Autonomous Robust Skill Generation Using Reinforcement Learning with Plant Variation

This paper discusses an autonomous space robot for a truss structure assembly using some reinforcement learning. It is difficult for a space robot to complete contact tasks within a real environment, for example, a peg-in-hole task, because of error between the real environment and the controller model. In order to solve problems, we propose an autonomous space robot able to obtain proficient and robust skills by overcoming error to complete a task. The proposed approach develops skills by reinforcement learning that considers plant variation, that is, modeling error. Numerical simulations and experiments show the proposed method is useful in real environments

Galactic X-ray Survey

We review highlights of the results obtained from recent Galactic X-ray survey observations, in particular ASCA Galactic center and plane survey and our Chandra deep survey on the (l,b)=(28.5,0) region. Strong hard X-ray diffuse components are observed from Galactic ridge, center and bulge, and they have both thermal and non-thermal spectral components. Dozens of discrete and extended sources have been discovered on the Galactic plane, which also indicate thermal and/or non-thermal X-ray energy spectra. They are often associated with radio sources and are considered to be SNR candidates. Most of the hard X-ray point sources in the outer part of the Galactic plane are considered to be background AGNs, while fraction of the Galactic hard X-ray sources (such as quiescent dwarf novae) increases toward the Galactic center. Most of the soft X-ray sources on the Galactic plane are presumably nearby active stars.Comment: Presented at "X-ray surveys in the light of new observations", 4-6 September, Santander, Spain. 4 pages with 4 figure

High Expression of Pitx-2 in the ICAT-deficient Metanephros Leads to Developmental Arrest

ICAT (Inhibitor of β-catenin and T cell factor) inhibits the interaction between β-catenin and TCF/LEF transcription factor and serves as a negative regulator of Wnt signaling. In a subset of ICAT knockout mice, significant delay in the ureteric bud branching and renal agenesis are observed. In order to examine the process of this developmental defect, molecular changes were analyzed in fetal ICAT–/– kidneys with a focus on Wnt-signaling associated factors. The protein level of active β-catenin was elevated in ICAT–/– kidneys. DNA microarray and immunohistochemical analyses revealed that the expression of a Wnt target gene Pitx-2 was enhanced in ICAT–/– kidneys. There was no genotypic difference in the expression level of another Wnt target gene, c-Ret. These results suggest that the enhancement of Pitx-2 expression induced by activated Wnt signaling leads to delays in ureteric bud branching and subsequent renal agenesis. In the ICAT–/– kidneys which developed to E18.5 without any apparent defect, renal glomeruli, convoluted tubules and collecting ducts were decreased in density and showed abnormal structure. ICAT may be required for various developmental stages during renal development

Unusual diffuse X-ray source in the Galactic center region

We report the ASCA and Chandra discovery of a diffuse X-ray source in the Galactic center region. The X-ray spectrum is fitted with a non-equilibrium ionization (NEI) plasma model of about 6-keV temperature. The model requires higher than solar metal abundances, a young plasma age of $\simeq$ 100 years and a large N_H value of about 10^{23} cm^{-2}. The N_H value constrains the source position to be in the Galactic center region at about 8.5 kpc distance. The high resolution X-ray image with the Chandra ACIS shows a ring of 10'' radius which corresponds to 0.4 pc at the Galactic center, and a tail-like structure. Although the morphology is peculiar, the other X-ray features are likely to be a very young supernova remnant, possibly in a free expansion phase.Comment: 11 pages, 4 figures, to be published in Ap

Solving the degeneracy of the lepton-flavor mixing angle theta_atm by the T2KK two detector neutrino oscillation experiment

If the atmospheric neutrino oscillation amplitude, sin^2 2theta_atm is not maximal, there is a two fold ambiguity in the neutrino parameter space: sin^2 theta_atm>0.5 or sin^2 theta_atm<0.5. In this article, we study the impact of this degeneracy, the so-called octant degeneracy, on the T2KK experiment, which is a proposed extension of the T2K (Tokai-to-Kaimoka) neutrino oscillation experiment with an additional water cherenkov detector placed in Korea. We find that the degeneracy between sin^2 theta_atm= 0.40 and 0.60 can be resolved at the 3sigma level for sin^2 2theta_rct>0.12 (0.08) for the optimal combination of a 3.0^circ off-axis beam (OAB) at SK (L=295km) and a 0.5^circ OAB at L=1000km with a far detector of 100kton volume, after 5 years of exposure with 1.0(5.0) time 10^21 POT/year, if the hierarchy is normal. We also study the influence of the octant degeneracy on the capability of T2KK experiment to determine the mass hierarchy and the leptonic CP phase. The capability of rejecting the wrong mass hierarchy grows with increasing sin^2 theta_atm when the hierarchy is normal, whereas it is rather insensitive to sin^2 theta_atm for the inverted hierarchy. We also find that the 1sigma allowed region of the CP phase is not affected significantly even when the octant degeneracy is not resolved. All our results are obtained for the 22.5 kton Super-Kamiokande as a near detector and without an anti-neutrino beam.Comment: 23 pages, 9 figure

SEARCH FOR NEW SNR CANDIDATES IN THE GALACTIC CEN- TER REGION WITH CHANDRA

Abstract We report the diffuse X-ray features which are possible SNR candidates near the Galactic Center (GC) observed with Chandra. G0.570−0.018 has a extremely small (20 diameter) shelllike morphology. The X-ray spectrum exhibits a strong Fe-K line emission and is well fitted by NEI model with a temperature of about 6 keV. These features suggest that G0.570−0.018 is a quite young (t ∼ 100 year) SNR. Diffuse hard X-ray were also detected from G359.92−0.09. The X-ray spectrum exhibits strong Fe-K line emission. The X-ray excess coincides with the shell-type feature observed with radio continuum (e.g

Asymptotic Regge Trajectories of Non-strange Mesons

We analyze the asymptotic behavior of Regge trajectories of non-strange mesons. In contrast to an existing belief, it is demonstrated that for the asymptotically linear Regge trajectories the width of heavy hadrons cannot linearly depend on their mass. Using the data on masses and widths of rho_J, omega_J, a_J and f_J mesons for the spin values J \leq 6, we extract the parameters of the asymptotically linear Regge trajectory predicted by the finite width model of quark gluon bags. As it is shown the obtained parameters for the data set B correspond to the cross-over temperature lying in the interval 170.9-175.3 MeV which is consistent with the kinetic freeze-out temperature of early hadronizing particles found in relativistic heavy ion collisions at and above the highest SPS energy.Comment: 14 pages, 3 figure