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

Particle-particle random phase approximation applied to Beryllium isotopes

This work is dedicated to the study of even-even 8-14 Be isotopes using the particle-particle Random Phase Approximation that accounts for two-body correlations in the core nucleus. A better description of energies and two-particle amplitudes is obtained in comparison with models assuming a neutron closed-shell (or subshell) core. A Wood-Saxon potential corrected by a phenomenological particle-vibration coupling term has been used for the neutron-core interaction and the D1S Gogny force for the neutron-neutron interaction. Calculated ground state properties as well as excited state ones are discussed and compared to experimental data. In particular, results suggest the same 2s_1/2-1p_1/2 shell inversion in 13Be as in 11Be.Comment: to appear in Phys. Rev.

Dengue human infection models supporting drug development.

Dengue is a arboviral infection that represents a major global health burden. There is an unmet need for effective dengue therapeutics to reduce symptoms, duration of illness and incidence of severe complications. Here, we consider the merits of a dengue human infection model (DHIM) for drug development. A DHIM could allow experimentally controlled studies of candidate therapeutics in preselected susceptible volunteers, potentially using smaller sample sizes than trials that recruited patients with dengue in an endemic country. In addition, the DHIM would assist the conduct of intensive pharmacokinetic and basic research investigations and aid in determining optimal drug dosage. Furthermore, a DHIM could help establish proof of concept that chemoprophylaxis against dengue is feasible. The key challenge in developing the DHIM for drug development is to ensure the model reliably replicates the typical clinical and laboratory features of naturally acquired, symptomatic dengue

Homomorphism between AOMRC and Hoare Model of Deterministic Reconfiguration Processes in Reconfigurable Computing Systems

In this paper, the notion of aspect-oriented modular reconfigurable computing (AOMRC) is introduced, CSP-based behaviors of AOMRC are approached by developing a model of AOMRC and constructing a Hoare model of deterministic reconfiguration processes. Then, under the theory of coalgebras, we build a homomorphism between AOMRC and a Hoare model of deterministic reconfiguration processes. In other words, since AOMRC and the Hoare model of deterministic reconfiguration processes are seen as coalgebras, their homomorphic relationship results in the behavioral equivalence between AOMRC being carried out by a transformations-based aspect and a Hoare model of deterministic reconfiguration processes

Influence of highly unsaturated fatty acids in live food on larviculture of mud crab <i>Scylla paramamosain</i> (Estampador 1949)

Two experiments were carried out to investigate the effects of docosahexaenoic acid (DHA), eicosapentaenoic acid (EPA) and arachidonic acid (ARA) levels in rotifers (Brachionus plicatilis) and Artemia on the survival, development and metamorphosis of mud crab Scylla paramamosain larvae. Five different lipid emulsions, varying in the level of total n-3 and n-6 highly unsaturated fatty acids (HUFA), DHA, EPA and ARA were used to manipulate the fatty acid profile of the live food. Fatty acid profiles of the live food and crab larvae at zoea one, three and five stages were analysed to study the HUFA uptake by the larvae. The fatty acid content of the live food affected the fatty acid profiles of the crab larvae. In both experiments, the survival rate in the zoeal stages was not statistically different among treatments. However, larval development rate and metamorphosis success were affected by the dietary treatments. In this respect, the DHA/EPA ratio in the live food seems to be a key factor. Enrichment emulsions with a very high (50%) total HUFA content but a low DHA/EPA ratio (0.6), or zero total HUFA content caused developmental retardation and/or metamorphosis failure. An emulsion with a moderate total HUFA (30%) and a high DHA/EPA ratio (4) was the best in terms of larval development during the zoeal stages and resulted in improved metamorphosis. Dietary ARA seemed to improve first metamorphosis, but its exact role needs further clarification. For the larval rearing of S. paramamosain, an enrichment medium containing about 30% total n-3 HUFA with a minimum DHA/EPA ratio of 1 is recommended. Further investigation is needed on the total HUFA and optimum DHA/EPA ratio requirements for each crab larval stage

Recent advances in the theory of nuclear forces

After a brief historical review, we present recent progress in our understanding of nuclear forces in terms of chiral effective field theory.Comment: 6 pages, 2 figures; talk at International Symposium on Correlations Dynamics in Nuclei, University of Tokyo, Japan, 31 January-4 February, 200

Interwell relaxation times in p-Si/SiGe asymmetric quantum well structures: the role of interface roughness

We report the direct determination of nonradiative lifetimes in Si∕SiGe asymmetric quantum well structures designed to access spatially indirect (diagonal) interwell transitions between heavy-hole ground states, at photon energies below the optical phonon energy. We show both experimentally and theoretically, using a six-band k∙p model and a time-domain rate equation scheme, that, for the interface quality currently achievable experimentally (with an average step height ⩾1 Å), interface roughness will dominate all other scattering processes up to about 200 K. By comparing our results obtained for two different structures we deduce that in this regime both barrier and well widths play an important role in the determination of the carrier lifetime. Comparison with recently published experimental and theoretical data obtained for mid-infrared GaAs∕AlxGa1−xAs multiple quantum well systems leads us to the conclusion that the dominant role of interface roughness scattering at low temperature is a general feature of a wide range of semiconductor heterostructures not limited to IV-IV material