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We propose an algorithm for evolving spiral curves on a planar domain by normal velocities depending on the so-called crystalline curvatures. The algorithm uses a minimizing movement approach and relies on a special level set method for embedding the spirals. We present numerical simulations and comparisons demonstrating the efficacy of the proposed numerical algorithm., Comment: 45pages, 17 figures

Model predictive control (MPC) has played a more crucial role in various robotic control tasks, but its high computational requirements are concerning, especially for nonlinear dynamical models. This paper presents a $\textbf{la}$tent $\textbf{l}$inear $\textbf{q}$uadratic $\textbf{r}$egulator (LaLQR) that maps the state space into a latent space, on which the dynamical model is linear and the cost function is quadratic, allowing the efficient application of LQR. We jointly learn this alternative system by imitating the original MPC. Experiments show LaLQR's superior efficiency and generalization compared to other baselines., Comment: Accepted at RSS 2024 workshop on Koopman Operators in Robotics

In this study, we propose a novel gap-constraint-based reformulation for optimal control problems with equilibrium constraints (OCPECs). We show that the proposed reformulation generates a new constraint system equivalent to the original one but more concise and with favorable differentiability. Moreover, constraint regularity can be recovered by a relaxation strategy. We show that the gap constraint and its gradient can be evaluated efficiently. We then propose a successive gap constraint linearization method to solve the discretized OCPEC. We also provide an intuitive geometric interpretation of the gap constraint. Numerical experiments validate the effectiveness of the proposed reformulation and solution method., Comment: Forthcoming, (Accepted to the 2024 IFAC Conference on Nonlinear Model Predictive Control (NMPC))

This study proposes introducing convex optimization to find initial perturbations of atmospheric models for realizing specified changes in subsequent forecasts. In the proposed method, we formulate and solve an inverse problem to find effective perturbations in atmospheric variables so that controlled variables satisfy specified changes at a specified time. The proposed method first constructs a sensitivity matrix of controlled variables, such as accumulated precipitation, to the initial atmospheric variables, such as temperature and humidity, through sensitivity analysis using numerical weather prediction (NWP) models. The sensitivity matrix is used to solve the inverse problem as convex optimization, in which a global optimal solution can be found computationally efficiently. The proposed method was validated through a benchmark warm bubble experiment using an NWP model. The experiments showed that identified perturbation successfully realized specified spatial distributions of accumulated precipitation. These results demonstrated the possibility of controlling the real atmosphere by solving inverse problems and adding small perturbations to atmospheric states., Comment: license changed to CC BY 4.0; revised to improve readability; some figures in Appendix omitted to improve conciseness

We study a variational problem on $H^1({\mathbb R})$ under an $L^\infty$-constraint related to Sobolev-type inequalities for a class of generalized potentials, including $L^p$-potentials, non-positive potentials, and signed Radon measures. We establish various essential tools for this variational problem, including the decomposition principle, the comparison principle, and the perturbation theorem, which are the basis of the two-step minimization method. As for their applications, we present precise results for minimizers of minimization problems, such as the study of potentials of Dirac's delta measure type and the analysis of trapped modes in potential wells., Comment: 12 pages

The autonomous driving industry is continuously dealing with safety-critical scenarios, and nonlinear model predictive control (NMPC) is a powerful control strategy for handling such situations. However, standard safety constraints are not scalable and require a long NMPC horizon. Moreover, the adoption of NMPC in the automotive industry is limited by the heavy computation of numerical optimization routines. To address those issues, this paper presents a real-time capable NMPC for automated driving in urban environments, using control barrier functions (CBFs). Furthermore, the designed NMPC is based on a novel collocation transcription approach, named RESAFE/COL, that allows to reduce the number of optimization variables while still guaranteeing the continuous time (nonlinear) inequality constraints satisfaction, through regional convex hull approximation. RESAFE/COL is proven to be 5 times faster than multiple shooting and more tractable for embedded hardware without a decrease in the performance, nor accuracy and safety of the numerical solution. We validate our NMPC-CBF with RESAFE/COL on digital twins of the vehicle and the urban environment and show the safe controller's ability to improve crash avoidance by 91\%. Supplementary visual material can be found at https://youtu.be/_EnbfYwljp4., Comment: 2024 the authors. This work has been accepted to IFAC for publication under a Creative Commons Licence CC-BY-NC-ND

