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In this study, we propose a novel approach for investigating optimization performance by flexible robot coordination in automated warehouses with multi-agent reinforcement learning (MARL)-based control. Automated systems using robots are expected to achieve efficient operations compared with manual systems in terms of overall optimization performance. However, the impact of overall optimization on performance remains unclear in most automated systems due to a lack of suitable control methods. Thus, we proposed a centralized training-and-decentralized execution MARL framework as a practical overall optimization control method. In the proposed framework, we also proposed a single shared critic, trained with global states and rewards, applicable to a case in which heterogeneous agents make decisions asynchronously. Our proposed MARL framework was applied to the task selection of material handling equipment through automated order picking simulation, and its performance was evaluated to determine how far overall optimization outperforms partial optimization by comparing it with other MARL frameworks and rule-based control methods., Comment: 8 pages, 4 figures, accepted at International Conference on Intelligent Robots and Systems (IROS2023)

Long-term time variabilities of the OVII (0.57 keV) emission in the soft X-ray diffuse background were studied using six Suzaku annual observations of blank sky towards the Lockman Hole made from 2006 to 2011. After time intervals in which the emission was enhanced on time scales of a few tens of ks were removed, the O VII intensity was found to be constant from 2006 to 2009 within the 90% statistical errors. The intensity in 2010 and 2011 was higher by 2-3 LU (photons/s/cm/sr) than the earlier values. The most plausible origin of the fast variable component is Solar wind charge exchange (SWCX). The intensity increase is not positively correlated with the proton flux at the L1 point. Since all the observations were made in the same season of a year, the variation cannot be explained by parallax of the SWCX induced X-ray emission from the Heliosphere. We consider that it is related to the geometrical change of slow and fast solar wind structures associated with the 11 year solar activity. The observed variation was compared with that expected from the SWCX induced X-ray emission model., Comment: 16 pages, 4 figures, 2 tables, in press, PASJ

We present an analysis of a Suzaku observation taken during the geomagnetic storm of 2005 August 23-24. We found time variation of diffuse soft X-ray emission when a coronal mass ejection hit Earth and caused a geomagnetic storm. The diffuse emission consists of fluorescent scattering of solar X-rays and exospheric solarwind charge exchange. The former is characterized by a neutral oxygen emission line due to strong heating of the upper atmosphere during the storm time, while the latter is dominated by a sum of C V, C VI, N VI, N VII, O VII, and O VIII emission lines due to the enhanced solar wind flux in the vicinity of the exosphere. Using the solar wind data taken with the ACE and WIND satellites,a time correlation between the solar wind and the strong O VII line flux were investigated. We estimated necessary column densities for the solar X-ray scattering and exospheric SWCX. From these results, we argue that a part of the solar wind ions enter inside the magnetosphere and cause the SWCX reaction., Comment: 33 pages, 16 figures, accepted for publication in PASJ

We report on a new merging group of galaxies, Suzaku J1552+2739 at z ~ 0.08 revealed by a SUZAKU observation. The group was found by observing a junction of galaxy filaments optically identified in the Sloan Digital Sky Survey spectroscopic data. Suzaku J1552+2739 exhibits an irregular morphology and presents several peaks in its X-ray image. A bright elliptical galaxy, observable in the central peak, allows the localization of the group at z = 0.083. We found a significant hot spot visible in the X-ray hardness map, close to the second peak. The spectroscopic temperature is T = 1.6+0.4-0.1 keV within R500 = 0.6 Mpc and T = 3 - 5 keV in the hot spot. We interpret those results as Suzaku J1552+2739 being located in the center of a major merging process. The observation of a galaxy group showing multiple X-ray peaks and a hot spot at the same time is rare and we believe in particular that the study of Suzaku J1552+2739 potentially presents a significant interest to better understand the dynamical and thermal evolution of the intragroup and intracluster medium, as well as its relation with surrounding environment., Comment: 6 pages, 4 figures 1 table, Accepted by ApJ Letters

We report the detection of a time variable OVII line emission in a deep 100 ks Suzaku X-ray Imaging Spectrometer spectrum of the Galactic Ridge X-ray emission. The observed line intensity is too strong (11+/-2 line unit or photon cm^-2 s^-1 str^-1) to be emitted inside the heavily obscured Galactic disk. It showed a factor of two time variation which shows a significant (~4 sigma) correlation with the solar wind O^7+ ion flux. The high line intensity and the good time correlation with the solar wind strongly suggests that it originated from geocoronal solar wind charge exchange emission. We discuss the X-ray line intensity considering a line of sight direction and also theoretical distribution models of the neutral hydrogen and solar wind around the Earth. Our results indicate that X-ray observationsof geocoronal solar wind charge exchange emission can be used to constrain these models., Comment: 14 pages, 5 figures; accepted to PASJ