A study on the implementation of nonlinear Kalman filter applying MMG model

Many technologies need to be established to realize autonomous ships. In particular, accurate state estimation in real time is one of the most important technologies. In the ship and ocean engineering fields, there have been many studies on state estimation using nonlinear Kalman filters. Several methods have been proposed for nonlinear Kalman filters. However, there is insufficient verification on the selection of which filter should be applied among them. Therefore, this study aims to validate the filter selection to provide a guideline for filter selection. The effects of modeling error, observation noise, and type of maneuvers on the estimation accuracy of the unscented Kalman filter (UKF) and ensemble Kalman filter (EnKF) used in this study were investigated. In addition, it was verified whether filtering could be performed in real time. The results show that modeling error significantly impacts the estimation accuracy of the UKF and EnKF. However, the observation noise and types of maneuvers did not have an impact like the modeling error. Thus, we obtained the guideline that UKF and EnKF should be used differently depending on the required computation time. We also obtained that keeping the modeling error sufficiently small is essential to improving the estimation accuracy.The version of record of this article, first published in Journal of Marine Science and Technology (Japan), is available online at Publisher’s website: https://doi.org/10.1007/s00773-023-00953-

Practical method for evaluating wind influence on autonomous ship operations (2nd report)

The version of record of this article, first published in Journal of Marine Science and Technology, is available online at Publisher’s website: https://doi.org/10.1007/s00773-024-01025-z.Recently, a considerable number of research and development projects have focused on automatic vessels. A highly realistic simulator is needed to validate control algorithms for autonomous vessels. For instance, when considering the automatic berthing/unberthing of a vessel, the effect of wind in such low-speed operations cannot be ignored because of the low rudder performance during slow harbor maneuvers. Therefore, a simulator used to validate an automatic berthing/unberthing control algorithm should be able to reproduce the time histories of wind speed and wind direction realistically. Therefore, in our first report on this topic, to obtain the wind speed distribution, we proposed a simple algorithm to generate the time series and distribution of wind speed only from the mean wind speed. However, for wind direction, the spectral distribution could not be determined based on our literature surveys, and hence, a simple method for estimating the coefficients of the stochastic differential equation (SDE) could not be proposed. In this study, we propose a new methodology for generating the time history of wind direction based on the results of Kuwajima et al.’s work. They proposed a regression equation of the standard deviation of wind direction variation for the mean wind speed. In this study, we assumed that the wind direction distribution can be represented by a linear filter as in our previous paper, and its coefficients are derived from Kuwajima’s proposed equation. Then, as in the previous report, the time series of wind speed and wind direction can be calculated easily by analytically solving the one-dimensional SDE. The joint probability density functions of wind speed and wind direction obtained by computing them independently agree well with the measurement results

Impact of Fermion Mass Degeneracy on Flavor Mixing

We carry out a systematic analysis of flavor mixing and CP violation in the conceptually interesting limit where two quarks or leptons of the same charge are degenerate in mass. We pay some particular attention to the impact of neutrino mass degeneracy and Majorana phase degeneracy on the lepton flavor mixing matrix.Comment: 14 page

Absorption of Scintillation Light in a 100 ℓ\ell Liquid Xenonγ\gamma Ray Detector and Expected Detector Performance

An 800L liquid xenon scintillation $\gamma$ ray detector is being developed for the MEG experiment which will search for $\mu^+\to\mathrm{e}^+\gamma$ decay at the Paul Scherrer Institut. Absorption of scintillation light of xenon by impurities might possibly limit the performance of such a detector. We used a 100L prototype with an active volume of 372x372x496 mm$^3$ to study the scintillation light absorption. We have developed a method to evaluate the light absorption, separately from elastic scattering of light, by measuring cosmic rays and $\alpha$ sources. By using a suitable purification technique, an absorption length longer than 100 cm has been achieved. The effects of the light absorption on the energy resolution are estimated by Monte Carlo simulation.Comment: 18 pages, 10 figures (eps). Submitted to Nucl. Instr. and Meth.

