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

Third-order Coulomb corrections to the S-wave Green function, energy levels and wave functions at the origin

We obtain analytic expressions for the third-order corrections due to the strong interaction Coulomb potential to the S-wave Green function, energy levels and wave functions at the origin for arbitrary principal quantum number n. Together with the known non-Coulomb correction this results in the complete spectrum of S-states up to order alpha_s^5. The numerical impact of these corrections on the Upsilon spectrum and the top quark pair production cross section near threshold is estimated.Comment: 24 pages, LaTeX, v2: eq.(30) corrected (-13/8->-15/8

Virtual and Soft Pair Corrections to Polarized Muon Decay Spectrum

Radiative corrections to the muon decay spectrum due to soft and virtual electron--positron pairs are calculated.Comment: 10pp, 2 PS figs, details of calculations are adde

Antitumor activity of an anti-CD98 antibody.

CD98 is expressed on several tissue types and specifically upregulated on fast-cycling cells undergoing clonal expansion. Various solid (e.g., nonsmall cell lung carcinoma) as well as hematological malignancies (e.g., acute myeloid leukemia) overexpress CD98. We have identified a CD98-specific mouse monoclonal antibody that exhibits potent preclinical antitumor activity against established lymphoma tumor xenografts. Additionally, the humanized antibody designated IGN523 demonstrated robust tumor growth inhibition in leukemic cell-line derived xenograft models and was as efficacious as standard of care carboplatin in patient-derived nonsmall lung cancer xenografts. In vitro studies revealed that IGN523 elicited strong ADCC activity, induced lysosomal membrane permeabilization and inhibited essential amino acid transport function, ultimately resulting in caspase-3 and -7-mediated apoptosis of tumor cells. IGN523 is currently being evaluated in a Phase I clinical trial for acute myeloid leukemia (NCT02040506). Furthermore, preclinical data support the therapeutic potential of IGN523 in solid tumors

Projection-based Controllers with Inherent Dissipativity Properties

Projection-based Controllers (PBCs) are currently gaining traction in both scientific and engineering communities. In PBCs, the input-output signals of the controller are kept in sector-bounded sets by means of projection. In this paper, we will show how this projection operation can be used to induce useful passivity or general dissipativity properties on broad classes of (unprojected) nonlinear controllers that otherwise would not have these properties. The induced dissipativity properties of PBC will be exploited to guarantee asymptotic stability of negative feedback interconnections of passive nonlinear plants and suitably designed PBC, under mild conditions. Proper generalizations to so-called $(q,s,r)$-dissipativity will be presented as well. For illustrating the effectiveness of PBC control design via these passivity-based techniques, two numerical examples are provided.Comment: to be presented at IEEE CDC 2023 (Singapore

Vitrification of a monatomic 2D simple liquid

A monatomic simple liquid in two dimensions, where atoms interact isotropically through the Lennard-Jones-Gauss potential [M. Engel and H.-R. Trebin, Phys. Rev. Lett. 98, 225505 (2007)], is vitrified by the use of a rapid cooling technique in a molecular dynamics simulation. Transformation to a crystalline state is investigated at various temperatures and the time-temperature-transformation (TTT) curve is determined. It is found that the transformation time to a crystalline state is the shortest at a temerature 14% below the melting temperature Tm and that at temperatures below Tv = 0.6 Tm the transformation time is much longer than the available CPU time. This indicates that a long-lived glassy state is realized for T < Tv.Comment: 5pages,5figures,accepted for publication in CEJ

Precision constraints on radiative neutrino decay with CMB spectral distortion

We investigate the radiative decay of the cosmic neutrino background, and its impact on the spectrum of the cosmic microwave background (CMB) that is known to be a nearly perfect black body. We derive exact formulae for the decay of a heavier neutrino into a lighter neutrino and a photon, $\nu_j \to \nu_i + \gamma$, and of absorption as its inverse, $\nu_i + \gamma \to \nu_j$, by accounting for the precise form of the neutrino momentum distribution. Our calculations show that if the neutrinos are heavier than $\mathcal O(0.1)$ eV, the exact formulae give results that differ by $\sim$50%, compared with approximate ones where neutrinos are assumed to be at rest. We also find that spectral distortion due to absorption is more important for heavy neutrino masses (by a factor of $\sim$10 going from a neutrino mass of 0.01 eV to 0.1 eV). By analyzing the CMB spectral data measured with COBE-FIRAS, we obtain lower limits on the neutrino lifetime of $\tau_{12} \gtrsim 4 \times 10^{21}$ s (95% C.L.) for the smaller mass splitting and $\tau_{13} \sim \tau_{23} \gtrsim 10^{19}$ s for the larger mass splitting. These represent up to one order of magnitude improvement over previous CMB constraints. With future CMB experiments such as PIXIE, these limits will improve by roughly 4 orders of magnitude. This translates to a projected upper limit on the neutrino magnetic moment (for certain neutrino masses and decay modes) of $\mu_\nu < 3 \times 10^{-11}\, \mu_B$, where $\mu_B$ is the Bohr magneton. Such constraints would make future precision CMB measurements competitive with lab-based constraints on neutrino magnetic moments.Comment: 14 pages, 9 figures. v2: Added a number of references and clarifications. Matches version published in PR

The QCD heavy-quark potential to order v^2: one loop matching conditions

The one-loop QCD heavy quark potential is computed to order v^2 in the color singlet and octet channels. Several errors in the previous literature are corrected. To be consistent with the velocity power counting, the full dependence on |p' + p|/|p' - p| is kept. The matching conditions for the NRQCD one-loop potential are computed by comparing the QCD calculation with that in the effective theory. The graphs in the effective theory are also compared to terms from the hard, soft, potential, and ultrasoft regimes in the threshold expansion. The issue of off-shell versus on-shell matching and gauge dependence is discussed in detail for the 1/(m k) term in the potential. Matching on-shell gives a 1/(m k) potential that is gauge independent and does not vanish for QED.Comment: 28 pages, References added and minor changes to section III, results unchange

Wigner-Seitz cells in neutron star crust with finite range interactions

The structure of Wigner-Seitz cells in the inner crust of neutron stars is investigated using a microcospic Hartree-Fock-BCS approach with finite range D1S and M3Y-P4 interactions. Large effects on the densities are found compared to previous predictions using Skyrme interactions. Pairing effects are found to be small, and they are attenuated by the use of finite range interactions in the mean field.Comment: 11 pages, 5 figure