4,112 research outputs found
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
Third-order Coulomb corrections to the S-wave Green function, energy levels and wave functions at the origin
We obtain analytic expressions for the third-order corrections due to the
strong interaction Coulomb potential to the S-wave Green function, energy
levels and wave functions at the origin for arbitrary principal quantum number
n. Together with the known non-Coulomb correction this results in the complete
spectrum of S-states up to order alpha_s^5. The numerical impact of these
corrections on the Upsilon spectrum and the top quark pair production cross
section near threshold is estimated.Comment: 24 pages, LaTeX, v2: eq.(30) corrected (-13/8->-15/8
Virtual and Soft Pair Corrections to Polarized Muon Decay Spectrum
Radiative corrections to the muon decay spectrum due to soft and virtual
electron--positron pairs are calculated.Comment: 10pp, 2 PS figs, details of calculations are adde
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Antitumor activity of an anti-CD98 antibody.
CD98 is expressed on several tissue types and specifically upregulated on fast-cycling cells undergoing clonal expansion. Various solid (e.g., nonsmall cell lung carcinoma) as well as hematological malignancies (e.g., acute myeloid leukemia) overexpress CD98. We have identified a CD98-specific mouse monoclonal antibody that exhibits potent preclinical antitumor activity against established lymphoma tumor xenografts. Additionally, the humanized antibody designated IGN523 demonstrated robust tumor growth inhibition in leukemic cell-line derived xenograft models and was as efficacious as standard of care carboplatin in patient-derived nonsmall lung cancer xenografts. In vitro studies revealed that IGN523 elicited strong ADCC activity, induced lysosomal membrane permeabilization and inhibited essential amino acid transport function, ultimately resulting in caspase-3 and -7-mediated apoptosis of tumor cells. IGN523 is currently being evaluated in a Phase I clinical trial for acute myeloid leukemia (NCT02040506). Furthermore, preclinical data support the therapeutic potential of IGN523 in solid tumors
Projection-based Controllers with Inherent Dissipativity Properties
Projection-based Controllers (PBCs) are currently gaining traction in both
scientific and engineering communities. In PBCs, the input-output signals of
the controller are kept in sector-bounded sets by means of projection. In this
paper, we will show how this projection operation can be used to induce useful
passivity or general dissipativity properties on broad classes of (unprojected)
nonlinear controllers that otherwise would not have these properties. The
induced dissipativity properties of PBC will be exploited to guarantee
asymptotic stability of negative feedback interconnections of passive nonlinear
plants and suitably designed PBC, under mild conditions. Proper generalizations
to so-called -dissipativity will be presented as well. For
illustrating the effectiveness of PBC control design via these passivity-based
techniques, two numerical examples are provided.Comment: to be presented at IEEE CDC 2023 (Singapore
Vitrification of a monatomic 2D simple liquid
A monatomic simple liquid in two dimensions, where atoms interact
isotropically through the Lennard-Jones-Gauss potential [M. Engel and H.-R.
Trebin, Phys. Rev. Lett. 98, 225505 (2007)], is vitrified by the use of a rapid
cooling technique in a molecular dynamics simulation. Transformation to a
crystalline state is investigated at various temperatures and the
time-temperature-transformation (TTT) curve is determined. It is found that the
transformation time to a crystalline state is the shortest at a temerature 14%
below the melting temperature Tm and that at temperatures below Tv = 0.6 Tm the
transformation time is much longer than the available CPU time. This indicates
that a long-lived glassy state is realized for T < Tv.Comment: 5pages,5figures,accepted for publication in CEJ
Precision constraints on radiative neutrino decay with CMB spectral distortion
We investigate the radiative decay of the cosmic neutrino background, and its
impact on the spectrum of the cosmic microwave background (CMB) that is known
to be a nearly perfect black body. We derive exact formulae for the decay of a
heavier neutrino into a lighter neutrino and a photon, , and of absorption as its inverse, , by
accounting for the precise form of the neutrino momentum distribution. Our
calculations show that if the neutrinos are heavier than eV,
the exact formulae give results that differ by 50%, compared with
approximate ones where neutrinos are assumed to be at rest. We also find that
spectral distortion due to absorption is more important for heavy neutrino
masses (by a factor of 10 going from a neutrino mass of 0.01 eV to 0.1
eV). By analyzing the CMB spectral data measured with COBE-FIRAS, we obtain
lower limits on the neutrino lifetime of s
(95% C.L.) for the smaller mass splitting and s for the larger mass splitting. These represent up to one order of
magnitude improvement over previous CMB constraints. With future CMB
experiments such as PIXIE, these limits will improve by roughly 4 orders of
magnitude. This translates to a projected upper limit on the neutrino magnetic
moment (for certain neutrino masses and decay modes) of , where is the Bohr magneton. Such constraints would
make future precision CMB measurements competitive with lab-based constraints
on neutrino magnetic moments.Comment: 14 pages, 9 figures. v2: Added a number of references and
clarifications. Matches version published in PR
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
Wigner-Seitz cells in neutron star crust with finite range interactions
The structure of Wigner-Seitz cells in the inner crust of neutron stars is
investigated using a microcospic Hartree-Fock-BCS approach with finite range
D1S and M3Y-P4 interactions. Large effects on the densities are found compared
to previous predictions using Skyrme interactions. Pairing effects are found to
be small, and they are attenuated by the use of finite range interactions in
the mean field.Comment: 11 pages, 5 figure
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