New constraint on the existence of the mu+-> e+ gamma decay

The analysis of a combined data set, totaling 3.6 \times 10^14 stopped muons on target, in the search for the lepton flavour violating decay mu^+ -> e^+ gamma is presented. The data collected by the MEG experiment at the Paul Scherrer Institut show no excess of events compared to background expectations and yield a new upper limit on the branching ratio of this decay of 5.7 \times 10^-13 (90% confidence level). This represents a four times more stringent limit than the previous world best limit set by MEG.Comment: 5 pages, 3 figures, a version accepted in Phys. Rev. Let

The MEG detector for μ+→e+γ{\mu}+\to e+{\gamma} decay search

The MEG (Mu to Electron Gamma) experiment has been running at the Paul Scherrer Institut (PSI), Switzerland since 2008 to search for the decay \meg\ by using one of the most intense continuous $\mu^+$ beams in the world. This paper presents the MEG components: the positron spectrometer, including a thin target, a superconducting magnet, a set of drift chambers for measuring the muon decay vertex and the positron momentum, a timing counter for measuring the positron time, and a liquid xenon detector for measuring the photon energy, position and time. The trigger system, the read-out electronics and the data acquisition system are also presented in detail. The paper is completed with a description of the equipment and techniques developed for the calibration in time and energy and the simulation of the whole apparatus.Comment: 59 pages, 90 figure

The ASTRO-H X-ray Observatory

The joint JAXA/NASA ASTRO-H mission is the sixth in a series of highly successful X-ray missions initiated by the Institute of Space and Astronautical Science (ISAS). ASTRO-H will investigate the physics of the high-energy universe via a suite of four instruments, covering a very wide energy range, from 0.3 keV to 600 keV. These instruments include a high-resolution, high-throughput spectrometer sensitive over 0.3-2 keV with high spectral resolution of Delta E < 7 eV, enabled by a micro-calorimeter array located in the focal plane of thin-foil X-ray optics; hard X-ray imaging spectrometers covering 5-80 keV, located in the focal plane of multilayer-coated, focusing hard X-ray mirrors; a wide-field imaging spectrometer sensitive over 0.4-12 keV, with an X-ray CCD camera in the focal plane of a soft X-ray telescope; and a non-focusing Compton-camera type soft gamma-ray detector, sensitive in the 40-600 keV band. The simultaneous broad bandpass, coupled with high spectral resolution, will enable the pursuit of a wide variety of important science themes.Comment: 22 pages, 17 figures, Proceedings of the SPIE Astronomical Instrumentation "Space Telescopes and Instrumentation 2012: Ultraviolet to Gamma Ray

miRNAs in Newt Lens Regeneration: Specific Control of Proliferation and Evidence for miRNA Networking

Background: Lens regeneration in adult newts occurs via transdifferentiation of the pigment epithelial cells (PECs) of the dorsal iris. The same source of cells from the ventral iris is not able to undergo this process. In an attempt to understand this restriction we have studied in the past expression patterns of miRNAs. Among several miRNAs we have found that mir-148 shows an up-regulation in the ventral iris, while members of the let-7 family showed down-regulation in dorsal iris during dedifferentiation. Methodology/Principal Findings: We have performed gain- and loss-of–function experiments of mir-148 and let-7b in an attempt to delineate their function. We find that up-regulation of mir-148 caused significant decrease in the proliferation rates of ventral PECs only, while up-regulation of let-7b affected proliferation of both dorsal and ventral PECs. Neither miRNA was able to affect lens morphogenesis or induction. To further understand how this effect of miRNA up-regulation is mediated we examined global expression of miRNAs after up-regulation of mir148 and let-7b. Interestingly, we identified a novel level of mirRNA regulation, which might indicate that miRNAs are regulated as a network. Conclusion/Significance: The major conclusion is that different miRNAs can control proliferation in the dorsal or ventral iris possibly by a different mechanism. Of interest is that down-regulation of the let-7 family members has also been documented in other systems undergoing reprogramming, such as in stem cells or oocytes. This might indicate tha