Synthesis of Distributed Longitudinal Control Protocols for a Platoon of Autonomous Vehicles

We develop a framework for control protocol synthesis for a platoon of autonomous vehicles subject to temporal logic specifications. We describe the desired behavior of the platoon in a set of linear temporal logic formulas, such as collision avoidance, close spacing or comfortability. The problem of decomposing a global specification for the platoon into distributed specification for each pair of adjacent vehicles is hard to solve. We use the invariant specifications to tackle this problem and the decomposition is proved to be scalable.. Based on the specifications in Assumption/Guarantee form, we can construct a two-player game (between the vehicle and its closest leader) locally to automatically synthesize a controller protocol for each vehicle. Simulation example for a distributed vehicles control problem is also shown

The unified Skyrmion profiles and Static Properties of Nucleons

An unified approximated solution for symmetric Skyrmions was proposed for the SU(2) Skyrme model for baryon numbers up to 8,which take the hybrid form of a kink-like solution and that given by the instanton method. The Skyrmion profiles are examined by computing lowest soliton energy as well as the static properties of nucleons within the framework of collective quantization, with a good agreement with the exact numeric results. The comparisons with the previous computations as well as the experimental data are also given.Comment: 6 pages, 3 figures, 3 tables, Created by LaTex Syste

Preparation of (Pb,Ba)TiO3 powders and highly oriented thin films by a sol-gel process

Solid solution Pb1-xBaxTiO3, with particular emphasis on Pb0.5Ba0.5TiO3, was prepared using a sol-gel process incorporating lead acetate trihydrate, barium acetate, and titanium isopropoxide as precursors, acetylacetone (2,4 pentanedione) as a chelating agent, and ethylene glycol as a solvent. The synthesis procedure was optimized by systematically varying acetylacetone: Ti and H2O:Ti molar ratios and calcination temperature. The resulting effects on sol and powder properties were studied using thermogravimetric analysis/differential scanning calorimetry, Fourier transform infrared spectroscopy, Brunauer-Emmett-Teller analysis, and x-ray diffraction (XRD). Crystallization of the perovskite structure occurred at a temperature as low as 450 °C. Thin films were prepared by spin coating on (100) MgO. Pyrolysis temperature and heating rate were varied, and the resultant film properties investigated using field-emission scanning electron microscopy, atomic force microscopy, and XRD. Under optimized conditions, highly oriented films were obtained at a crystallization temperature of 600 °C

Synthesis of Distributed Longitudinal Control Protocols for a Platoon of Autonomous Vehicles

We develop a framework for control protocol synthesis for a platoon of autonomous vehicles subject to temporal logic specifications. We describe the desired behavior of the platoon in a set of linear temporal logic formulas, such as collision avoidance, close spacing or comfortability. The problem of decomposing a global specification for the platoon into distributed specification for each pair of adjacent vehicles is hard to solve. We use the invariant specifications to tackle this problem and the decomposition is proved to be scalable.. Based on the specifications in Assumption/Guarantee form, we can construct a two-player game (between the vehicle and its closest leader) locally to automatically synthesize a controller protocol for each vehicle. Simulation example for a distributed vehicles control problem is also shown

Numerical approximations for the tempered fractional Laplacian: Error analysis and applications

In this paper, we propose an accurate finite difference method to discretize the $d$-dimensional (for $d\ge 1$) tempered integral fractional Laplacian and apply it to study the tempered effects on the solution of problems arising in various applications. Compared to other existing methods, our method has higher accuracy and simpler implementation. Our numerical method has an accuracy of $O(h^\epsilon)$, for $u \in C^{0, \alpha+\epsilon} (\bar{\Omega})$ if $\alpha < 1$ (or $u \in C^{1, \alpha-1+\epsilon} (\bar{\Omega})$ if $\alpha \ge 1$) with $\epsilon > 0$, suggesting the minimum consistency conditions. The accuracy can be improved to $O(h^2)$, for $u \in C^{2, \alpha+\epsilon} (\bar{\Omega})$ if $\alpha < 1$ (or $u \in C^{3, \alpha - 1 + \epsilon} (\bar{\Omega})$ if $\alpha \ge 1$). Numerical experiments confirm our analytical results and provide insights in solving the tempered fractional Poisson problem. It suggests that to achieve the second order of accuracy, our method only requires the solution $u \in C^{1,1}(\bar{\Omega})$ for any $0<\alpha<2$. Moreover, if the solution of tempered fractional Poisson problems satisfies $u \in C^{p, s}(\bar{\Omega})$ for $p = 0, 1$ and $0<s \le 1$, our method has the accuracy of $O(h^{p+s})$. Since our method yields a (multilevel) Toeplitz stiffness matrix, one can design fast algorithms via the fast Fourier transform for efficient simulations. Finally, we apply it together with fast algorithms to study the tempered effects on the solutions of various tempered fractional PDEs, including the Allen-Cahn equation and Gray-Scott equations.Comment: 21 pages, 11 figures, 3 table

Bulk Cr tips for scanning tunneling microscopy and spin-polarized scanning tunneling microscopy

A simple, reliable method for preparation of bulk Cr tips for Scanning Tunneling Microscopy (STM) is proposed and its potentialities in performing high-quality and high-resolution STM and Spin Polarized-STM (SP-STM) are investigated. Cr tips show atomic resolution on ordered surfaces. Contrary to what happens with conventional W tips, rest atoms of the Si(111)-7x7 reconstruction can be routinely observed, probably due to a different electronic structure of the tip apex. SP-STM measurements of the Cr(001) surface showing magnetic contrast are reported. Our results reveal that the peculiar properties of these tips can be suited in a number of STM experimental situations

Impact of mesoscale eddy transfer heat uptake in an eddy-parameterizing ocean model

Using a set of experiments with an eddy-parameterizing ocean model, it is found that the strength of the Atlantic meridional overturning circulation (AMOC) intensifies with the decrease of the density-dependent mesoscale eddy transfer. However, the intensification is weaker than that suggested by simple scaling relationships previously applied. Perturbing the model control sea surface temperature (SST) to mimic its change in response to doubling of CO2, it is shown that the associated ocean heat uptake (OHU) increases and penetrates deeper with the decrease of the mesoscale eddy transfer. It is shown that the OHU correlates with the AMOC strength, and both these quantities are affected by the mesoscale eddy transfer. Passive tracer experiments in the ocean model provide a possible explanation for the finding in coupled-model climate simulations that the ocean heat uptake efficiency (OHUE) increases with the AMOC strength and decreases with the eddy energy generated from the mean state. It is also found that the OHU in the SST-perturbation experiments scales with the net downward advection of heat. The contribution of the AMOC to the downward heat flux is illustrated using a streamfunction in depth-temperature space

Comprehensive gait analysis of healthy older people: unveiling reasons for lack of long-distance walking

Many older adults do not adhere to the recommended physical activity levels. This study examines the gait changes upon long-distance walking among healthy older adults. Gait tests of 24 adults aged 65 or more were conducted at the baseline, at the end of 30 and 60 minutes of treadmill walk. Spatial temporal, kinematic and kinetic gait data were computed. Perceived level of exertion was evaluated for each subject. Ten subjects (Group B) perceived higher exertion level than the remaining fourteen subjects (Group A). After walking, group B had significant reductions in dominant-side ankle joint range of motion and power, suggesting lower-leg muscle fatigue, which appeared to be compensated by significantly increased non-dominant side knee and hip motions. These changes were not observed in Group A. Differences in gait parameters between Group A and B implied that some biomechanical factors might contribute to the lack of walking of some older adults