, of O(10^-4) . Our results indicate that the contributions of tensor meson intermediate states to the three-pseudoscalar channels of tau decays are rather small.Comment: 10 pages, 1 figure. Version accepted for publication in PRD, some typos are corrected and comments are added in section 4. Conclusions remain unchange

The Gauge Hierarchy Problem and Higher Dimensional Gauge Theories

We report on an attempt to solve the gauge hierarchy problem in the framework of higher dimensional gauge theories. Both classical Higgs mass and quadratically divergent quantum correction to the mass are argued to vanish. Hence the hierarchy problem in its original sense is solved. The remaining finite mass correction is shown to depend crucially on the choice of boundary condition for matter fields, and a way to fix it dynamically is presented. We also point out that on the simply-connected space $S^2$ even the finite mass correction vanishes.Comment: LaTeX2e. 12 pages, 3 Postscript figures; Added references, some comment

Radiative and Semileptonic B Decays Involving Higher K-Resonances in the Final States

We study the radiative and semileptonic B decays involving a spin-$J$ resonant $K_J^{(*)}$ with parity $(-1)^J$ for $K_J^*$ and $(-1)^{J+1}$ for $K_J$ in the final state. Using the large energy effective theory (LEET) techniques, we formulate $B \to K_J^{(*)}$ transition form factors in the large recoil region in terms of two independent LEET functions $\zeta_\perp^{K_J^{(*)}}$ and $\zeta_\parallel^{K_J^{(*)}}$, the values of which at zero momentum transfer are estimated in the BSW model. According to the QCD counting rules, $\zeta_{\perp,\parallel}^{K_J^{(*)}}$ exhibit a dipole dependence in $q^2$. We predict the decay rates for $B \to K_J^{(*)} \gamma$, $B \to K_J^{(*)} \ell^+ \ell^-$ and $B \to K_J^{(*)}\nu \bar{\nu}$. The branching fractions for these decays with higher $K$-resonances in the final state are suppressed due to the smaller phase spaces and the smaller values of $\zeta^{K_J^{(*)}}_{\perp,\parallel}$. Furthermore, if the spin of $K_J^{(*)}$ becomes larger, the branching fractions will be further suppressed due to the smaller Clebsch-Gordan coefficients defined by the polarization tensors of the $K_J^{(*)}$. We also calculate the forward backward asymmetry of the $B \to K_J^{(*)} \ell^+ \ell^-$ decay, for which the zero is highly insensitive to the $K$-resonances in the LEET parametrization.Comment: 27 pages, 4 figures, 7 tables;contents and figures corrected, title and references revise

Five steps in leukocyte extravasation in the microcirculation by chemoattractants

For in vivo study of the phenomena observed in vitro, PMN (polymorphonuclear leukocyte) extravasation was analysed quantitatively in the microcirculation of the hamster cheek pouch using a video system. Topical application of leukotriene B4 or N-formyl-methionylleucyl- phenylalanine increased dose dependently the number of PMNs adhering to the venules. Eighty to 90% of the adhering PMNs disappeared from the vascular lumen into the venular wall within 10-12 rain after the adhesion. After PMNs had passed through the endothelial cell layer, they remained in the venular wall for more than 30 min after application of the chemoattractants and appeared in the extravascular space. Thus, the process could be divided into five steps: (1) rolling and (2) adhesion to the endothelium, (3) passage through the endothelial layer (4) remaining in the venular wall, and (5) passage through the basement membrane