arXiv subjects

Tomohiro Ono

Publications and source records attributed to Tomohiro Ono.

17 recordsLinked to original sources

arXiv2026

Robot Local Planner: A Periodic Sampling-Based Motion Planner with Minimal Waypoints for Home Environments

The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan and execute actions accordingly. We propose a periodic sampling-based whole-body trajectory planning method, called the "Robot Local Planner (RLP)." This method leverages unique features of home environments to enhance computational efficiency, motion optimality, and robustness against recognition and control errors, all while ensuring safety. The RLP minimizes computation time by planning with minimal waypoints and generating safe trajectories. Furthermore, overall motion optimality is improved by periodically executing trajectory planning to select more optimal motions. This approach incorporates inverse kinematics that are robust to base position errors, further enhancing robustness. Evaluation experiments demonstrated that the RLP outperformed existing methods in terms of motion planning time, motion duration, and robustness, confirming its effectiveness in home environments. Moreover, application experiments using a tidy-up task achieved high success rates and short operation times, thereby underscoring its practical feasibility.

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arXiv2025

exoALMA VII: Benchmarking Hydrodynamics and Radiative Transfer Codes

Forward modeling is often used to interpret substructures observed in protoplanetary disks. To ensure the robustness and consistency of the current forward modeling approach from the community, we conducted a systematic comparison of various hydrodynamics and radiative transfer codes. Using four grid-based hydrodynamics codes (FARGO3D, Idefix, Athena++, PLUTO) and a smoothed particle hydrodynamics code (Phantom), we simulated a protoplanetary disk with an embedded giant planet. We then used two radiative transfer codes (mcfost, RADMC-3D) to calculate disk temperatures and create synthetic 12CO cubes. Finally, we retrieved the location of the planet from the synthetic cubes using DISCMINER. We found strong consistency between the hydrodynamics codes, particularly in the density and velocity perturbations associated with planet-driven spirals. We also found a good agreement between the two radiative transfer codes: the disk temperature in mcfost and RADMC-3D models agrees within $\lesssim 3~\%$ everywhere in the domain. In synthetic $^{12}$CO channel maps, this results in brightness temperature differences within $\pm1.5$ K in all our models. This good agreement ensures consistent retrieval of planet's radial/azimuthal location with only a few % of scatter, with velocity perturbations varying $\lesssim 20~\%$ among the models. Notably, while the planet-opened gap is shallower in the Phantom simulation, we found that this does not impact the planet location retrieval. In summary, our results demonstrate that any combination of the tested hydrodynamics and radiative transfer codes can be used to reliably model and interpret planet-driven kinematic perturbations.

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arXiv2024

Unified Understanding of Environment, Task, and Human for Human-Robot Interaction in Real-World Environments

To facilitate human--robot interaction (HRI) tasks in real-world scenarios, service robots must adapt to dynamic environments and understand the required tasks while effectively communicating with humans. To accomplish HRI in practice, we propose a novel indoor dynamic map, task understanding system, and response generation system. The indoor dynamic map optimizes robot behavior by managing an occupancy grid map and dynamic information, such as furniture and humans, in separate layers. The task understanding system targets tasks that require multiple actions, such as serving ordered items. Task representations that predefine the flow of necessary actions are applied to achieve highly accurate understanding. The response generation system is executed in parallel with task understanding to facilitate smooth HRI by informing humans of the subsequent actions of the robot. In this study, we focused on waiter duties in a restaurant setting as a representative application of HRI in a dynamic environment. We developed an HRI system that could perform tasks such as serving food and cleaning up while communicating with customers. In experiments conducted in a simulated restaurant environment, the proposed HRI system successfully communicated with customers and served ordered food with 90\% accuracy. In a questionnaire administered after the experiment, the HRI system of the robot received 4.2 points out of 5. These outcomes indicated the effectiveness of the proposed method and HRI system in executing waiter tasks in real-world environments.

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arXiv2024

Modeling protoplanetary disk heating by planet-induced spiral shocks

We investigate the heating of protoplanetary disks caused by shocks associated with spiral density waves induced by an embedded planet. Using two-dimensional hydrodynamical simulations, we explore the dependence of shock heating rates on various disk and planetary parameters. Our results show that the shock heating rates are primarily influenced by the planet's mass and the disk's viscosity, while being insensitive to the thermal relaxation rate and the radial profiles of the disk's surface density and sound speed. We provide universal empirical formulas for the shock heating rates produced by the primary and secondary spiral arms as a function of orbital radius, viscosity parameter $α$, and planet-to-star mass ratio $q$. The obtained formulas are accurate within a factor of a few for a moderately viscous and adiabatic disk with a planet massive enough that its spiral arms are strongly nonlinear. Using these universal relations, we show that shock heating can overwhelm viscous heating when the disk viscosity is low ($α\lesssim 10^{-3}$) and the planet is massive ($q \gtrsim 10^{-3}$). Our empirical relations for the shock heating rates are simple and can be easily implemented into radially one-dimensional models of gas and dust evolution in protoplanetary disks.

