arXiv subjects

Yusuke Tsunoda

Publications and source records attributed to Yusuke Tsunoda.

At least 19 recordsLinked to original sources

arXiv2026

How long can a non-spherical quantum object remain standing ? - a fundamental quantum question -

An isolated quantum system generally exhibits rotational symmetry, i.e., conserved spin (angular momentum) in its eigenstates. Non-spherical quantum objects such as many of molecules and atomic nuclei are not exceptions. However, these objects are not rotationally invariant by definition. Such an object therefore restores, as a consequence of the action of Hamiltonian, the rotational symmetry by superposing states of the same object orienting in different directions, where each component represents one direction. We show the time evolution of an individual component of this superposition: this component remains almost unchanged for finite time, called standing time. This implies that if the object is found to be in this component, it basically remains so for the standing time. This feature is shown to be relevant in a variety of cases, such as atomic nuclei, polymers (proteins), and electron drops in atoms. The shapes of many nuclei are ellipsoids with variations. The "viewing" of the ellipsoidal shape is not straightforward, because this ellipsoid is not at rest. A "snapshot" of a nucleus is highly desired as a direct information. Recent experimental approaches with Relativistic Heavy-ion Collision (RHC) are promising for taking such a snapshot. The present work depicts that the standing time, some 10^{-23} sec for typical ellipsoidal nuclei, is much longer than the time scale of RHC, some 10^{-25} sec. This implies that an ellipsoidal nucleus remains practically unchanged for this critical period. As the standing time will be intimately related, through a relation like the energy-time uncertainty relation, to the energy scales involved, we can also explore this concept and its applications in a variety of physical cases such as fusion (tunneling process), fission, alpha-decay/emission, polymers and electron drop in atom.

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arXiv2026

Shepherding UAV Swarm with Action Prediction Based on Movement Constraints

In this study, we propose a new sheepdog-inspired control method for a swarm of small unmanned aerial vehicles (UAVs), which predicts the swarm behavior while explicitly accounting for the motion constraints of real robots. Sheepdog-inspired guidance control refers to a framework in which a small number of navigator agents (sheepdog agents) indirectly drive a large number of autonomous agents (a flock of sheep agents) so as to steer the group toward a target position. In conventional studies on sheepdog-inspired guidance, both types of agents have typically been modeled as point masses, and the guidance law for the navigator agents has been designed using simple interaction vectors based on the instantaneous relative positions between the agents. However, when implementing such methods on real robots such as drones, it is necessary to consider each agent's motion constraints, including upper bounds on velocity and acceleration. Moreover, we argue that guidance can be made more efficient by predicting the future behavior of the autonomous swarm that is observable to the navigator agents. To this end, we propose a three-dimensional guidance control law based on behavior prediction of autonomous agents under motion constraints, inspired by the Dynamic Window Approach (DWA). At each control cycle, the navigator agent generates a set of feasible motion candidates that satisfy its motion constraints, and predicts the short-horizon swarm evolution using an internal model of the autonomous agents maintained within the navigator agent. The motion candidates are then evaluated according to criteria such as the progress velocity toward the target, the positioning strategy with respect to the swarm, and safety margins, and the optimal motion is selected to achieve safe and efficient guidance. Numerical simulation results demonstrate the effectiveness of the proposed guidance control law.

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arXiv2025

Development of Implicit-Explicit Control Based Amphibious Centipede-Type Robot and Evaluation of its Mobile Performance

Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating between different environments such as land and water, the primary strategy employed involves switching to a controller that generates an appropriate gait for the new environment upon entering it. However, designing appropriate gaits for each complex and diverse environment and accurately determining controller switching for each environment is challenging. Therefore, this research develops a centipede-type mobile robot that navigates both aquatic and terrestrial environments with a simple, unified control scheme, based on the implicit-explicit control philosophy and by ingeniously designing the robot's body structure. In this research, we developed the robot featuring flexible joints and left and right legs on each body segment and focused on the leg structure which has extensive contact with the environment. This paper evaluates the locomotion performance on land and water using the three developed leg structures, using the robot's leg slip rate and actuator energy consumption as evaluation metrics. The experimental results confirmed the existence of an appropriate leg structure capable of navigating both aquatic and terrestrial environments under identical control.

