Stabilization Control of the Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter

This paper presents the design of a control model to navigate the differential mobile robot to reach the desired destination from an arbitrary initial pose. The designed model is divided into two stages: the state estimation and the stabilization control. In the state estimation, an extended Kalman filter is employed to optimally combine the information from the system dynamics and measurements. Two Lyapunov functions are constructed that allow a hybrid feedback control law to execute the robot movements. The asymptotical stability and robustness of the closed loop system are assured. Simulations and experiments are carried out to validate the effectiveness and applicability of the proposed approach.Comment: arXiv admin note: text overlap with arXiv:1611.07112, arXiv:1611.0711

Isogeometric analysis for functionally graded microplates based on modified couple stress theory

Analysis of static bending, free vibration and buckling behaviours of functionally graded microplates is investigated in this study. The main idea is to use the isogeometric analysis in associated with novel four-variable refined plate theory and quasi-3D theory. More importantly, the modified couple stress theory with only one material length scale parameter is employed to effectively capture the size-dependent effects within the microplates. Meanwhile, the quasi-3D theory which is constructed from a novel seventh-order shear deformation refined plate theory with four unknowns is able to consider both shear deformations and thickness stretching effect without requiring shear correction factors. The NURBS-based isogeometric analysis is integrated to exactly describe the geometry and approximately calculate the unknown fields with higher-order derivative and continuity requirements. The convergence and verification show the validity and efficiency of this proposed computational approach in comparison with those existing in the literature. It is further applied to study the static bending, free vibration and buckling responses of rectangular and circular functionally graded microplates with various types of boundary conditions. A number of investigations are also conducted to illustrate the effects of the material length scale, material index, and length-to-thickness ratios on the responses of the microplates.Comment: 57 pages, 14 figures, 18 table

Ultrasoft Renormalization in Non-Relativistic QCD

For Non-Relativistic QCD the velocity renormalization group correlates the renormalization scales for ultrasoft, potential and soft degrees of freedom. Here we discuss the renormalization of operators by ultrasoft gluons. We show that renormalization of soft vertices can induce new operators, and also present a procedure for correctly subtracting divergences in mixed potential-ultrasoft graphs. Our results affect the running of the spin-independent potentials in QCD. The change for the NNLL t-tbar cross section near threshold is very small, being at the 1% level and essentially independent of the energy. We also discuss implications for analyzing situations where mv^2 ~ Lambda_QCD.Comment: 31 pages, 11 fig

1S and MSbar Bottom Quark Masses from Upsilon Sum Rules

The bottom quark 1S mass, $M_b^{1S}$, is determined using sum rules which relate the masses and the electronic decay widths of the $\Upsilon$ mesons to moments of the vacuum polarization function. The 1S mass is defined as half the perturbative mass of a fictitious ${}^3S_1$ bottom-antibottom quark bound state, and is free of the ambiguity of order $\Lambda_{QCD}$ which plagues the pole mass definition. Compared to an earlier analysis by the same author, which had been carried out in the pole mass scheme, the 1S mass scheme leads to a much better behaved perturbative series of the moments, smaller uncertainties in the mass extraction and to a reduced correlation of the mass and the strong coupling. We arrive at $M_b^{1S}=4.71\pm 0.03$ GeV taking $\alpha_s(M_Z)=0.118\pm 0.004$ as an input. From that we determine the $\bar{MS}$ mass as $\bar m_b(\bar m_b) = 4.20 \pm 0.06$ GeV. The error in $\bar m_b(\bar m_b)$ can be reduced if the three-loop corrections to the relation of pole and $\bar{MS}$ mass are known and if the error in the strong coupling is decreased.Comment: 20 pages, latex; numbers in Tabs. 2,3,4 corrected, a reference and a comment on the fitting procedure added, typos in Eqs. 2 and 23 eliminate

A systematic review of modelling approaches in economic evaluations of health interventions for drug and alcohol problems

© 2016 Hoang et al. Background: The overarching goal of health policies is to maximize health and societal benefits. Economic evaluations can play a vital role in assessing whether or not such benefits occur. This paper reviews the application of modelling techniques in economic evaluations of drug and alcohol interventions with regard to (i) modelling paradigms themselves; (ii) perspectives of costs and benefits and (iii) time frame. Methods: Papers that use modelling approaches for economic evaluations of drug and alcohol interventions were identified by carrying out searches of major databases. Results: Thirty eight papers met the inclusion criteria. Overall, the cohort Markov models remain the most popular approach, followed by decision trees, Individual based model and System dynamics model (SD). Most of the papers adopted a long term time frame to reflect the long term costs and benefits of health interventions. However, it was fairly common among the reviewed papers to adopt a narrow perspective that only takes into account costs and benefits borne by the health care sector. Conclusions: This review paper informs policy makers about the availability of modelling techniques that can be used to enhance the quality of economic evaluations for drug and alcohol treatment interventions

