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In this paper, I try to reconcile the vulgar (normative) definition of punishment with the positivistic (purely descriptive) definition that separates the ethics of punishment from its definition—punishment positivism. I will argue that although the vulgar definition has critical issues, this does not mean that we should stop using normative concepts in the definition of punishment. I will attempt
Ultra-lean combustion is a promising strategy for enhancing engine efficiency and reducing pollutant emissions. In the present study, laminar burning velocity, SL, of n-heptane, a key gasoline surrogate component, was measured at 298 K and 1 atm using the heat flux method. The experimental conditions cover ultra-lean conditions with an equivalence ratio as low as 0.5 that have never been reported
Making use of the APOGEE DR17 catalogue with high quality data for 143 509 red giant branch stars we explore the strength of different mechanisms that causes a star to radially migrate in the Milky Way stellar disc. At any position in the disc we find stars that are more metal-rich than the local interstellar medium. This is surprising and normally attributed to the migration of these stars after
The use of pheromones, while common, remains underexplored in mosquito research. Understanding Aedes aegypti's mating behaviour and pheromones is crucial for expanding knowledge and advancing vector control strategies. Unlike other species, Aedes mosquitoes have adaptable mating behaviour, complicating the study of their communication mechanisms. Current literature on Aedes communication is sparse
Statistical combinations of searches for charginos and neutralinos using various decay channels are performed using 139 fb^{-1} of pp collision data at sqrt[s]=13 TeV with the ATLAS detector at the Large Hadron Collider. Searches targeting pure-wino chargino pair production, pure-wino chargino-neutralino production, or Higgsino production decaying via standard model W, Z, or h bosons are combined
In this paper, for any homogeneous system of agents with linear continuous time dynamics, we formulate an optimal control problem. In this problem a convex cost functional of the control signals of the agents shall be minimized, while the outputs of the agents shall coincide at some given finite time. This is an instance of the rendezvous or finite time consensus problem. We solve this problem wit
This paper addresses the consensus problem and the formation problem on SE(3) in multi-agent systems with directed and switching interconnection topologies. Several control laws are introduced for the consensus problem. By a simple transformation, it is shown that the proposed control laws can be used for the formation problem. The design is first conducted on the kinematic level, where the veloci
The alignment of a set of objects by means of transformations plays an important role in computer vision. Whilst the case for only two objects can be solved globally, when multiple objects are considered usually iterative methods are used. In practice the iterative methods perform well if the relative transformations between any pair of objects are free of noise. However, if only noisy relative tr
This paper addresses attitude synchronization problems for systems of multiple rigid-body agents with directed interconnection topologies. Two scenarios which differ in available information are considered. In the first scenario the agents can obtain their rotations and angular velocities relative to an inertial reference frame and transmit these information to their neighbors, while in the second
We consider the problem of attitude synchronization for systems of rigid body agents with directed topologies. Two different scenarios for the rotation matrices of the agents are considered. In the first scenario, the rotations are contained in a convex subset of SO(3), which is a ball of radius less than π/2, whereas in the second scenario the agents are contained in a subset of SO(3), which is a
This paper addresses the attitude synchronization problem in multi-agent systems with directed and switching interconnection topologies. Two cases for the synchronization problem are discussed under different assumptions about the measurable information. In the first case the agents can measure their rotations relative to a global reference coordinate frame, whilst in the second case they can only
In this paper, we give a distributed solution to the problem of making a team of nonholonomic robots reach consensus about their orientations using monocular cameras. We consider a scheme where the motions of the robots are decided using nearest-neighbor rules. Each robot is equipped with a camera and can only exchange visual information with a subset of the other robots. The main contribution of
Here we address the problem of moving a camera from an initial pose to a final pose. The trajectory between the two poses is subject to constraints on the camera motion and the visibility, where we have bounds on the allowed velocities and accelerations of the camera and require that a set of point features are visible for the camera. We assume that the pose is possible to retrieve from the observ
This paper addresses the attitude synchronization problem of multiple rigid body agents in SO(3) with directed and switching interconnection topologies. Using the axis-angle representation of the orientation, a distributed controller based on differences between the orientations of agents in a global frame is proposed. In the case of the balanced interconnection graph, the attitude synchronization
In the present paper we consider the problem of attitude synchronization for a system of rigid body agents. We provide distributed kinematic control laws for two different synchronization problems. In the two problems the objective is the same, i.e., to synchronize the orientations of the agents, but what is assumed to be measurable by the agents differs. In problem 1 the agents measure their own
In this paper we study the output consensus problem for systems of agents with linear continuous, time invariant dynamics. We derive control laws with minimal energy that solves the problem, while using only relative information. Instead of considering a fixed communication topology for the agents, and derive the optimal control for that topology, we derive the optimal control law for any communic
In this paper we consider the problem of constructing feedback control laws for a system of n agents that shall synchronize their attitudes in SO(3). We propose distributed controllers for two synchronization problems, in which the objective is the same, to synchronize the orientations, but what the agents can perceive or communicate differs. In the first problem the agents can measure their orien