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arXiv2023

Hibikino-Musashi@Home 2023 Team Description Paper

This paper describes an overview of the techniques of Hibikino-Musashi@Home, which intends to participate in the domestic standard platform league. The team has developed a dataset generator for the training of a robot vision system and an open-source development environment running on a human support robot simulator. The robot system comprises self-developed libraries including those for motion synthesis and open-source software works on the robot operating system. The team aims to realize a home service robot that assists humans in a home, and continuously attend the competition to evaluate the developed system. The brain-inspired artificial intelligence system is also proposed for service robots which are expected to work in a real home environment.

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arXiv2023

Kinematic signatures of a low-mass planet with a moderately inclined orbit in a protoplanetary disk

A planet embedded in a protoplanetary disk produces a gap by disk-planet interaction. It also generates velocity perturbation of gas, which can also be observed as deviations from the Keplerian rotation in the channel map of molecular line emission, called kinematic planetary features. These observed signatures provide clues to determine the mass of the planet. We investigated the features induced by the planet with an inclined orbit through three-dimensional hydrodynamic simulations. We found that a smaller planet, with the inclination being $\sim 10^{\circ}$ -- $20^{\circ}$, can produce kinematic features as prominent as those induced by the massive coplanar planet. Despite the kinematic features being similar, the gap is shallower and narrower as compared with the case in which the kinematic features are formed by the coplanar planet. We also found that the kinematic features induced by the inclined planet were fainter for rarer CO isotopologues because the velocity perturbation is weaker at the position closer to the midplane, which was different in the case with a coplanar massive planet. This dependence on the isotopologues is distinguished if the planet has the inclined orbit. We discussed two observed kinematic features in the disk of HD 163296. We concluded that the kink observed at 220 au can be induced by the inclined planet, while the kink at 67 au is consistent to that induced by the coplanar planet.

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arXiv2022

Two saturated states of the vertical shear instability in protoplanetary disks with vertically varying cooling times

Turbulence in protoplanetary disks plays an important role in dust evolution and planetesimal formation. The vertical shear instability (VSI) is one of the candidate hydrodynamic mechanisms that can generate turbulence in the outer disk regions. The VSI requires rapid gas cooling in addition to vertical shear. A linear stability analysis suggests that the VSI may not operate around the midplane where gas cooling is inefficient. In this study, we investigate the nonlinear outcome of the VSI in disks with a linearly VSI-stable midplane region. We perform two-dimensional global hydrodynamical simulations of an axisymmetric disk with vertically varying cooling times. The vertical cooling time profile determines the thicknesses of the linearly VSI-stable midplane layer and unstable layers above and below the midplane. We find that the thickness of the midplane stable layer determines the vertical structure of VSI-driven turbulence in the nonlinear saturated state. We identify two types of final saturated state: (1) T states characterized by vertical turbulent motion penetrating into the VSI-stable midplane layer and (2) pT states characterized by turbulent motion confined in the unstable layers. The pT states are realized when the midplane VSI-stable layer is thicker than two gas scale heights. We also find that the VSI-driven turbulence is largely suppressed at all heights when the VSI-unstable region lying above and below the midplane is thinner than two gas scale heights. We present empirical formulas that predict the strength of VSI-driven turbulence as a function of the thicknesses of the unstable and stable layers. These formulas will be useful for studying how VSI-driven turbulence and dust grains controlling the disk cooling efficiency evolve simultaneously.

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arXiv2022

Hibikino-Musashi@Home 2022 Team Description Paper

Our team, Hibikino-Musashi@Home (HMA), was founded in 2010. It is based in Japan in the Kitakyushu Science and Research Park. Since 2010, we have annually participated in the RoboCup@Home Japan Open competition in the open platform league (OPL).We participated as an open platform league team in the 2017 Nagoya RoboCup competition and as a domestic standard platform league (DSPL) team in the 2017 Nagoya, 2018 Montreal, 2019 Sydney, and 2021 Worldwide RoboCup competitions.We also participated in theWorld Robot Challenge (WRC) 2018 in the service-robotics category of the partner-robot challenge (real space) and won first place. Currently, we have 27 members from nine different laboratories within the Kyushu Institute of Technology and the university of Kitakyushu. In this paper, we introduce the activities that have been performed by our team and the technologies that we use.

