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

Distinct order of Gd 4f and Fe 3d moments coexisting in GdFe4Al8

Single crystals of flux-grown tetragonal GdFe4Al8 were characterized by thermodynamic, transport, and x-ray resonant magnetic scattering measurements. In addition to antiferromagnetic order at TN ~ 155 K, two low-temperature transitions at T1 ~ 21 K and T2 ~ 27 K were identified. The Fe moments order at TN with an incommensurate propagation vector (tau,tau,0) with tau varying between 0.06 and 0.14 as a function of temperature, and maintain this order over the entire T<TN range. The Gd 4f moments order below T2 with a ferromagnetic component mainly out of plane. Below T1, the ferromagnetic components are confined to the crystallographic plane. Remarkably, at low temperatures the Fe moments maintain the same modulation as at high temperatures, but the Gd 4f moments apparently do not follow this modulation. The magnetic phase diagrams for fields applied in [110] and [001] direction are presented and possible magnetic structures are discussed.Comment: v2: 14 pages, 12 figures; PRB in prin

Two-State Migration of DNA in a structured Microchannel

DNA migration in topologically structured microchannels with periodic cavities is investigated experimentally and with Brownian dynamics simulations of a simple bead-spring model. The results are in very good agreement with one another. In particular, the experimentally observed migration order of Lambda- and T2-DNA molecules is reproduced by the simulations. The simulation data indicate that the mobility may depend on the chain length in a nonmonotonic way at high electric fields. This is found to be the signature of a nonequilibrium phase transition between two different migration states, a slow one and a fast one, which can also be observed experimentally under appropriate conditions.Comment: Revised edition corresponding to the comments by the referees, submitted to Physical Review

Efficiently Clustering Very Large Attributed Graphs

Attributed graphs model real networks by enriching their nodes with attributes accounting for properties. Several techniques have been proposed for partitioning these graphs into clusters that are homogeneous with respect to both semantic attributes and to the structure of the graph. However, time and space complexities of state of the art algorithms limit their scalability to medium-sized graphs. We propose SToC (for Semantic-Topological Clustering), a fast and scalable algorithm for partitioning large attributed graphs. The approach is robust, being compatible both with categorical and with quantitative attributes, and it is tailorable, allowing the user to weight the semantic and topological components. Further, the approach does not require the user to guess in advance the number of clusters. SToC relies on well known approximation techniques such as bottom-k sketches, traditional graph-theoretic concepts, and a new perspective on the composition of heterogeneous distance measures. Experimental results demonstrate its ability to efficiently compute high-quality partitions of large scale attributed graphs.Comment: This work has been published in ASONAM 2017. This version includes an appendix with validation of our attribute model and distance function, omitted in the converence version for lack of space. Please refer to the published versio

Dust masses of disks around 8 Brown Dwarfs and Very Low-Mass Stars in Upper Sco OB1 and Ophiuchus

We present the results of ALMA band 7 observations of dust and CO gas in the disks around 7 objects with spectral types ranging between M5.5 and M7.5 in Upper Scorpius OB1, and one M3 star in Ophiuchus. We detect unresolved continuum emission in all but one source, and the $^{12}$CO J=3-2 line in two sources. We constrain the dust and gas content of these systems using a grid of models calculated with the radiative transfer code MCFOST, and find disk dust masses between 0.1 and 1 M$_\oplus$, suggesting that the stellar mass / disk mass correlation can be extrapolated for brown dwarfs with masses as low as 0.05 M$_\odot$. The one disk in Upper Sco in which we detect CO emission, 2MASS J15555600, is also the disk with warmest inner disk as traced by its H - [4.5] photometric color. Using our radiative transfer grid, we extend the correlation between stellar luminosity and mass-averaged disk dust temperature originally derived for stellar mass objects to the brown dwarf regime to $\langle T_{dust} \rangle \approx 22 (L_{*} /L_{\odot})^{0.16} K$, applicable to spectral types of M5 and later. This is slightly shallower than the relation for earlier spectral type objects and yields warmer low-mass disks. The two prescriptions cross at 0.27 L$_\odot$, corresponding to masses between 0.1 and 0.2 M$_\odot$ depending on age.Comment: 9 pages,6 figures, accepted to ApJ on 26/01/201

Riesz transform characterization of Hardy spaces associated with Schr\"odinger operators with compactly supported potentials

Let L=-\Delta+V be a Schr\"odinger operator on R^d, d\geq 3. We assume that V is a nonnegative, compactly supported potential that belongs to L^p(R^d), for some p>d/2. Let K_t be the semigroup generated by -L. We say that an L^1(R^d)-function f belongs to the Hardy space H_L^1 associated with L if sup_{t>0} |K_t f| belongs to L^1(R^d). We prove that f\in H_L^1 if and only if R_j f \in L^1(R^d) for j=1,...,d, where R_j= \frac{d}{dx_j} L^{-1/2} are the Riesz transforms associated with L.Comment: 6 page

The XIIIth Banff Conference on Allograft Pathology: The Banff 2015 Heart Meeting Report: Improving Antibody-Mediated Rejection Diagnostics: Strengths, Unmet Needs, and Future Directions.

The 13th Banff Conference on Allograft Pathology was held in Vancouver, British Columbia, Canada from October 5 to 10, 2015. The cardiac session was devoted to current diagnostic issues in heart transplantation with a focus on antibody-mediated rejection (AMR) and small vessel arteriopathy. Specific topics included the strengths and limitations of the current rejection grading system, the central role of microvascular injury in AMR and approaches to semiquantitative assessment of histopathologic and immunophenotypic indicators, the role of AMR in the development of cardiac allograft vasculopathy, the important role of serologic antibody detection in the management of transplant recipients, and the potential application of new molecular approaches to the elucidation of the pathophysiology of AMR and potential for improving the current diagnostic system. Herein we summarize the key points from the presentations, the comprehensive, open and wide-ranging multidisciplinary discussion that was generated, and considerations for future endeavors

3D morphology design for forward osmosis

We propose a multi-scale simulation approach to model forward osmosis (FO) processes using substrates with layered homogeneous morphology. This approach accounts not only for FO setup but also for detailed microstructure of the substrate using the digitally reconstructed morphology. We fabricate a highly porous block copolymer membrane, which has not been explored for FO heretofore, and use it as the substrate for interfacial polymerization. The substrate has three sub-layers, namely a top layer, a sponge-like middle layer, and a nonwoven fabric layer. We generate a digital microstructure for each layer, and verify them with experimental measurements. The permeability and effective diffusivity of each layer are computed based on their virtual microstructures and used for FO operation in cross-flow setups at the macro-scale. The proposed simulation approach predicts accurately the FO experimental data