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arXiv2025

Probing the shape evolution and shell structures in neutron-rich N=50 nuclei

The structure of low-lying states of $N=50$ nuclei is investigated by the advanced Monte Carlo shell model (MCSM) in the $\pi{(fp)}$-$\nu{(sdg)}$ model space. We have employed the shell-model Hamiltonian based on the valence-space in-medium similarity renormalization group, with minimal phenomenological adjustments to the single-particle energies. The MCSM results with the modified Hamiltonian nicely predict the shape coexistence of $^{78}$Ni, consistent with recent experimental data. The evolution of intrinsic shapes from the spherical shape to prolate shapes in the ground state of $N=50$ nuclei is discussed using the "T-plot" and effective single-particle energies, which visualize the intrinsic quadrupole deformation of the MCSM wave function. The present result shows that the monopole part of the tensor force does not enhance the shape coexistence of $^{78}$Ni, unlike the case of $^{68}$Ni.

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arXiv2025

Nuclear Physics Confronts Relativistic Collisions Of Isobars

High-energy collisions involving the $A=96$ isobars $^{96}$Zr and $^{96}$Ru have been performed in 2018 at Brookhaven National Laboratory's Relativistic Heavy Ion Collider (RHIC) as a means to search for the chiral magnetic effect in QCD. This would manifest itself as specific deviations from unity in the ratio of observables taken between $^{96}$Zr+$^{96}$Zr and $^{96}$Ru+$^{96}$Ru collisions. Measurements of such ratios (released at the end of 2021) indeed reveal deviations from unity, but these are primarily caused by the two collided isobars having different radial profiles and intrinsic deformations. To make progress in understanding RHIC data, nuclear physicists across the energy spectrum gathered in Heidelberg in 2022 as part of an EMMI Rapid Reaction Task Force (RRTF) to address the following question. Does the combined effort of low-energy nuclear structure physics and high-energy heavy-ion physics enable us to understand the observations made in isobar collisions at RHIC?

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arXiv2025

MRS-CWC: A Weakly Constrained Multi-Robot System with Controllable Constraint Stiffness for Mobility and Navigation in Unknown 3D Rough Environments

Navigating unknown three-dimensional (3D) rugged environments is challenging for multi-robot systems. Traditional discrete systems struggle with rough terrain due to limited individual mobility, while modular systems--where rigid, controllable constraints link robot units--improve traversal but suffer from high control complexity and reduced flexibility. To address these limitations, we propose the Multi-Robot System with Controllable Weak Constraints (MRS-CWC), where robot units are connected by constraints with dynamically adjustable stiffness. This adaptive mechanism softens or stiffens in real-time during environmental interactions, ensuring a balance between flexibility and mobility. We formulate the system's dynamics and control model and evaluate MRS-CWC against six baseline methods and an ablation variant in a benchmark dataset with 100 different simulation terrains. Results show that MRS-CWC achieves the highest navigation completion rate and ranks second in success rate, efficiency, and energy cost in the highly rugged terrain group, outperforming all baseline methods without relying on environmental modeling, path planning, or complex control. Even where MRS-CWC ranks second, its performance is only slightly behind a more complex ablation variant with environmental modeling and path planning. Finally, we develop a physical prototype and validate its feasibility in a constructed rugged environment. For videos, simulation benchmarks, and code, please visit https://wyd0817.github.io/project-mrs-cwc/.

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arXiv2024

Power in Numbers: Primitive Algorithm for Swarm Robot Navigation in Unknown Environments

Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with self-localization and path generation based on those maps. Additionally, there is research on Sim-to-Real transfer, where robots acquire behaviors through pre-trained reinforcement learning and apply these learned actions in real-world navigation. However, strictly the observe action and modelling of unknown environments that change unpredictably over time with accuracy and precision is an extremely complex endeavor. This study proposes a simple navigation algorithm for traversing unknown environments by utilizes the number of swarm robots. The proposed algorithm assumes that the robot has only the simple function of sensing the direction of the goal and the relative positions of the surrounding robots. The robots can navigate an unknown environment by simply continuing towards the goal while bypassing surrounding robots. The method does not need to sense the environment, determine whether they or other robots are stuck, or do the complicated inter-robot communication. We mathematically validate the proposed navigation algorithm, present numerical simulations based on the potential field method, and conduct experimental demonstrations using developed robots based on the sound fields for navigation.