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arXiv2021

Cooling-Induced Vortex Decay in Keplerian Disks

Vortices are readily produced by hydrodynamical instabilities, such as the Rossby wave instability, in protoplanetary disks. However, large-scale asymmetries indicative of dust-trapping vortices are uncommon in sub-millimeter continuum observations. One possible explanation is that vortices have short lifetimes. In this paper, we explore how radiative cooling can lead to vortex decay. Elliptical vortices in Keplerian disks go through adiabatic heating and cooling cycles. Radiative cooling modifies these cycles and generates baroclinicity that changes the potential vorticity of the vortex. We show that the net effect is typically a spin down, or decay, of the vortex for a sub-adiabatic radial stratification. We perform a series of two-dimensional shearing box simulations, varying the gas cooling (or relaxation) time, $t_{\rm cool}$, and initial vortex strength. We measure the vortex decay half-life, $t_{\rm half}$, and find that it can be roughly predicted by the timescale ratio $t_{\rm cool}/t_{\rm turn}$, where $t_{\rm turn}$ is the vortex turnaround time. Decay is slow in both the isothermal ($t_{\rm cool}\ll t_{\rm turn}$) and adiabatic ($t_{\rm cool}\gg t_{\rm turn}$) limits; it is fastest when $t_{\rm cool}\sim0.1\,t_{\rm turn}$, where $t_{\rm half}$ is as short as $\sim300$ orbits. At tens of au where disk rings are typically found, $t_{\rm turn}$ is likely much longer than $t_{\rm cool}$, potentially placing vortices in the fast decay regime.

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arXiv2021

Effects of Dust Evolution on the Vertical Shear Instability in the Outer Regions of Protoplanetary Disks

The vertical shear instability (VSI) is a hydrodynamical instability that requires rapid gas cooling and has been suggested to operate in outer regions of protoplanetary disks. The VSI drives turbulence with strong vertical motions, which could regulate the dust growth and settling. However, dust growth and settling can regulate the VSI because dust depletion makes gas cooling inefficient in outer disk regions that are optically thin to their own thermal emission. In this study, we quantify this potentially stabilizing effects of dust evolution on the VSI based on the linear analysis. We construct a model for calculating the cooling timescale, taking into account dust growth beyond micron sizes and size-dependent settling. Combining the model with the linear stability analysis, we map the region where the VSI operates, which we call the VSI zone, and estimate the maximum growth rate at each radial position. We find that dust growth as well as settling makes the VSI zone more confined around the midplane. This causes a decrease in the growth rate because the vertical shear of the rotation velocity, which is the source of the instability, is weaker at lower altitude. In our default disk model with 0.01 solar masses, dust growth from 10 micron to 1 mm causes a decrease in the growth rate by a factor of more than 10. The suppression of VSI-driven turbulence by dust evolution may promote further dust evolution in the outer regions and also explain a high degree of dust settling observed in the disk around HL Tau.

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arXiv2021

ALMA observation of the protoplanetary disk around WW Cha: faint double-peaked ring and asymmetric structure

We present Atacama Large Millimeter/submillimeter Array (ALMA) Band 6 observations of dust continuum emission of the disk around WW Cha. The dust continuum image shows a smooth disk structure with a faint (low-contrast) dust ring, extending from $\sim 40$ au to $\sim 70$ au, not accompanied by any gap. We constructed the simple model to fit the visibility of the observed data by using MCMC method and found that the bump (we call the ring without the gap the bump) has two peaks at $40$ au and $70$ au. The residual map between the model and observation indicates asymmetric structures at the center and the outer region of the disk. These asymmetric structures are also confirmed by model-independent analysis of the imaginary part of the visibility. The asymmetric structure at the outer region is consistent with a spiral observed by SPHERE. To constrain physical quantities of the disk (dust density and temperature), we carried out radiative transfer simulations. We found that the midplane temperature around the outer peak is close to the freezeout temperature of CO on water ice ($\sim 30$ K). The temperature around the inner peak is about $50$ K, which is close to the freezeout temperature of H$_2$S and also close to the sintering temperature of several species. We also discuss the size distribution of the dust grains using the spectral index map obtained within the Band 6 data.

