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

Iron and Nickel Line Diagnostics for the Galactic Center Diffuse Emission

We have observed the diffuse X-ray emission from the Galactic center (GC) using the X-ray Imaging Spectrometer (XIS) on Suzaku. The high-energy resolution and the low-background orbit provide excellent spectra of the GC diffuse X-rays (GCDX). The XIS found many emission lines in the GCDX near the energy of K-shell transitions of iron and nickel. The most pronounced features are FeI K alpha at 6.4 keV and K-shell absorption edge at 7.1 keV, which are from neutral and/or low ionization states of iron, and the K-shell lines at 6.7 keV and 6.9 keV from He-like (FeXXV K alpha) and hydrogenic (FeXXVI Ly alpha) ions of iron. In addition, K alpha lines from neutral or low ionization nickel (NiI K alpha) and He-like nickel (NiXXVII K alpha), and FeI K beta, FeXXV K beta, FeXXVI Ly beta, FeXXV K gamma and FeXXVI Ly gamma are detected for the first time. The line center energies and widths of FeXXV K alpha and FeXXVI Ly alpha favor a collisional excitation (CE) plasma for the origin of the GCDX. The electron temperature determined from the line flux ratio of FeXXV K alpha / FeXXV K beta is similar to the ionization temperature determined from that of FeXXV K alpha /FeXXVI Ly alpha. Thus it would appear that the GCDX plasma is close to ionization equilibrium. The 6.7 keV flux and temperature distribution to the galactic longitude is smooth and monotonic,in contrast to the integrated point source flux distribution. These facts support the hypothesis that the GCDX is truly diffuse emission rather than the integration of the outputs of a large number of unresolved point sources. In addition, our results demonstrate that the chemical composition of Fe in the interstellar gas near the GC is constrained to be about 3.5 times solar.Comment: 11 pages, 19 figures. Accepted for publication in PASJ Suzaku Special Issue (vol. 59 sp. 1

T2 relaxation times of the retrodiscal tissue in patients with temporomandibular joint disorders and in healthy volunteers: A comparative study

Objective. The aims of this study were to compare the temporomandibular joint (TMJ) retrodiscal tissue T2 relaxation times between patients with temporomandibular disorders (TMDs) and asymptomatic volunteers and to assess the diagnostic potential of this approach. Study Design. Patients with TMD (n = 173) and asymptomatic volunteers (n = 17) were examined by using a 1.5-T magnetic resonance scanner. The imaging protocol consisted of oblique sagittal, T2-weighted, 8-echo fast spin echo sequences in the closed mouth position. Retrodiscal tissue T2 relaxation times were obtained. Additionally, disc location and reduction, disc configuration, joint effusion, osteoarthritis, and bone edema or osteonecrosis were classified using MRI scans. The T2 relaxation times of each group were statistically compared. Results. Retrodiscal tissue T2 relaxation times were significantly longer in patient groups than in asymptomatic volunteers (P < .01). T2 relaxation times were significantly longer in all of the morphologic categories. The most important variables affecting retrodiscal tissue T2 relaxation times were disc configuration, joint effusion, and osteoarthritis. Conclusion. Retrodiscal tissue T2 relaxation times of patients with TMD were significantly longer than those of healthy volunteers. This finding may lead to the development of a diagnostic marker to aid in the early detection of TMDs

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

Empowering Women in Integrated Crop-Livestock Farming through Innovation Platforms: Experience in Semi-arid Zimbabwe

Empowering Women in Integrated Crop-Livestock Farming through Innovation Platforms has drawn upon the experience gained during the ZimCLIFS project in semi-arid Zimbabwe, funded by the Australian Centre for International Agricultural Research, to introduce legume fodder crops like Mucuna as a better livestock feed, to improve market linkages for farmers to benefit from higher livestock productivity and to enhance knowledge and skills among support services enabling upscaling of the impacts of the integrated crop-livestock systems. In particular, it looks at how agricultural innovation platforms of commodities important for women farmers (goat, groundnut) can empower women in this rural context. In rural Zimbabwe, women farmers face multiple challenges such as degraded soil, lack of labor, inaccessible/far-off markets to sell their produce/livestock, inadequate supplies of resources (seeds/fertilizers), as also climate change-related issues such as frequent droughts and dry spells. Innovation platforms that support integrated crop-and-livestock systems and particularly increase women farmers’ ability to grow and monetize high-value crops and livestock can significantly mitigate the challenges faced by them and improve their livelihoods. By encouraging women to participate in processes of market development, capacity building and infrastructure improvement, a gender-sensitive framework can be implemented and maintained sustainably..