arXiv subjects

K. Umemoto

Publications and source records attributed to K. Umemoto.

4 recordsLinked to original sources

arXiv2026

Payload Swing Estimation and Damping Without Payload Parameters for Multirotor UAVs

Cable-suspended payload transport by multirotor UAVs is flexible but generates periodic swing disturbance that degrades tracking and risks instability. Existing anti-swing methods require additional sensors or precise identification of cable length and payload mass, limiting field deployment. We propose a swing-estimation and damping method using only the onboard IMU and throttle command, requiring no payload parameters. An extended Kalman filter extracts the periodic disturbance with the unknown pendulum frequency as an estimated state, and an active damping controller adds a correction angle to the attitude loop to dissipate pendulum energy. Flight experiments confirm robust damping across a tested range of cable-length and mass variations.

eess.SY↗

arXiv2020

Light and Slow-Neutron Diffraction by Nanodiamond-Dispersed Nanocomposite Holographic Gratings

We demonstrate the use of nanodiamond in constructing holographic nanoparticle-polymer composite transmission gratings with large saturated refractive index modulation amplitudes at both optical and slow-neutron wavelengths, resulting in efficient control of light and slow-neutron beams. Nanodiamond possesses a high refractive index at optical wavelengths and large coherent and small incoherent scattering cross sections with low absorption at slow-neutron wavelengths. We describe the synthesis of nanodiamond, the preparation of photopolymerizable nanodiamond-polymer composite films, the construction of transmission gratings in nanodiamond-polymer composite films and light optical diffraction experiments. Results of slow-neutron diffraction from such gratings are also presented.

physics.optics↗

arXiv2013

Adaptive Genetic Algorithm for Crystal Structure Prediction

We present a genetic algorithm (GA) for structural search that combines the speed of structure exploration by classical potentials with the accuracy of density functional theory (DFT) calculations in an adaptive and iterative way. This strategy increases the efficiency of the DFT-based GA by several orders of magnitude. This gain allows considerable increase in size and complexity of systems that can be studied by first principles. The method's performance is illustrated by successful structure identifications of complex binary and ternary inter-metallic compounds with 36 and 54 atoms per cell, respectively. The discovery of a multi-TPa Mg-silicate phase with unit cell containing up to 56 atoms is also reported. Such phase is likely to be an essential component of terrestrial exoplanetary mantles.

cond-mat.mtrl-sci↗

arXiv2012

Elasticity of Diamond at High Pressures and Temperatures

We combine density functional theory within the local density approximation, the quasiharmonic approximation, and vibrational density of states to calculate single crystal elastic constants, and bulk and shear moduli of diamond at simultaneous high pressures and temperatures in the ranges of 0-500 GPa and 0-4800 K. Comparison with experimental values at ambient pressure and high temperature shows an excellent agreement for the first time with our first-principles results validating our method. We show that the anisotropy factor of diamond increases to 40% at high pressures and becomes temperature independent.

cond-mat.mtrl-sci↗