Running of the heavy quark production current and 1/k potential in QCD

The 1/k contribution to the heavy quark potential is first generated at one loop order in QCD. We compute the two loop anomalous dimension for this potential, and find that the renormalization group running is significant. The next-to-leading-log coefficient for the heavy quark production current near threshold is determined. The velocity renormalization group result includes the alpha_s^3 ln^2(alpha_s) ``non-renormalization group logarithms'' of Kniehl and Penin.Comment: 30 pages, journal versio

Absence of bound states for waveguides in 2D periodic structures

We study a Helmholtz-type spectral problem in a two-dimensional medium consisting of a fully periodic background structure and a perturbation in form of a line defect. The defect is aligned along one of the coordinate axes, periodic in that direction (with the same periodicity as the background), and bounded in the other direction. This setting models a so-called "soft-wall" waveguide problem. We show that there are no bound states, i.e., the spectrum of the operator under study contains no point spectrum.Comment: This is an updated version of our paper (in slightly different form in Journal of Mathematical Physics). An anonymous reviewer kindly made us aware that ref. 10 is not applicable in our situation. An application of the theorem in ref. 10 would have proved the absence of singular continuous spectrum also. Our result on the absence of point spectrum is not affected by thi

Gauge dependence and matching procedure of a nonrelativistic QED/QCD boundstate formalism

A nonrelativistic boundstate formalism used in contemporary calculations is investigated. It is known that the effective Hamiltonian of the boundstate system depends on the choice of gauge. We obtain the transformation charge Q of the Hamiltonian for an arbitrary infinitesimal change of gauge, by which gauge independence of the mass spectrum and gauge dependences of the boundstate wave functions are dictated. We give formal arguments based on the BRST symmetry supplemented by power countings of Coulomb singularities of diagrams. For illustration: (1)we calculate Q up to O(1/c), (2)we examine gauge dependences of diagrams for a decay of a qqbar boundstate up to O(1/c) and show that cumbersome gauge cancellations can be circumvented by directly calculating Q. As an application we point out that the present calculations of top quark momentum distribution in the ttbar threshold region are gauge dependent. We also show possibilities for incorrect calculations of physical quantities of boundstates when the on-shell matching procedure is employed. We give a proof of a justification for the use of the equation of motion to simplify the form of a local NRQCD Lagrangian. The formalism developed in this work will provide useful cross checks in computations involving NRQED/NRQCD boundstates.Comment: 30 pages, 15 figures (ver1); Presentations of Introduction and Conclusion were modified substantially, although none of our findings have been changed; Side remarks have been added in various parts of the paper. (ver2); Supplementary remarks and minor corrections (ver3

Pathways to folding, nucleation events and native geometry

We perform extensive Monte Carlo simulations of a lattice model and the Go potential to investigate the existence of folding pathways at the level of contact cluster formation for two native structures with markedly different geometries. Our analysis of folding pathways revealed a common underlying folding mechanism, based on nucleation phenomena, for both protein models. However, folding to the more complex geometry (i.e. that with more non-local contacts) is driven by a folding nucleus whose geometric traits more closely resemble those of the native fold. For this geometry folding is clearly a more cooperative process.Comment: Accepted in J. Chem. Phy

The QCD heavy-quark potential to order v^2: one loop matching conditions

The one-loop QCD heavy quark potential is computed to order v^2 in the color singlet and octet channels. Several errors in the previous literature are corrected. To be consistent with the velocity power counting, the full dependence on |p' + p|/|p' - p| is kept. The matching conditions for the NRQCD one-loop potential are computed by comparing the QCD calculation with that in the effective theory. The graphs in the effective theory are also compared to terms from the hard, soft, potential, and ultrasoft regimes in the threshold expansion. The issue of off-shell versus on-shell matching and gauge dependence is discussed in detail for the 1/(m k) term in the potential. Matching on-shell gives a 1/(m k) potential that is gauge independent and does not vanish for QED.Comment: 28 pages, References added and minor changes to section III, results unchange