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arXiv2023

GREEMA: Proposal and Experimental Verification of Growing Robot by Eating Environmental MAterial for Landslide Disaster

In areas that are inaccessible to humans, such as the lunar surface and landslide sites, there is a need for multiple autonomous mobile robot systems that can replace human workers. In particular, at landslide sites such as river channel blockages, robots are required to remove water and sediment from the site as soon as possible. Conventionally, several construction machines have been deployed to the site for civil engineering work. However, because of the large size and weight of conventional construction equipment, it is difficult to move multiple units of construction equipment to the site, resulting in significant transportation costs and time. To solve such problems, this study proposes a novel growing robot by eating environmental material called GREEMA, which is lightweight and compact during transportation, but can function by eating on environmental materials once it arrives at the site. GREEMA actively takes in environmental materials such as water and sediment, uses them as its structure, and removes them by moving itself. In this paper, we developed and experimentally verified two types of GREEMAs. First, we developed a fin-type swimming robot that passively takes water into its body using a water-absorbing polymer and forms a body to express its swimming function. Second, we constructed an arm-type robot that eats soil to increase the rigidity of its body. We discuss the results of these two experiments from the viewpoint of Explicit-Implicit control and describe the design theory of GREEMA.

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arXiv2023

Route Design in Sheepdog System--Traveling Salesman Problem Formulation and Evolutionary Computation Solution--

In this study, we consider the guidance control problem of the sheepdog system, which involves the guidance of the flock using the characteristics of the sheepdog and sheep. Sheepdog systems require a strategy to guide sheep agents to a target value using a small number of sheepdog agents, and various methods have been proposed. Previous studies have proposed a guidance control law to guide a herd of sheep reliably, but the movement distance of a sheepdog required for guidance has not been considered. Therefore, in this study, we propose a novel guidance algorithm in which a supposedly efficient route for guiding a flock of sheep is designed via Traveling Salesman Problem and evolutionary computation. Numerical simulations were performed to confirm whether sheep flocks could be guided and controlled using the obtained guidance routes. We specifically revealed that the proposed method reduces both the guidance failure rate and the guidance distance.

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arXiv2023

Shape transition of Nd and Sm isotopes and neutrinoless double-beta decay nuclear matrix element of $^{150}$Nd

Neutron-rich Nd and Sm isotopes are known to exhibit shape phase transition as a function of neutron number. Among them, $^{150}$Nd and $^{150}$Sm are important not only because they are transitional nuclei, but also the parent and daughter nuclei of double-beta decay. We performed large-scale shell-model calculations of even-even Nd and Sm isotopes including the spherical-deformed shape transition. The quasi-particle vacua shell model enables us to perform shell-model calculations with sufficiently large model space with the $^{110}$Zr inert core. The shell-model result well reproduces the experimental excitation energies and quadrupole properties of the yrast and non-yrast states. The nuclear matrix element of neutrinoless double-beta decay of $^{150}$Nd is evaluated showing its modest enhancement by shape mixing.

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arXiv2022

$SO(3)$ quadratures in angular-momentum projection

While the angular-momentum projection is a common tool for theoretical nuclear structure studies, a large amount of computations are required particularly for triaxially deformed states. In the present work, we clarify the conditions of the exactness of quadratures in the projection method. For efficient computation, the Lebedev quadrature and spherical $t$-design are introduced to the angular-momentum projection. The accuracy of the quadratures is discussed in comparison with the conventional Gauss-Legendre and trapezoidal quadratures. We found that the Lebedev quadrature is the most efficient among them and the necessary number of sampling points for the quadrature, which is often proportional to the computation time, is reduced by a factor 3/2 in comparison with the conventional method.

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arXiv2022

Moments and Radii of exotic Na and Mg isotopes

The ground-state properties of neutron-rich exotic Na and Mg isotopes with even numbers of neutrons, N, are studied up to driplines. The shell-model calculations with an ab initio effective nucleon-nucleon interaction reported in [Tsunoda, Otsuka, Takayanagi et al., Nature 587, 66 (2020)] are extended to observables such as magnetic dipole and electric quadrupole moments, and charge and matter radii. Good agreements with experimental data are found, and predictions are shown up to driplines. A prescription to extract the deformation parameters for the eigenstates of Monte Carlo Shell Model is presented, and the obtained values are used to calculate charge and matter radii. The increase of these radii from the Droplet model is described as the consequences of the varying deformation of the surface and the growing neutron excitations or occupations in the pf shell, consistently with the dripline mechanism presented in the above reference. The neutron skin thickness is shown to be about 0.1 fm for N=20, which can be compared to the value for 208Pb in an A1/3 scaling. The relation of the neutron skin thickness to the electromagnetic moments is discussed for an exotic nucleus, 31Na.

