Body randomization reduces the sim-to-real gap for compliant quadruped locomotion

Designing controllers for compliant, underactuated robots is challenging and usually requires a learning procedure. Learning robotic control in simulated environments can speed up the process whilst lowering risk of physical damage. Since perfect simulations are unfeasible, several techniques are used to improve transfer to the real world. Here, we investigate the impact of randomizing body parameters during learning of CPG controllers in simulation. The controllers are evaluated on our physical quadruped robot. We find that body randomization in simulation increases chances of finding gaits that function well on the real robot

The 8Li Calibration Source for the Sudbury Neutrino Obervatory

A calibration source employing 8Li (t_1/2 = 0.838s) has been developed for use with the Sudbury Neutrino Observatory (SNO). This source creates a spectrum of beta particles with an energy range similar to that of the SNO 8B solar neutrino signal. The source is used to test the SNO detector's energy response, position reconstruction and data reduction algorithms. The 8Li isotope is created using a deuterium-tritium neutron generator in conjunction with a 11B target, and is carried to a decay chamber using a gas/aerosol transport system. The decay chamber detects prompt alpha particles by gas scintillation in coincidence with the beta particles which exit through a thin stainless steel wall. A description is given of the production, transport, and tagging techniques along with a discussion of the performance and application of the source.Comment: 11 pages plus 9 figures, Sumbitted to Nuclear Instruments and Methods

Performance of the neutron polarimeter NPOL3 for high resolution measurements

We describe the neutron polarimeter NPOL3 for the measurement of polarization transfer observables $D_{ij}$ with a typical high resolution of $\sim$300 keV at $T_n$ $\simeq$ 200 MeV. The NPOL3 system consists of three planes of neutron detectors. The first two planes for neutron polarization analysis are made of 20 sets of one-dimensional position-sensitive plastic scintillation counters with a size of 100 cm $\times$ 10 cm $\times$ 5 cm, and they cover the area of 100 $\times$ 100 $\mathrm{cm}^2$. The last plane for detecting doubly scattered neutrons or recoiled protons is made of the two-dimensional position-sensitive liquid scintillation counter with a size of 100 cm $\times$ 100 cm $\times$ 10 cm. The effective analyzing powers $A_{y;\mathrm{eff}}$ and double scattering efficiencies $\epsilon_{\mathrm{D.S.}}$ were measured by using the three kinds of polarized neutrons from the ${}^{2}{\rm H}(\vec{p},\vec{n})pp$, ${}^{6}{\rm Li}(\vec{p},\vec{n}){}^{6}{\rm Be}(\mathrm{g.s.})$, and ${}^{12}{\rm C}(\vec{p},\vec{n}){}^{12}{\rm N}(\mathrm{g.s.})$ reactions at $T_p$ = 198 MeV. The performance of NPOL3 defined as $\epsilon_{\mathrm{D.S.}}(A_{y;\mathrm{eff}})^2$ are similar to that of the Indiana Neutron POLarimeter (INPOL) by taking into account for the counter configuration difference between these two neutron polarimeters.Comment: 28 pages, 18 figures, submitted to Nucl. Instrum. Methods Phys. Res.

Use of COTS functional analysis software as an IVHM design tool for detection and isolation of UAV fuel system faults

This paper presents a new approach to the development of health management solutions which can be applied to both new and legacy platforms during the conceptual design phase. The approach involves the qualitative functional modelling of a system in order to perform an Integrated Vehicle Health Management (IVHM) design – the placement of sensors and the diagnostic rules to be used in interrogating their output. The qualitative functional analysis was chosen as a route for early assessment of failures in complex systems. Functional models of system components are required for capturing the available system knowledge used during various stages of system and IVHM design. MADe™ (Maintenance Aware Design environment), a COTS software tool developed by PHM Technology, was used for the health management design. A model has been built incorporating the failure diagrams of five failure modes for five different components of a UAV fuel system. Thus an inherent health management solution for the system and the optimised sensor set solution have been defined. The automatically generated sensor set solution also contains a diagnostic rule set, which was validated on the fuel rig for different operation modes taking into account the predicted fault detection/isolation and ambiguity group coefficients. It was concluded that when using functional modelling, the IVHM design and the actual system design cannot be done in isolation. The functional approach requires permanent input from the system designer and reliability engineers in order to construct a functional model that will qualitatively represent the real system. In other words, the physical insight should not be isolated from the failure phenomena and the diagnostic analysis tools should be able to adequately capture the experience bases. This approach has been verified on a laboratory bench top test rig which can simulate a range of possible fuel system faults. The rig is fully instrumented in order to allow benchmarking of various sensing solution for fault detection/isolation that were identified using functional analysis

