Multi-Step Look-Ahead Trajectory Planning in SLAM: Possibility and Necessity

In this paper, the possibility and necessity of multistep trajectory planning in Extended Kalman Filter (EKF) based SLAM is investigated. The objective of the trajectory planning here is to minimize the estimation error of the robot and landmark locations subject to a given time horizon. We show that the problem can be regarded as an optimization problem for a gradually identified model. A numerical method is proposed for trajectory planning using a variant of the nonlinear Model Predictive Control (MPC). The proposed method is optimal in the sense that the control action is computed using all the information available at the time of decision making. Simulation results are included to compare the results from the one-step look-ahead trajectory planning and the proposed multi-step lookahead techniqu

Two-dimensional amine and hydroxy functionalized fused aromatic covalent organic framework

Ordered two-dimensional covalent organic frameworks (COFs) have generally been synthesized using reversible reactions. It has been difficult to synthesize a similar degree of ordered COFs using irreversible reactions. Developing COFs with a fused aromatic ring system via an irreversible reaction is highly desirable but has remained a significant challenge. Here we demonstrate a COF that can be synthesized from organic building blocks via irreversible condensation (aromatization). The as-synthesized robust fused aromatic COF (F-COF) exhibits high crystallinity. Its lattice structure is characterized by scanning tunneling microscopy and X-ray diffraction pattern. Because of its fused aromatic ring system, the F-COF structure possesses high physiochemical stability, due to the absence of hydrolysable weak covalent bonds

Coupled Quintessence and Phantom Based On a Dilaton

Based on dilatonic dark energy model, we consider two cases: dilaton field with positive kinetic energy(coupled quintessence) and with negative kinetic energy(phantom). In the two cases, we investigate the existence of attractor solutions which correspond to an equation of state parameter $\omega=-1$ and a cosmic density parameter $\Omega_\sigma=1$. We find that the coupled term between matter and dilaton can't affect the existence of attractor solutions. In the Mexican hat potential, the attractor behaviors, the evolution of state parameter $\omega$ and cosmic density parameter $\Omega$, are shown mathematically. Finally, we show the effect of coupling term on the evolution of $X(\frac{\sigma}{\sigma_0})$ and $Y(\frac{\dot{\sigma}}{\sigma^2_0})$ with respect to $N(lna)$ numerically.Comment: 9 pages, 11 figures, some references and Journal-ref adde

Uniaxial-Pressure induced Ferromagnetism of Enhanced Paramagnetic Sr3Ru2O7

We report a uniaxial pressure-dependence of magnetism in layered perovskite strontium ruthenate Sr3Ru2O7. By applying a relatively small uniaxial pressure, greater than 0.1 GPa normal to the RuO2 layer, ferromagnetic ordering manifests below 80 K from the enhanced-paramagnet. Magnetization at 1 kOe and 2 K becomes 100 times larger than that under ambient condition. Uniaxial pressure dependence of Curie temperature T_C suggests the first order magnetic transition. Origin of this uniaxial-pressure induced ferromagnetism is discussed in terms of the rotation of RuO6 octahedra within the RuO2 plane.Comment: 8 pages, 3 figures. to be published in Journal of the Physical Society of Japan, vol.73, No.5 (2004

Search for D to phi l nu and measurement of the branching fraction for D to phi pi

Using a data sample of integrated luminosity of about 33 pb$^{-1}$ collected around 3.773 GeV with the BESII detector at the BEPC collider, the semileptonic decays $D^+ \to \phi e ^+\nu_e$, $D^+ \to \phi \mu^+\nu_\mu$ and the hadronic decay $D^+ \to \phi \pi^+$ are studied. The upper limits of the branching fractions are set to be $BF(D^+ \to \phi e ^+\nu_e) <$ 2.01% and $BF(D^+ \to \phi \mu^+ \nu_\mu) <$ 2.04% at the 90% confidence level. The ratio of the branching fractions for $D^+ \to \phi \pi^+$ relative to $D^+ \to K^-\pi^+\pi^+$ is measured to be $0.057 \pm 0.011 \pm 0.003$. In addition, the branching fraction for $D^+ \to \phi \pi^+$ is obtained to be $(5.2 \pm 1.0 \pm 0.4) \times 10^{-3}$.Comment: 6 pages, 5 figures, to be published in Eur.Phys.J.

