Related papers: RF gymnastics in synchrotrons
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
In this paper, we study the regulation of the Ground Contact Forces (GRF) in thruster-assisted legged locomotion. We will employ Reference Governors (RGs) for enforcing GRF constraints in Harpy model which is a bipedal robot that is being…
Machine learning entails a broad range of techniques that have been widely used in Science and Engineering since decades. High-energy physics has also profited from the power of these tools for advanced analysis of colliders data. It is…
Recent developments on medium modifications of hadron properties in dense and hot hadronic matter are discussed. I will focus in particular on the behavior of spectral functions associated to collective scalar-isoscalar modes, kaons and…
This paper proposes a novel hardware beamforming architecture, which is capable of utilizing a different number of Radio Frequency (RF) chains in different parts of the bandwidth. It also shows that a proportional fairness scheduler will…
We develop a rigidity theory for bar-joint frameworks in Euclidean $d$-space in which specified classes of edges are allowed to change length in a coordinated fashion that requires differences of lengths to be preserved within each class.…
Active matter refers to systems composed of self-propelled entities that consume energy to produce motion, exhibiting complex non-equilibrium dynamics that challenge traditional models. With the rapid advancements in machine learning,…
A metamorphic robotic system is an aggregate of homogeneous robot units which can individually and selectively locomote in such a way as to change the global shape of the system. We introduce a mathematical framework for defining and…
Structural symmetries of linear dynamical systems can be exploited for decoupling the dynamics and reducing the computational complexity of the controller implementation. However, in practical applications, inexact structural symmetries…
The transform considered in the paper averages a function supported in a ball in $\RR^n$ over all spheres centered at the boundary of the ball. This Radon type transform arises in several contemporary applications, e.g. in thermoacoustic…
Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…
Deep Reinforcement Learning (RL) is a promising approach for adaptive robot control, but its current application to robotics is currently hindered by high sample requirements. To alleviate this issue, we propose to exploit the symmetries…
A single electron circulating in a storage ring is a very peculiar object. Synchrotron radiation quantum fluctuation causes stohastic process in the synchrotron oscillation of an electron. The radiation from a undulator permits one to…
The free-electron laser FLASH at DESY and the European XFEL are operated with superconducting radio frequency cavities and supply beam to several user experiments. The switching time between experiments is limited to dozens of microseconds.…
Rather than proposing a new method, this paper investigates an issue present in existing learning algorithms. We study the learning dynamics of reinforcement learning (RL), specifically a characteristic coupling between learning and data…
Fast Radio Bursts (FRBs), a class of millisecond-scale, highly energetic phenomena with unknown progenitors and radiation mechanisms, require proper statistical analysis as a key method for uncovering their mysteries. In this research, we…
Many areas in science and engineering now have access to technologies that enable the rapid collection of overwhelming data volumes. While these datasets are vital for understanding phenomena from physical to biological and social systems,…
The study of the motion of a rigid body on a plane (RBP motion) is usually one of the most challenging topics that students face in introductory physics courses. In this paper, we discuss a couple of problems which are typically used in…
Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in sensor readings, and communication delays. Some approaches…
Fast radio bursts (FRBs) are recently discovered mysterious single pulses of radio emission, mostly coming from cosmological distances ($\sim 1$ Gpc). Their short duration, $\sim 1$ ms, and large luminosity evidence coherent emission. I…