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

Damping of nonlinear standing kink oscillations: a numerical study

We aim to study the standing fundamental kink mode of coronal loops in the nonlinear regime, investigating the changes in energy evolution in the cross-section and oscillation amplitude of the loop which are related to nonlinear effects, in particular to the development of the Kelvin-Helmholtz instability (KHI). We run idea, high-resolution three-dimensional (3D) magnetohydrodynamics (MHD) simulations, studying the influence of the initial velocity amplitude and the inhomogeneous layer thickness. We model the coronal loop as a straight, homogeneous magnetic flux tube with an outer inhomogeneous layer, embedded in a straight, homogeneous magnetic field. We find that, for low amplitudes which do not allow for the KHI to develop during the simulated time, the damping time agrees with the theory of resonant absorption. However, for higher amplitudes, the presence of KHI around the oscillating loop can alter the loop's evolution, resulting in a significantly faster damping than predicted by the linear theory in some cases. This questions the accuracy of seismological methods applied to observed damping profiles, based on linear theory.Comment: 10 pages, 8 figure

Numerical simulations of transverse oscillations in radiatively cooling coronal loops

We aim to study the influence of radiative cooling on the standing kink oscillations of a coronal loop. Using the FLASH code, we solved the 3D ideal magnetohydrodynamic equations. Our model consists of a straight, density enhanced and gravitationally stratified magnetic flux tube. We perturbed the system initially, leading to a transverse oscillation of the structure, and followed its evolution for a number of periods. A realistic radiative cooling is implemented. Results are compared to available analytical theory. We find that in the linear regime (i.e. low amplitude perturbation and slow cooling) the obtained period and damping time are in good agreement with theory. The cooling leads to an amplification of the oscillation amplitude. However, the difference between the cooling and non-cooling cases is small (around 6% after 6 oscillations). In high amplitude runs with realistic cooling, instabilities deform the loop, leading to increased damping. In this case, the difference between cooling and non-cooling is still negligible at around 12%. A set of simulations with higher density loops are also performed, to explore what happens when the cooling takes place in a very short time (tcool = 100 s). We strengthen the results of previous analytical studies that state that the amplification due to cooling is ineffective, and its influence on the oscillation characteristics is small, at least for the cases shown here. Furthermore, the presence of a relatively strong damping in the high amplitude runs even in the fast cooling case indicates that it is unlikely that cooling could alone account for the observed, flare-related undamped oscillations of coronal loops. These results may be significant in the field of coronal seismology, allowing its application to coronal loop oscillations with observed fading-out or cooling behaviour

Seagull and pion-in-flight currents in neutrino-induced 1N1N and 2N2N knockout

[Background] The neutrino-nucleus ($\nu A$) cross section is a major source of systematic uncertainty in neutrino-oscillation studies. A precise $\nu A$ scattering model, in which multinucleon effects are incorporated, is pivotal for an accurate interpretation of the data. [Purpose] In $\nu A$ interactions, meson-exchange currents (MECs) can induce two-nucleon ($2N$) knockout from the target nucleus, resulting in a two-particle two-hole (2p2h) final state. They also affect single nucleon ($1N$) knockout reactions, yielding a one-particle one-hole (1p1h) final state. Both channels affect the inclusive strength. We present a study of axial and vector, seagull and pion-in-flight currents in muon-neutrino induced $1N$ and $2N$ knockout reactions on $^{12}$C. [Method] Bound and emitted nucleons are described as Hartree-Fock wave functions. For the vector MECs, the standard expressions are used. For the axial current, three parameterizations are considered. The framework developed here allows for a treatment of MECs and short-range correlations (SRCs). [Results] Results are compared with electron-scattering data and with literature. The strengths of the seagull, pion-in-flight and axial currents are studied separately and double differential cross sections including MECs are compared with results including SRCs. A comparison with MiniBooNE and T2K data is presented. [Conclusions] In the 1p1h channel, the effects of the MECs tend to cancel each other, resulting in a small effect on the double differential cross section. $2N$ knockout processes provide a small contribution to the inclusive double differential cross section, ranging from the $2N$ knockout threshold into the dip region. A fair agreement with the MiniBooNE and T2K data is reached.Comment: 16 pages, 10 figure

Electron-neutrino scattering off nuclei from two different theoretical perspectives

We analyze charged-current electron-neutrino cross sections on Carbon. We consider two different theoretical approaches, on one hand the Continuum Random Phase Approximation (CRPA) which allows a description of giant resonances and quasielastic excitations, on the other hand the RPA-based calculations which are able to describe multinucleon emission and coherent and incoherent pion production as well as quasielastic excitations. We compare the two approaches in the genuine quasielastic channel, and find a satisfactory agreement between them at large energies while at low energies the collective giant resonances show up only in the CRPA approach. We also compare electron-neutrino cross sections with the corresponding muon-neutrino ones in order to investigate the impact of the different charged-lepton masses. Finally, restricting to the RPA-based approach we compare the sum of quasielastic, multinucleon emission, coherent and incoherent one-pion production cross sections (folded with the electron-neutrino T2K flux) with the charged-current inclusive electron-neutrino differential cross sections on Carbon measured by T2K. We find a good agreement with the data. The multinucleon component is needed in order to reproduce the T2K electron-neutrino inclusive cross sections