Measurements of branching fractions for inclusive K0~/K0 and K*(892)+- decays of neutral and charged D mesons

Using the data sample of about 33 pb-1 collected at and around 3.773 GeV with the BES-II detector at the BEPC collider, we have studied inclusive K0~/K0 and K*(892)+- decays of D0 and D+ mesons. The branching fractions for the inclusive K0~/K0 and K*(892)- decays are measured to be BF(D0 to K0~/K0 X)=(47.6+-4.8+-3.0)%, BF(D+ to K0~/K0 X)=(60.5+-5.5+-3.3)%, BF(D0 to K*- X)=(15.3+- 8.3+- 1.9)% and BF(D+ to K*- X)=(5.7+- 5.2+- 0.7)%. The upper limits of the branching fractions for the inclusive K*(892)+ decays are set to be BF(D0 to K*+ X)<3.6% and BF(D+ to K*+ X) <20.3% at 90% confidence level

Ratio of shear viscosity to entropy density in multifragmentation of Au + Au

The ratio of the shear viscosity ($\eta$) to entropy density ($s$) for the intermediate energy heavy-ion collisions has been calculated by using the Green-Kubo method in the framework of the quantum molecular dynamics model. The theoretical curve of $\eta/s$ as a function of the incident energy for the head-on Au+Au collisions displays that a minimum region of $\eta/s$ has been approached at higher incident energies, where the minimum $\eta/s$ value is about 7 times Kovtun-Son- Starinets (KSS) bound (1/4$\pi$). We argue that the onset of minimum $\eta/s$ region at higher incident energies corresponds to the nuclear liquid gas phase transition in nuclear multifragmentation.Comment: 6 pages, 8 figure

The flavor-changing bottom-strange quark production in the littlest Higgs model with T parity at the ILC

In the littlest Higgs model with T-parity (LHT) the mirror quarks induce the special flavor structures and some new flavor-changing (FC) couplings which could greatly enhance the production rates of the FC processes. We in this paper study some bottom and anti-strange production processes in the LHT model at the International Linear Collider (ILC), i.e., $e^+e^-\rightarrow b\bar{s}$ and $\gamma\gamma\rightarrow b\bar{s}$. The results show that the production rates of these processes are sizeable for the favorable values of the parameters. Therefore, it is quite possible to test the LHT model or make some constrains on the relevant parameters of the LHT through the detection of these processes at the ILC.Comment: 12 pages, 8 figure

Direct Measurements of the Branching Fractions for Inclusive K±K^\pm and Inclusive Semileptonic Decays of D+D^+ and D0D^0 Mesons

With singly-tagged $\bar D$ samples selected from the data collected at and around 3.773 GeV with the BESII detector at the BEPC collider, we have measured the branching fractions for the inclusive $K^\pm$ decays of $D^+$ and $D^0$ mesons, which are $BF(D^+\to K^-X) = (24.7 \pm 1.3 \pm 1.2)$, $BF(D^+\to K^+X) = (6.1 \pm 0.9 \pm 0.4)$, $BF(D^0\to K^-X) = (57.8 \pm 1.6 \pm 3.2)$ and $BF(D^0\to K^+X) = (3.5 \pm 0.7 \pm 0.3)$, respectively. We have also measured the branching fractions for the inclusive semileptonic decays of $D^+$ and $D^0$ mesons to be $BF(D^+ \to e^+ X)=(15.2 \pm 0.9 \pm 0.8)$ and $BF(D^0 \to e^+ X) =(6.3 \pm 0.7 \pm 0.4)$. These yield the ratio of their partial widths to be $\Gamma(D^+ \to e^+X)/\Gamma(D^0 \to e^+X)=0.95 \pm 0.12 \pm 0.07$.Comment: 6 pages, 5 figure