We present a new method to determine the best constant of the Sobolev-type embedding in one dimension with a norm including a bounded inhomogeneous potential term. This problem is closely connected to the Green function of the Schr\"odinger operator with inhomogeneous potential. A minimization problem of a Rayleigh-type quotient in a Sobolev space gives the best constant of the Sobolev embedding. We decompose the minimization problem into two sub-minimization problems and show that the Green function provides the minimizer of the first minimization problem. Then, it enables us to derive a new precise estimate of the best constant and function for inhomogeneous bounded potential cases. As applications, we give some examples of the inhomogeneous potential whose best constant and function of the Sobolev-type embedding are explicitly determined., Comment: 16 pages

The quest for fascinating quantum states arising from the interplay between correlation, frustration, and topology is at the forefront of condensed-matter physics. Recently discovered nonmagnetic kagome metals $A$V${_3}$Sb${_5}$ ($A=$ K, Cs, Rb) with charge density wave (CDW) and superconducting instabilities may host such exotic states. Here we report that an odd electronic nematic state emerges above the CDW transition temperature ($T_{\rm CDW}=94$ K) in CsV${_3}$Sb${_5}$. High-resolution torque measurements reveal a distinct twofold in-plane magnetic anisotropy that breaks the crystal rotational symmetry below $T^*\approx130$ K. However, no relevant anomalies are detected in the elastoresistance data near $T^*$, which excludes the even-parity ferro-orbital nematicity often found in other superconductors. Moreover, in the temperature range between $T_{\rm CDW}$ and $T^*$, conical rotations of magnetic field yield a distinct first-order phase transition, indicative of time-reversal symmetry breaking. These results provide thermodynamic evidence for the emergence of an odd-parity nematic order, implying that an exotic loop-current state precedes the CDW in CsV$_3$Sb$_5$., Comment: A revised manuscript will appear in Nature Physics

We determine the second term of the asymptotic expansions for the first m eigenvalues and eigenfunctions of the linearized Liouville-Gel'fand problem associated to solutions which blow-up at m points. Our problem is the case with an inhomogeneous coefficient in two dimensional domain and we extend the previous studies for the problem with a homogeneous coefficient. We also discuss in detail the required regularity of the coefficient necessary to get the conclusion.

Asteroid systems such as binaries and pairs are indicative of physical properties and dynamical histories of the Small Solar System Bodies. Although numerous observational and theoretical studies have been carried out, the formation mechanism of asteroid pairs is still unclear, especially for near-Earth asteroid (NEA) pairs. We conducted a series of optical photometric and polarimetric observations of a small NEA 2010 XC$_{15}$ in 2022 December to investigate its surface properties. The rotation period of 2010 XC$_{15}$ is possibly a few to several dozen hours and color indices of 2010 XC$_{15}$ are derived as $g-r=0.435\pm0.008$, $r-i=0.158\pm0.017$, and $r-z=0.186\pm0.009$ in the Pan-STARRS system. The linear polarization degrees of 2010 XC$_{15}$ are a few percent at the phase angle range of 58$^{\circ}$ to 114$^{\circ}$. We found that 2010 XC$_{15}$ is a rare E-type NEA on the basis of its photometric and polarimetric properties. Taking the similarity of not only physical properties but also dynamical integrals and the rarity of E-type NEAs into account, we suppose that 2010 XC$_{15}$ and 1998 WT$_{24}$ are of common origin (i.e., asteroid pair). These two NEAs are the sixth NEA pair and first E-type NEA pair ever confirmed, possibly formed by rotational fission. We conjecture that the parent body of 2010 XC$_{15}$ and 1998 WT$_{24}$ was transported from the main-belt through the $\nu_6$ resonance or Hungaria region., Comment: This article was published in ApJ. See https://iopscience.iop.org/article/10.3847/1538-4357/ace88f

