Related papers: Simulation of Open-loop Plasma Vertical Movement R…
The paper suggests a generalization of the Sign-Perturbed Sums (SPS) finite sample system identification method for the identification of closed-loop observable stochastic linear systems in state-space form. The solution builds on the…
Hamiltonian systems that are either open, leaking, or contain holes in the phase space possess solutions that eventually escape the system's domain. The motion described by such escape orbits before crossing the escape threshold can be…
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…
We construct a model for the turbulence near the X-point of a Tokamak device and, under suitable assumptions, we arrive to a closed equation for the electric field potential fluctuations. The analytical and numerical analysis is focused on…
Accurate and efficient plasma models are essential to understand and control experimental devices. Existing magnetohydrodynamic or kinetic models are nonlinear, computationally intensive, and can be difficult to interpret, while often only…
In this paper, we present a factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. These facilities…
Trapped ion modes (TIM) belong to the family of ion temperature gradient (ITG) modes, which are one of the important ingredients in heat turbulent transport at the ion scale in tokamak plasmas. It is essential to properly estimate their…
This paper reports on technical aspects of Plasma Operational Simulation (POPSIM), a research framework for data-driven simulation and control built in the machine learning framework JAX. The objective of the project is to address the…
This paper presents a numerical investigation of isolated filament dynamics in a simulation geometry representative of the scrape-off layer (SOL) of the Mega Amp Spherical Tokamak (MAST) previously studied in [N.R.Walkden et.al, Plasma…
While a characterization of plant-model mismatch is necessary for robust control, the mismatch usually can not be described accurately due to the lack of knowledge about the plant model or the complexity of nonlinear plants. Hence, this…
Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…
Externally applied non-axisymmetric magnetic fields such as error field and resonant magnetic perturbation (RMP) are known to influence the plasma momentum transport and flow evolution through plasma response in a tokamak, whereas the…
This study investigates the feasibility of reconstructing the last closed flux surface (LCFS) in the DIII-D tokamak using neural network models trained on reduced input feature sets, addressing an ill-posed task. Two models are compared:…
Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions…
Force-free plasmas are a good approximation where the plasma pressure is tiny compared with the magnetic pressure, which is the case during the cold vertical displacement event (VDE) of a major disruption in a tokamak. On time scales long…
A new open source tool for fluid simulation of multi-component plasmas is presented, based on a flexible software design that is applicable to scientific simulations in a wide range of fields. This design enables the same code to be…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
We investigate the quantum breathing mode (monopole oscillation) of trapped fermionic particles with Coulomb and dipole interaction in one and two dimensions. This collective oscillation has been shown to reveal detailed information on the…
This paper outlines an approach towards improved rigour in tokamak turbulence transport model validation within integrated modelling. Gaussian process regression (GPR) techniques were applied for profile fitting during the preparation of…
Goal of this paper is to investigate several numerical schemes for the resolution of two anisotropic Vlasov equations. These two toy-models arise from a kinetic description of a tokamak plasma confined by strong magnetic fields. The…