Control of a Biped Robot by Total Rate of Angular Momentum Using the Task Function Approach

In this work we address the control problem of biped robots by using the task function approach. A problem arrives when one of the feet is in contact with the ground, which presents imperfections. There is then the possibility that the biped robot undergoes a fall. It is difficult to track any trajectory due to the presence of unevenness on the ground. What we propose is to use the task function approach combined with the application of the total rate of angular momentum to obtain a control law for the ankle. By this technique, the tracking becomes more smooth and the balance is assured. The control law proposed allows the upper part of the robot to be controlled independently since only the ankle actuators are concerned. We enounce the formal problem and present some simulations with real parameters of a 21 degrees of freedom biped robot

Advancements in Designing the DEMO Driver Blanket System at the EU DEMO Pre-Conceptual Design Phase: Overview, Challenges and Opportunities

The EU conducted the pre-conceptual design (PCD) phase of the demonstration reactor (DEMO) during 2014–2020 under the framework of the EUROfusion consortium. The current strategy of DEMO design is to bridge the breeding blanket (BB) technology gaps between ITER and a commercial fusion power plant (FPP) by playing the role of a “Component Test Facility” for the BB. Within this strategy, a so-called driver blanket, with nearly full in-vessel surface coverage, will aim at achieving high-level stakeholder requirements of tritium self-sufficiency and power extraction for net electricity production with rather conventional technology and/or operational parameters, while an advanced blanket (or several of them) will aim at demonstrating, with limited coverage, features that are deemed necessary for a commercial FPP. Currently, two driver blanket candidates are being investigated for the EU DEMO, namely the water-cooled lithium lead and the helium-cooled pebble bed breeding blanket concepts. The PCD phase has been characterized not only by the detailed design of the BB systems themselves, but also by their holistic integration in DEMO, prioritizing near-term solutions, in accordance with the idea of a driver blanket. This paper summarizes the status for both BB driver blanket candidates at the end of the PCD phase, including their corresponding tritium extraction and removal (TER) systems, underlining the main achievements and lessons learned, exposing outstanding key system design and R&D challenges and presenting identified opportunities to address those risks during the conceptual design (CD) phase that started in 2021

Status of maturation of critical technologies and systems design: Breeding blanket

The scope of the EUFOfusion Work Package Breeding Blanket is to develop a blanket concept for the EU DEMO reactor; this includes the blanket segments inside the Vacuum Vessel and the related Tritium Extraction/Removal Systems. In the Pre-Concept Design (PCD) Phase, two concepts have been selected as candidates; a solid and a liquid breeder blanket cooled with helium and water, respectively. The design of these two blanket systems has been adapted to the DEMO plant design developed in the PCD Phase and performances assessed. A large R&D programme has been implemented with the scope to evaluate different technologies for these blankets; including the development of breeders, tritium extraction and cooling technologies, and the manufacturing of the blanket system. A major milestone in the subsequent Concept Design Phase is the final selection of the blanket concept for DEMO

Anomaly detection search for new resonances decaying into a Higgs boson and a generic new particle X in hadronic final states using Formula Presented pp collisions with the ATLAS detector

A search is presented for a heavy resonance Formula Presented decaying into a Standard Model Higgs boson Formula Presented and a new particle Formula Presented in a fully hadronic final state. The full Large Hadron Collider run 2 dataset of proton-proton collisions at Formula Presented collected by the ATLAS detector from 2015 to 2018 is used and corresponds to an integrated luminosity of Formula Presented. The search targets the high Formula Presented-mass region, where the Formula Presented and Formula Presented have a significant Lorentz boost in the laboratory frame. A novel application of anomaly detection is used to define a general signal region, where events are selected solely because of their incompatibility with a learned background-only model. It is constructed using a jet-level tagger for signal-model-independent selection of the boosted Formula Presented particle, representing the first application of fully unsupervised machine learning to an ATLAS analysis. Two additional signal regions are implemented to target a benchmark Formula Presented decay into two quarks, covering topologies where the Formula Presented is reconstructed as either a single large-radius jet or two small-radius jets. The analysis selects Higgs boson decays into Formula Presented, and a dedicated neural-network-based tagger provides sensitivity to the boosted heavy-flavor topology. No significant excess of data over the expected background is observed, and the results are presented as upper limits on the production cross section Formula Presented) for signals with Formula Presented between 1.5 and 6 TeV and Formula Presented between 65 and 3000 GeV. A search is presented for a heavy resonance Y decaying into a Standard Model Higgs boson H and a new particle X in a fully hadronic final state. The full Large Hadron Collider run 2 dataset of proton-proton collisions at √ s = 13     TeV collected by the ATLAS detector from 2015 to 2018 is used and corresponds to an integrated luminosity of 139     fb − 1 . The search targets the high Y -mass region, where the H and X have a significant Lorentz boost in the laboratory frame. A novel application of anomaly detection is used to define a general signal region, where events are selected solely because of their incompatibility with a learned background-only model. It is constructed using a jet-level tagger for signal-model-independent selection of the boosted X particle, representing the first application of fully unsupervised machine learning to an ATLAS analysis. Two additional signal regions are implemented to target a benchmark X decay into two quarks, covering topologies where the X is reconstructed as either a single large-radius jet or two small-radius jets. The analysis selects Higgs boson decays into b ¯ b , and a dedicated neural-network-based tagger provides sensitivity to the boosted heavy-flavor topology. No significant excess of data over the expected background is observed, and the results are presented as upper limits on the production cross section σ ( p p → Y → X H → q ¯ q b ¯ b ) for signals with m Y between 1.5 and 6 TeV and m X between 65 and 3000 GeV