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arXiv2020

Hibikino-Musashi@Home 2020 Team Description Paper

Our team, Hibikino-Musashi@Home (HMA), was founded in 2010. It is based in Japan in the Kitakyushu Science and Research Park. Since 2010, we have annually participated in the RoboCup@Home Japan Open competition in the open platform league (OPL). We participated as an open platform league team in the 2017 Nagoya RoboCup competition and as a domestic standard platform league (DSPL) team in the 2017 Nagoya, 2018 Montreal, and 2019 Sydney RoboCup competitions. We also participated in the World Robot Challenge (WRC) 2018 in the service-robotics category of the partner-robot challenge (real space) and won first place. Currently, we have 20 members from eight different laboratories within the Kyushu Institute of Technology. In this paper, we introduce the activities that have been performed by our team and the technologies that we use.

cs.RO↗

arXiv2020

Hibikino-Musashi@Home 2019 Team Description Paper

Our team, Hibikino-Musashi@Home (HMA), was founded in 2010. It is based in the Kitakyushu Science and Research Park, Japan. Since 2010, we have participated in the RoboCup@Home Japan Open competition open platform league annually. We have also participated in the RoboCup 2017 Nagoya as an open platform league and domestic standard platform league teams, and in the RoboCup 2018 Montreal as a domestic standard platform league team. Currently, we have 23 members from seven different laboratories based in Kyushu Institute of Technology. This paper aims to introduce the activities that are performed by our team and the technologies that we use.

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arXiv2020

GW Ori: Interactions Between a Triple-star System and its Circumtriple Disk in Action

GW Ori is a hierarchical triple system which has a rare circumtriple disk. We present Atacama Large Millimeter/submillimeter Array (ALMA) observations of 1.3 mm dust continuum and 12CO J=2-1 molecular gas emission of the disk. For the first time, we identify three dust rings in the disk at ~46, 188, and 338 AU, with estimated dust mass of ~70-250 Earth masses, respectively. To our knowledge, the outer ring in GW Ori is the largest dust ring ever found in protoplanetary disks. We use visibility modelling of dust continuum to show that the disk has misaligned parts and the innermost dust ring is eccentric. The disk misalignment is also suggested by the CO kinematics modelling. We interpret these substructures as evidence of ongoing dynamical interactions between the triple stars and the circumtriple disk.

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arXiv2018

Parametric Study of the Rossby Wave Instability in a Two-dimensional Barotropic Disk II: Non-Linear Calculations

Vortices in protoplanetary disks have attracted attention since the discovery of lopsided structures. One of the possible mechanisms for producing vortices is the Rossby Wave Instability (RWI). In our previous work, we have performed detailed linear stability analyses of the RWI with various initial conditions. In this paper, we perform numerical simulations of the vortex formation by the RWI in 2D barotropic disks using the Athena++ code. As initial conditions, we consider axisymmetric disks with a Gaussian surface density bump of various contrasts and half-widths. Perturbations grow as expected from the linear stability analyses in the linear and weakly non-linear regimes. After the saturation, multiple vortices are formed in accordance with the most unstable azimuthal mode and coalesce one after another. In the end, only one quasi-stationary vortex (the RWI vortex) remains, which migrates inward. During the RWI evolution, the axisymmetric component approaches the stable configuration. We find that the axisymmetric component reaches the marginally stable state for the most unstable azimuthal mode at the saturation and the marginally stable state for the m = 1 mode at the final vortex merger. We investigate the structure and evolution of the RWI vortices. We obtain some empirical relations between the properties of the RWI vortices and the initial conditions. Using tracer particle analyses, we find that the RWI vortex can be considered as a physical entity like a large fluid particle. Our results provide a solid theoretical ground for quantitative interpretation of the observed lopsided structures in protoplanetary disks.

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arXiv2016

Parametric Study of the Rossby Wave Instability in a Two-Dimensional Barotropic Disk

Protoplanetary disks with non-axisymmetric structures have been observed. The Rossby wave instability (RWI) is considered as one of the origins of the non-axisymmetric structures. We perform linear stability analyses of the RWI in barotropic flow using four representative types of the background flow on a wide parameter space. We find that the co-rotation radius is located at the background vortensity minimum with large concavity if the system is marginally stable to the RWI, and this allows us to check the stability against the RWI easily. We newly derive the necessary and sufficient condition for the onset of the RWI in semi-analytic form. We discuss the applicability of the new condition in realistic systems and the physical nature of the RWI.

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arXiv2014

Rotational Instability in the Outer Region of Protoplanetary Disks

We analytically calculate the marginally stable surface density profile for rotational instability of protoplanetary disks. The derived profile can be utilized for considering the region in a rotating disk where radial pressure gradient force is comparable to the gravitational force, such as an inner edge, steep gaps or bumps and an outer region of the disk. In this paper we especially focus on the rotational instability in the outer region of disks. We find an protoplanetary disk with a surface density profile of similarity solution becomes rotationally unstable at a certain radius, depending on its temperature profile and a mass of the central star. If the temperature is relatively low and the mass of the central star is high, disks have rotationally stable similarity profiles. Otherwise, deviation from the similarity profiles of surface density could be observable, using facilities with high sensitivity, such as ALMA.

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