Induced Norm-Based Analysis for Computed Torque Control of Robot Systems

This paper is concerned with providing a new quantitative analysis method of computed torque control of robot systems by using three types of induced norm. This paper first considers design of a computed torque controller to achieve a trajectory tracking performance of a robot manipulator. Taking into account of the effects of unknown elements on the tracking performance, this paper next divides the unknown elements into model uncertainty and disturbance, and introduces various closed-loop representations of robot systems consisting of robot manipulators together with computed torque controllers and unknown elements. This paper further derives a readily applicable robust stability condition for the model uncertainty by using two types of induced norm from L-2 to L-2 and from L-infinity to L-infinity. Regarding a performance analysis for the disturbance, this paper also proposes to take the induced norm from L-2 to L-infinity, by which the relation between the maximum tracking errors caused by the disturbance and the corresponding parameters of the computed torque controllers are dealt with. Finally, this paper gives some experiments to validate the effectiveness of the performance analysis methods based on the L-infinity/L-2-induced norm.11Ysciescopu

Envelope-kinetic analysis of the electron kinetic effects on Raman backscatter and Raman backward laser amplification

The electron kinetic effects on Raman backscattering and Raman backward laser amplification were analyzed. The analysis is based on the envelope-kinetic equations of a plasma wave, which are composed of the conventional envelope equation of a fluid plasma and the kinetic term. One major goal of this paper is to close the envelope-kinetic model by analyzing the kinetic term, which was not fully covered in the previous work [M. S. Hur et al., Phys. Rev. Lett. 95, 115003 (2005)]. It was found that the closed envelope-kinetic equation in the nontrapping regime takes the same form as the envelope equation of the fluid plasma used in the three-wave model. For the closure in the trapping-dominant regime, the test particle technique is employed to calculate the kinetic term. Results from the full kinetic and test particle simulations agree well with each other, while the latter has a great advantage in computation speed. The frequency shift and resonance breaking by the trapped particles are discussed with the help of a new diagnostic inserted in the full kinetic averaged particle-in-cell code.open5

Study of electron trapping by a transversely ellipsoidal bubble in the laser wake-field acceleration

We present electron trapping in an ellipsoidal bubble which is not well explained by the spherical bubble model by [Kostyukov, Phys. Rev. Lett. 103, 175003 (2009)]. The formation of an ellipsoidal bubble, which is elongated transversely, frequently occurs when the spot size of the laser pulse is large compared to the plasma wavelength. First, we introduce the relation between the bubble size and the field slope inside the bubble in longitudinal and transverse directions. Then, we provide an ellipsoidal model of the bubble potential and investigate the electron trapping condition by numerical integration of the equations of motion. We found that the ellipsoidal model gives a significantly less restrictive trapping condition than that of the spherical bubble model. The trapping condition is compared with three-dimensional particle-in-cell simulations and the electron trajectory in test potential simulations.open1

The efficacy of preoperative PET/CT for prediction of curability in surgery for locally advanced gastric carcinoma

<p>Abstract</p> <p>Background</p> <p>The benefits of preoperative ¹⁸FDG-PET/CT for gastric cancer remain uncertain. The aim of this study was to investigate the effects of preoperative ¹⁸FDG-PET/CT on the surgical strategy for locally advanced gastric cancer retrospectively.</p> <p>Methods</p> <p>From January 2007 to November 2008, ¹⁸FDG-PET/CT was performed in 142 patients who had been diagnosed with advanced gastric cancer by computed tomography or gastrofiberscope findings.</p> <p>Results</p> <p>Detection rates were 88.7% (126/142) for primary tumors and 24.6% (35/142) for local lymph nodes (LN). Nine patients with metastatic lesions underwent induction chemotherapy without operation. Of 133 patients subjected to operation, positive FDG uptake in primary tumors (<it>p </it>= 0.047) and local lymph nodes (<it>p </it>< 0.001) was related to non-curable operations. The mean standard uptake value (SUV) of primary tumors of patients who underwent non-curable operations was significantly higher than that of patients with curable operations (<it>p </it>= 0.001). When the SUV was greater than 5 and FDG uptake of LN was positive, non-curable operations were predicted with a sensitivity of 35.2%, a specificity of 91.0% and an accuracy of 76.7%.</p> <p>Conclusions</p> <p>High SUV of the primary tumor and positive FDG uptake in local lymph nodes at PET/CT could predict non-curative resection in locally advanced gastric cancer. Therefore, information from preoperative PET/CT can help physician decisions regarding other modalities without laparotomy.</p

Measuring the magnetic field of a magnetized plasma using Raman scattering

We studied the Raman scattering in a magnetized plasma by one-dimensional particle-in-cell (PIC) simulations in non-relativistic regime. It is found from the X-mode dispersion relation that the frequency of the backward scattered wave is downshifted by an amount of upper hybrid frequency, while that of the forward scattered wave merely depends on the magnetic field. We propose such a spectral difference be used to measure simultaneously the plasma density and magnetic field of magnetized plasmas. The idea was verified by a series of PIC simulations, where we used the directional field splitting method to obtain accurate peak position of the scattered waves&apos; frequencies. We compared the frequency shift and the growth rate of the scattering from theory and simulations to obtain reasonably good agreement between them for different external magnetic fields.open0

Hepatocellular carcinoma diagnosed in a patient who had Fontan operation 30 years ago: a case report

The Fontan operation is performed in patients with a single ventricle. As the systemic venous return is directly connected to the pulmonary circulation during this procedure, chronic hepatic congestion is induced, leading to Fontan-associated liver disease (FALD) including liver cirrhosis and hepatocellular carcinoma (HCC). In this report, we present a case of HCC diagnosed in a patient who underwent the Fontan operation 30 years ago. The patient underwent regular surveillance for FALD, which revealed a 4 cm-sized hepatic mass with elevated serum alpha-fetoprotein. After surgical treatment, there was no evidence of HCC recurrence during 3 years of follow-up. As the risk of HCC and Fontan-associated liver cirrhosis increases with the duration elapsed since the operation, regular surveillance should be emphasized. Serial follow-up of serum alpha-fetoprotein levels and abdominal imaging are necessary to achieve early and accurate diagnosis of HCC in post-Fontan patients

Chiral orbital-angular-momentum in the surface states of Bi2Se3

Locking of the spin of a quasi-particle to its momentum in split bands of on the surfaces of metals and topological insulators (TIs) is understood in terms of Rashba effect where a free electron in the surface states feels an effective magnetic field. On the other hand, the orbital part of the angular momentum (OAM) is usually neglected. We performed angle resolved photoemission experiments with circularly polarized lights and first principles density functional calculation with spin-orbit coupling on a TI, Bi2Se3, to study the local OAM of the surface states. We show from the results that OAM in the surface states of Bi2Se3 is significant and locked to the electron momentum in opposite direction to the spin, forming chiral OAM states. Our finding opens a new possibility to have strong light-induced spin-polarized current in the surface states.Comment: 5 pages, 4 figures, 1 tabl