Related papers: Dynamic Plasma Shape Control with Arbitrary Sensor…
A fundamental control problem for autonomous vehicle formations is formation shape control, in which the agents must maintain a prescribed formation shape using only information measured or communicated from neighboring agents. While a…
Strong $E\times B$ plasma flow shear is beneficial for reducing turbulent transport. However, traditional methods of driving flow shear do not scale well to large devices such as future fusion power plants. In this paper, we use a large…
Consistent editing of real images is a challenging task, as it requires performing non-rigid edits (e.g., changing postures) to the main objects in the input image without changing their identity or attributes. To guarantee consistent…
The most promising concepts for power and particle control in tokamaks and other fusion experiments rely upon atomic processes to transfer the power and momentum from the edge plasma to the plasma chamber walls. This places a new emphasis…
When treating moving tumors, the precise delivery of proton therapy by pencil beam scanning (PBS) is challenged by the interplay effect. Although several 4D-optimization methods have been proposed, what is the most beneficial motion…
A self-consistent model is presented for the simulation of a multi-component plasma in the tokamak boundary. A deuterium plasma is considered, with the plasma species that include electrons, deuterium atomic ions and deuterium molecular…
Avoidance of the harmful effects of runaway electrons (REs) in plasma-terminating disruptions is pivotal in the design of safety systems for magnetic fusion devices. Here, we describe a computationally efficient numerical tool, that allows…
The analysis of turbulence in plasmas is fundamental in fusion research. Despite extensive progress in theoretical modeling in the past 15 years, we still lack a complete and consistent understanding of turbulence in magnetic confinement…
Shape control of deformable objects is a challenging and important robotic problem. This paper proposes a model-free controller using novel 3D global deformation features based on modal analysis. Unlike most existing controllers using…
We propose a fully automatic method to find standardized view planes in 3D image acquisitions. Standard view images are important in clinical practice as they provide a means to perform biometric measurements from similar anatomical…
This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the…
In this paper, we study the problem of zero-shot sim-to-real when the task requires both highly precise control with sub-millimetre error tolerance, and wide task space generalisation. Our framework involves a coarse-to-fine controller,…
In continuum robotics, real-time robust shape estimation is crucial for planning and control tasks that involve physical manipulation in complex environments. In this paper, we present a novel stochastic observer-based shape estimation…
Robotic surface consisting of many actuators can change shape to perform tasks, such as facilitating human-machine interactions and transporting objects. Increasing the number of actuators can enhance the robot's capacity, but controlling…
Particle-based shape modeling (PSM) is a popular approach to automatically quantify shape variability in populations of anatomies. The PSM family of methods employs optimization to automatically populate a dense set of corresponding…
Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
In many deep reinforcement learning settings, when an agent takes an action, it repeats the same action a predefined number of times without observing the states until the next action-decision point. This technique of action repetition has…
Pedestal is the key to conventional high performance plasma scenarios in tokamaks. However, high fidelity simulations of pedestal plasmas are extremely challenging due to the multiple physical processes and scales that are encompassed by…
Diffusion models (DMs), lauded for their generative performance, are computationally prohibitive due to their billion-scale parameters and iterative denoising dynamics. Existing efficiency techniques, such as quantization, timestep…