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arXiv2021

Triaxial rigidity of $^{166}$Er and its Bohr-model realization

The triaxial nature of low-lying rotational bands of $^{166}$Er is presented from the viewpoint of the Bohr Hamiltonian and from that of many-fermion calculations by the Monte Carlo shell model and the constrained Hartree-Fock method with projections. A recently proposed novel picture of those bands suggests definite triaxial shapes of those bands, in contrast to the traditional view with the prolate ground-state band and the $γ$-vibrational excited band. Excitation level energies and E2 transitions can be described well by the Bohr Hamiltonian and by the many-fermion approaches, where rather rigid triaxiality plays vital roles, although certain fluctuations occur in shell-model wave functions. Based on the potential energy surfaces with the projections, we show how the triaxial rigidity appears and what the softness of the triaxiality implies. The excitation to the so-called double $γ$-phonon state is discussed briefly.

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arXiv2020

Variational approach with the superposition of the symmetry-restored quasi-particle vacua for nuclear shell-model calculations

We propose a variational calculation scheme utilizing the superposition of the angular-momentum, parity, number projected quasiparticle vacua, that is especially suitable for applying to medium-heavy nuclei in shell-model calculations. We derive a formula for the energy variance with quasi-particle vacua and apply the energy-variance extrapolation to the present scheme for further precise estimation of the exact shell-model energy. The validity of the method is presented for the shell-model calculation of $^{132}$Ba in the $50 \leq Z,N \leq 82$ model space. We also discuss the feasibility of this scheme in the case of the $^{150}$Nd in the $50 \leq Z \leq 82$ and $82 \leq Z \leq 126$ model space and demonstrate that its neutrinoless-double-beta-decay matrix element is obtained showing good convergence.

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arXiv2019

Underlying structure of collective bands and self-organization in quantum systems

The underlying structure of low-lying collective bands of atomic nuclei is discussed from a novel perspective on the interplay between single-particle and collective degrees of freedom, by utilizing state-of-the-art configuration interaction calculations on heavy nuclei. Besides the multipole components of the nucleon-nucleon interaction that drive collective modes forming those bands, the monopole component is shown to control the resistance against such modes. The calculated structure of 154Sm corresponds to coexistence between prolate and triaxial shapes, while that of 166Er exhibits a deformed shape with a strong triaxial instability. Both findings differ from traditional views based on beta/gamma vibrations. The formation of collective bands is shown to be facilitated from a self-organization mechanism.

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arXiv2019

Thick-Restart Block Lanczos Method for Large-Scale Shell-Model Calculations

We propose a thick-restart block Lanczos method, which is an extension of the thick-restart Lanczos method with the block algorithm, as an eigensolver of the large-scale shell-model calculations. This method has two advantages over the conventional Lanczos method: the precise computations of the near-degenerate eigenvalues, and the efficient computations for obtaining a large number of eigenvalues. These features are quite advantageous to compute highly excited states where the eigenvalue density is rather high. A shell-model code, named KSHELL, equipped with this method was developed for massively parallel computations, and it enables us to reveal nuclear statistical properties which are intensively investigated by recent experimental facilities. We describe the algorithm and performance of the KSHELL code and demonstrate that the present method outperforms the conventional Lanczos method.

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arXiv2018

Novel shape evolution in Sn isotopes from magic numbers 50 to 82

A novel shape evolution in the Sn isotopes by the state-of-the-art application of the Monte Carlo Shell Model calculations is presented in a unified way for the 100-138Sn isotopes. A large model space consisting of eight single-particle orbits for protons and neutrons is taken with the fixed Hamiltonian and effective charges, where protons in the 1g9/2 orbital are fully activated. While the significant increase of the B(E2; 0+1 -> 2+1) value, seen around 110Sn as a function of neutron number (N), has remained a major puzzle over decades, it is explained as a consequence of the shape evolution driven by proton excitations from the 1g9/2 orbital. A second-order quantum phase transition is found around N=66, connecting the phase of such deformed shapes to the spherical pairing phase. The shape and shell evolutions are thus described, covering topics from the Gamow-Teller decay of 100Sn to the enhanced double magicity of 132Sn.

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arXiv2016

Quantum Phase Transition in the Shape of Zr isotopes

The rapid shape change in Zr isotopes near neutron number $N$=60 is identified to be caused by type II shell evolution associated with massive proton excitations to its $0g_{9/2}$ orbit, and is shown to be a quantum phase transition. Monte Carlo shell-model calculations are carried out for Zr isotopes of $N$=50-70 with many configurations spanned by eight proton orbits and eight neutron orbits. Energy levels and B(E2) values are obtained within a single framework in a good agreement with experiments, depicting various shapes in going from $N$=50 to 70. Novel coexistence of prolate and triaxial shapes is suggested.

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