Stabilization Control of the Differential Mobile Robot Using Lyapunov Function and Extended Kalman Filter

This paper presents the design of a control model to navigate the differential mobile robot to reach the desired destination from an arbitrary initial pose. The designed model is divided into two stages: the state estimation and the stabilization control. In the state estimation, an extended Kalman filter is employed to optimally combine the information from the system dynamics and measurements. Two Lyapunov functions are constructed that allow a hybrid feedback control law to execute the robot movements. The asymptotical stability and robustness of the closed loop system are assured. Simulations and experiments are carried out to validate the effectiveness and applicability of the proposed approach.Comment: arXiv admin note: text overlap with arXiv:1611.07112, arXiv:1611.0711

Ultrasoft NLL Running of the Nonrelativistic O(v) QCD Quark Potential

Using the nonrelativistic effective field theory vNRQCD, we determine the contribution to the next-to-leading logarithmic (NLL) running of the effective quark-antiquark potential at order v (1/mk) from diagrams with one potential and two ultrasoft loops, v being the velocity of the quarks in the c.m. frame. The results are numerically important and complete the description of ultrasoft next-to-next-to-leading logarithmic (NNLL) order effects in heavy quark pair production and annihilation close to threshold.Comment: 25 pages, 7 figures, 3 tables; minor modifications, typos corrected, references added, footnote adde

Double Bubble Corrections to Heavy Quark Production

Second order ${\cal O}(\alpha_s^2)$ corrections to the heavy quark production cross-section due to massless quarks and coloured scalars are calculated for all energies above threshold. Based on the method introduced in this letter also the gauge non-invariant second order corrections due to the pure gluonic selfenergy insertion and a certain class of ${\cal{O}}(\alpha_s^3)$ and ${\cal{O}}(\alpha_s^4)$ corrections are determined. For the special choice of the gauge parameter, $\xi=4$, the leading threshold and high energy behaviour of the pure second order gluonic corrections to the cross-section are governed by the gluonic self energy insertion.Comment: 9 pages, latex, 17 figures, the complete postscript file of this preprint, including figures, is available via anonymous ftp at ftp://www-ttp.physik.uni-karlsruhe.de/ttp96-04/ttp96-04.ps (129.13.102.139) or via www at http://www-ttp.physik.uni-karlsruhe.de/cgi-bin/preprints

Sealed containers in Z

Physical means of securing information, such as sealed envelopes and scratch cards, can be used to achieve cryptographic objectives. Reasoning about this has so far been informal. We give a model of distinguishable sealed envelopes in Z, exploring design decisions and further analysis and development of such models

Massive Quark Production in Electron Positron Annihilation to Order αs2\alpha_s^2

Recent analytical and numerical results for the three-loop polarization function allow to present a phenomenological analysis of the cross section for massive quark production in electron positron annihilation to order $\alpha_s^2$. Numerical predictions based on fixed order perturbation theory are presented for charm and bottom production above 5 and 11.5 GeV, respectively. The contribution from these energy regions to $\alpha(M_Z^2)$, the running QED coupling constant at scale M_Z, are given. The dominant terms close to threshold, i.e. in an expansion for small quark velocity $\beta$, are presented.Comment: 26 pages (Latex), 16 figures (Postscript