Manipulability analysis of a snake robot without lateral constraint for head position control

Two dynamic manipulability criteria of a snake robot with sideways slipping are proposed with the application to head trajectory tracking control in mind. The singular posture, which is crucial in head tracking control, is characterized by the manipulability and examined for families of typical robot shapes. Differences in the singular postures from those of the robot with lateral constraints, which have not been clear in previous studies, are clarified in the analysis. In addition to the examination of local properties using the concept of manipulability, we discuss the effect of isotropic friction as a global property. It is well known that, at least empirically, a snake robot needs anisotropy in friction to move by serpentine locomotion if there are no objects for it to push around. From the point of view of integrability, we show one of the necessary conditions for uncontrollability is satisfied if the friction is isotropic

A Method to Change Phase Transition Nature -- Toward Annealing Method --

In this paper, we review a way to change nature of phase transition with annealing methods in mind. Annealing methods are regarded as a general technique to solve optimization problems efficiently. In annealing methods, we introduce a controllable parameter which represents a kind of fluctuation and decrease the parameter gradually. Annealing methods face with a difficulty when a phase transition point exists during the protocol. Then, it is important to develop a method to avoid the phase transition by introducing a new type of fluctuation. By taking the Potts model for instance, we review a way to change the phase transition nature. Although the method described in this paper does not succeed to avoid the phase transition, we believe that the concept of the method will be useful for optimization problems.Comment: 27 pages, 3 figures, revised version will appear in proceedings of Kinki University Quantum Computing Series Vo.

Phase Transition in Potts Model with Invisible States

We study phase transition in the ferromagnetic Potts model with invisible states that are added as redundant states by mean-field calculation and Monte Carlo simulation. Invisible states affect the entropy and the free energy, although they do not contribute to the internal energy. The internal energy and the number of degenerated ground states do not change, if invisible states are introduced into the standard Potts model. A second-order phase transition takes place at finite temperature in the standard $q$-state ferromagnetic Potts model on two-dimensional lattice for $q=2,3$, and 4. However, our present model on two-dimensional lattice undergoes a first-order phase transition with spontaneous $q$-fold symmetry breaking ($q=2,3$, and 4) due to entropy effect of invisible states. We believe that our present model is a fundamental model for analysis of a first-order phase transition with spontaneous discrete symmetry breaking.Comment: 8 pages, 4 figure

The Geometry of Concurrent Interaction: Handling Multiple Ports by Way of Multiple Tokens (Long Version)

We introduce a geometry of interaction model for Mazza's multiport interaction combinators, a graph-theoretic formalism which is able to faithfully capture concurrent computation as embodied by process algebras like the $\pi$-calculus. The introduced model is based on token machines in which not one but multiple tokens are allowed to traverse the underlying net at the same time. We prove soundness and adequacy of the introduced model. The former is proved as a simulation result between the token machines one obtains along any reduction sequence. The latter is obtained by a fine analysis of convergence, both in nets and in token machines