JUNO Conceptual Design Report

The Jiangmen Underground Neutrino Observatory (JUNO) is proposed to determine the neutrino mass hierarchy using an underground liquid scintillator detector. It is located 53 km away from both Yangjiang and Taishan Nuclear Power Plants in Guangdong, China. The experimental hall, spanning more than 50 meters, is under a granite mountain of over 700 m overburden. Within six years of running, the detection of reactor antineutrinos can resolve the neutrino mass hierarchy at a confidence level of 3-4$\sigma$, and determine neutrino oscillation parameters $\sin^2\theta_{12}$, $\Delta m^2_{21}$, and $|\Delta m^2_{ee}|$ to an accuracy of better than 1%. The JUNO detector can be also used to study terrestrial and extra-terrestrial neutrinos and new physics beyond the Standard Model. The central detector contains 20,000 tons liquid scintillator with an acrylic sphere of 35 m in diameter. $\sim$17,000 508-mm diameter PMTs with high quantum efficiency provide $\sim$75% optical coverage. The current choice of the liquid scintillator is: linear alkyl benzene (LAB) as the solvent, plus PPO as the scintillation fluor and a wavelength-shifter (Bis-MSB). The number of detected photoelectrons per MeV is larger than 1,100 and the energy resolution is expected to be 3% at 1 MeV. The calibration system is designed to deploy multiple sources to cover the entire energy range of reactor antineutrinos, and to achieve a full-volume position coverage inside the detector. The veto system is used for muon detection, muon induced background study and reduction. It consists of a Water Cherenkov detector and a Top Tracker system. The readout system, the detector control system and the offline system insure efficient and stable data acquisition and processing.Comment: 328 pages, 211 figure

Meta-heuristic algorithms in car engine design: a literature survey

Meta-heuristic algorithms are often inspired by natural phenomena, including the evolution of species in Darwinian natural selection theory, ant behaviors in biology, flock behaviors of some birds, and annealing in metallurgy. Due to their great potential in solving difficult optimization problems, meta-heuristic algorithms have found their way into automobile engine design. There are different optimization problems arising in different areas of car engine management including calibration, control system, fault diagnosis, and modeling. In this paper we review the state-of-the-art applications of different meta-heuristic algorithms in engine management systems. The review covers a wide range of research, including the application of meta-heuristic algorithms in engine calibration, optimizing engine control systems, engine fault diagnosis, and optimizing different parts of engines and modeling. The meta-heuristic algorithms reviewed in this paper include evolutionary algorithms, evolution strategy, evolutionary programming, genetic programming, differential evolution, estimation of distribution algorithm, ant colony optimization, particle swarm optimization, memetic algorithms, and artificial immune system

Bilinear noise subtraction at the GEO 600 observatory

We develop a scheme to subtract off bilinear noise from the gravitational wave strain data and demonstrate it at the GEO 600 observatory. Modulations caused by test mass misalignments on longitudinal control signals are observed to have a broadband effect on the mid-frequency detector sensitivity ranging from 50 Hz to 500 Hz. We estimate this bilinear coupling by making use of narrow-band signal injections that are already in place for noise projection purposes. A coherent bilinear signal is constructed by a two-stage system identification process where the involved couplings are approximated in terms of stable rational functions. The time-domain filtering efficiency is observed to depend upon the system identification process especially when the involved transfer functions cover a large dynamic range and have multiple resonant features. We improve upon the existing filter design techniques by employing a Bayesian adaptive directed search strategy that optimizes across the several key parameters that affect the accuracy of the estimated model. The resulting post-offline subtraction leads to a suppression of modulation side-bands around the calibration lines along with a broadband reduction of the mid-frequency noise floor. The filter coefficients are updated periodically to account for any non-stationarities that can arise within the coupling. The observed increase in the astrophysical range and a reduction in the occurrence of non-astrophysical transients suggest that the above method is a viable data cleaning technique for current and future gravitational wave observatories