SearcharxivSearch

arXiv subjects

Kazuki Takada

Publications and source records attributed to Kazuki Takada.

6 recordsLinked to original sources

Simulation-based Inference for Gravitational Waves from Binary Neutron Stars: Application of Summary Data from Heterodyning

Gravitational-wave parameter estimation for binary neutron star (BNS) systems poses severe computational challenges due to the extended signal duration, which can reach several minutes in current detectors. Neural posterior estimation (NPE), a simulation-based inference approach, offers dramatic speedups but requires effective dimensionality reduction of the high-dimensional input data. We present a novel compression strategy based on likelihood-oriented summary statistics derived from the relative binning formalism of Zackay et al. (2018), which compresses raw frequency-domain data into the summary data. The summary data is based on a polynomial approximation of the waveform ratio using frequency banding grounded in post-Newtonian approximation, and directly evaluated with only $O(1000)$ sample points of the waveform. As a result, both the training and storage cost become more efficient than previously reported networks for BNS inference. We train a set of NPE networks on these summary statistics and validate a network against traditional nested sampling over 1024 BNS injections. The network produces well-calibrated posteriors across all source parameters we consider, with Jensen-Shannon divergences (JSD) consistent with numerical noise for most parameters. Although we find that the median JSD for the most inconsistent parameter exceeds $10^{-2}$ bits with current configurations, our results show potential for rapid parameter estimation of the BNS signal.

gr-qc

LIMBERO: A Limbed Climbing Exploration Robot Toward Traveling on Rocky Cliffs

In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and steeply inclined surfaces, limbed climbing robots equipped with grippers on their feet have emerged as a promising solution. In this paper, we present LIMBERO, a 10 kg-class quadrupedal climbing robot that employs spine-type grippers for stable locomotion and climbing on rugged and steep terrain. We first introduce a novel gripper design featuring coupled finger-closing and spine-hooking motions, tightly actuated by a single motor, which achieves exceptional grasping performance (>150 N) despite its lightweight design (525 g). Furthermore, we develop an efficient algorithm to visualize a geometry-based graspability index on continuous rough terrain. Finally, we integrate these components into LIMBERO and demonstrate its ability to ascend steep rocky surfaces under a 1 G gravity condition, a performance not previously achieved yet for limbed climbing robots of this scale.

cs.RO

Towards the Automation in the Space Station: Feasibility Study and Ground Tests of a Multi-Limbed Intra-Vehicular Robot

This paper presents a feasibility study, including simulations and prototype tests, on the autonomous operation of a multi-limbed intra-vehicular robot (mobile manipulator), shortly MLIVR, designed to assist astronauts with logistical tasks on the International Space Station (ISS). Astronauts spend significant time on tasks such as preparation, close-out, and the collection and transportation of goods, reducing the time available for critical mission activities. Our study explores the potential for a mobile manipulator to support these operations, emphasizing the need for autonomous functionality to minimize crew and ground operator effort while enabling real-time task execution. We focused on the robot's transportation capabilities, simulating its motion planning in 3D space. The actual motion execution was tested with a prototype on a 2D table to mimic a microgravity environment. The results demonstrate the feasibility of performing these tasks with minimal human intervention, offering a promising solution to enhance operational efficiency on the ISS.

cs.RO

Lower Gravity Demonstratable Testbed for Space Robot Experiments

In developing mobile robots for exploration on the planetary surface, it is crucial to evaluate the robot's performance, demonstrating the harsh environment in which the robot will actually be deployed. Repeatable experiments in a controlled testing environment that can reproduce various terrain and gravitational conditions are essential. This paper presents the development of a minimal and space-saving indoor testbed, which can simulate steep slopes, uneven terrain, and lower gravity, employing a three-dimensional target tracking mechanism (active xy and passive z) with a counterweight.

cs.RO

Decay behavior and optical parameter identification for spatial-frequency domain imaging by the radiative transport equation

The decay behavior of the specific intensity is studied for the spatial-frequency domain imaging (SFDI). It is shown using the radiative transport equation that the decay is given by a superposition of different decay modes, and the decay rates of these modes are determined by spatial frequencies and Case's eigenvalues. This explains why SFDI can focus on shallow regions. The fact that light with nonzero spatial frequency rapidly decays makes it possible to exclusively extract optical properties of the top layer of a layered medium. We determine optical properties of the top layer of a solid phantom. This measurement is verified with different layered media of numerical phantoms.

physics.optics

Transverse Polarization of Hyperons Produced in Semi-Inclusive Deep Inelastic Scattering

We study the transverse polarization of hyperons produced in semi-inclusive deep inelastic scattering, $ep\to eΛ^\uparrow X$, in the framework of the collinear twist-3 factorization. The cross section from the twist-3 distribution functions and the twist-3 quark fragmentation functions is computed in the leading order with respect to the QCD coupling constant. The constraint relations among the twist-3 FFs are taken into account to simplify the formula. The formula is relevant to large-$P_T$ hyperon production in the future Electron-Ion-Collider experiment.

hep-ph