Measurement of substructure-dependent jet suppression in Pb+Pb collisions at 5.02 TeV with the ATLAS detector

The ATLAS detector at the Large Hadron Collider has been used to measure jet substructure modification and suppression in Pb+Pb collisions at a nucleon–nucleon center-of-mass energy √sNN = 5.02 TeV in comparison with proton–proton (pp) collisions at √s = 5.02 TeV. The Pb+Pb data, collected in 2018, have an integrated luminosity of 1.72 nb−1, while the ppdata, collected in 2017, have an integrated luminosity of 260 pb−1. Jets used in this analysis are clustered using the anti-kt algorithm with a radius parameter R = 0.4. The jet constituents, defined by both tracking and calorimeter information, are used to determine the angular scale rg of the first hard splitting inside the jet by reclustering them using the Cambridge–Aachen algorithm and employing the soft-drop grooming technique. The nuclear modification factor, RAA, used to characterize jet suppression in Pb+Pb collisions, is presented differentially in rg, jet transverse momentum, and in intervals of collision centrality. The RAA value is observed to depend significantly on jet rg. Jets produced with the largest measured rg are found to be twice as suppressed as those with the smallest rg in central Pb+Pb collisions. The RAA values do not exhibit a strong variation with jet pT in any of the rg intervals. The rg and pT dependence of jet RAA is qualitatively consistent with a picture of jet quenching arising from coherence and provides the most direct evidence in support of this approach

Performance of the ATLAS forward proton Time-of-Flight detector in Run 2

We present performance studies of the Time-of-Flight (ToF) subdetector of the ATLAS Forward Proton (AFP) detector at the LHC. Efficiencies and resolutions are measured using high-statistics data samples collected at low and moderate pile-up in 2017, the first year when the detectors were installed on both sides of the interaction region. While low efficiencies are observed, of the order of a few percent, the resolutions of the two ToF detectors measured individually are 21 ps and 28 ps, yielding an expected resolution of the longitudinal position of the interaction, z vtx, in the central ATLAS detector of 5.3 ± 0.6 mm. This is in agreement with the observed width of the distribution of the difference between z vtx, measured independently by the central ATLAS tracker and by the ToF detector, of 6.0 ± 2.0 mm

Search for resonant WZ production in the fully leptonic final state in proton–proton collisions at √s=13 TeV with the ATLAS detector

A search for a WZ resonance, in the fully leptonic final state (electrons or muons), is performed using 139 fb - 1 of data collected at a centre-of-mass energy of 13 TeV by the ATLAS detector at the Large Hadron Collider. The results are interpreted in terms of a singly charged Higgs boson of the Georgi–Machacek model, produced by WZ fusion, and of a Heavy Vector Triplet, with the resonance produced by WZ fusion or the Drell–Yan process. No significant excess over the Standard Model prediction is observed and limits are set on the production cross-section times branching ratio as a function of the resonance mass for these processes

Measurement of the nuclear modification factor of b-jets in 5.02 TeV Pb+Pb collisions with the ATLAS detector

This paper presents a measurement of b-jet production in Pb+Pb and pp collisions at √sNN = 5.02 TeV with the ATLAS detector at the LHC. The measurement uses 260 pb−1 of pp collisions collected in 2017 and 1.4 nb−1 of Pb+Pb collisions collected in 2018. In both collision systems, jets are reconstructed via the anti-kt algorithm. The b-jets are identified from a sample of jets containing muons from the semileptonic decay of b-quarks using template fits of the muon momentum relative to the jet axis. In pp collisions, b-jets are reconstructed for radius parameters R = 0.2 and R = 0.4, and only R = 0.2 jets are used in Pb+Pb collisions. For comparison, inclusive R = 0.2 jets are also measured using 1.7 nb−1 of Pb+Pb collisions collected in 2018 and the same pp collision data as the b-jet measurement. The nuclear modification factor, RAA, is calculated for both b-jets and inclusive jets with R = 0.2 over the transverse momentum range of 80–290 GeV. The nuclear modification factor for b-jets decreases from peripheral to central collisions. The ratio of the b-jet RAA to inclusive jet RAA is also presented and suggests that the RAA for b-jets is larger than that for inclusive jets in central Pb+Pb collisions. The measurements are compared with theoretical calculations and suggest a role for mass and colour-charge effects in partonic energy loss in heavy-ion collisions