The field-induced quantum disordered state of layered honeycomb magnet $\alpha$-RuCl$_3$ is a prime candidate for Kitaev spin liquids hosting Majorana fermions and non-Abelian anyons. Recent observations of anomalous planar thermal Hall effect demonstrate a topological edge mode, but whether it originates from Majorana fermions or bosonic magnons remains controversial. Here we distinguish these origins from low-temperature measurements of high-resolution specific heat and thermal Hall conductivity with rotating in-plane fields. In the honeycomb bond direction, a distinct closure of the low-energy bulk gap is observed concomitantly with the sign reversal of the Hall effect. General discussions of topological bands show that this is the hallmark of an angle-rotation-induced topological transition of fermions, providing conclusive evidence for the Majorana-fermion origin of the thermal Hall effect in $\alpha$-RuCl$_3$., Comment: 21 pages, 7 figures

Signal Temporal Logic (STL) is capable of expressing a broad range of temporal properties that controlled dynamical systems must satisfy. In the literature, both mixed-integer programming (MIP) and nonlinear programming (NLP) methods have been applied to solve optimal control problems with STL specifications. However, neither approach has succeeded in solving problems with complex long-horizon STL specifications within a realistic timeframe. This study proposes a new optimization framework, called \textit{STLCCP}, which explicitly incorporates several structures of STL to mitigate this issue. The core of our framework is a structure-aware decomposition of STL formulas, which converts the original program into a difference of convex (DC) programs. This program is then solved as a convex quadratic program sequentially, based on the convex-concave procedure (CCP). Our numerical experiments on several commonly used benchmarks demonstrate that this framework can effectively handle complex scenarios over long horizons, which have been challenging to address even using state-of-the-art optimization methods., Comment: 17 pages

Valley photonic crystal (VPhC) waveguides have attracted much attention because of their ability to enable robust light propagation against sharp bends. However, their demonstration using a complementary metal-oxide-semiconductor (CMOS)-compatible process suitable for mass production has not yet been reported at the telecom wavelengths. Here, by tailoring the photomask to suppress the optical proximity effect, VPhC patterns comprising equilateral triangular holes were successfully fabricated using photolithography. We optically characterized the fabricated VPhC devices using microscopic optics with near-infrared imaging. For comparison, we also fabricated and characterized line-defect W1 PhC waveguides, in which the transmission intensities decreased at some regions within the operating bandwidth when sharp turns were introduced into the waveguide. In contrast, the developed VPhC waveguides can robustly propagate light around the C-band telecommunication wavelengths, even in the presence of sharp bends. Our results highlight the potential of VPhC waveguides as an interconnection technology in silicon topological photonic integrated circuits., Comment: 18 pages, 6 figures

This study considers the control problem with signal temporal logic (STL) specifications. Prior works have adopted smoothing techniques to address this problem within a feasible time frame and solve the problem by applying sequential quadratic programming (SQP) methods naively. However, one of the drawbacks of this approach is that solutions can easily become trapped in local minima that do not satisfy the specification. In this study, we propose a new optimization method, termed CCP-based SQP, based on the convex-concave procedure (CCP). Our framework includes a new robustness decomposition method that decomposes the robustness function into a set of constraints, resulting in a form of difference of convex (DC) program that can be solved efficiently. We solve this DC program sequentially as a quadratic program by only approximating the disjunctive parts of the specifications. Our experimental results demonstrate that our method has a superior performance compared to the state-of-the-art SQP methods in terms of both robustness and computational time., Comment: 8 pages, 5 figures