Genetic algorithms for local controller network construction

Local Controller Networks (LCNs) provide nonlinear control by interpolating between a set of locally valid, subcontrollers covering the operating range of the plant. Constructing such networks typically requires knowledge of valid local models. This paper describes a new genetic learning approach to the construction of LCNs directly from the dynamic equations of the plant, or from modelling data. The advantage is that a priori knowledge about valid local models is not needed. In addition to allowing simultaneous optimisation of both the controller and validation function parameters, the approach aids transparency by ensuring that each local controller acts independently of the rest at its operating point. It thus is valuable for simultaneous design of the LCNs and identification of the operating regimes of an unknown plant. Application results from a highly nonlinear pH neutralisation process and its associated neural network representation are utilised to illustrate these issues

Advanced Control Structures: A Transputer-Based Multi-Robot System

This paper presents the implementation of an efficient motion planner for a two-robot system operating in a unified environment. The distributed formulation of the planner is mapped on a network of T800 transputers and caters for the needs of minimum-time and collision free robot motion in real time. Practical implementation of the planner is reported for two co-ordinated RTX robots and performance results are given of an execution run

A High-Performance Multi-Arm Environment: Theoretical Aspects and Practical Implementation

This paper reports on the development of a multi-arm robotic system, where the practical implementation of the system involves motion co-ordination of two multi-joint RTX robots with six degrees-of-freedom, hosted by a SPARC-IPC workstation. A planning scheme is introduced to provide accurate and co-ordinated collison-free motion. In addition, taking into account the need for high productivity in industrial environments, minimum-time movements are imposed by increasing the manipulators' performance to a maximum, thus providing a high-performance workcell. A real-time case study is included to show the validity and efficiency of the system

Quantum lump dynamics on the two-sphere

It is well known that the low-energy classical dynamics of solitons of Bogomol'nyi type is well approximated by geodesic motion in M_n, the moduli space of static n-solitons. There is an obvious quantization of this dynamics wherein the wavefunction evolves according to the Hamiltonian H_0 equal to (half) the Laplacian on M_n. Born-Oppenheimer reduction of analogous mechanical systems suggests, however, that this simple Hamiltonian should receive corrections including k, the scalar curvature of M_n, and C, the n-soliton Casimir energy, which are usually difficult to compute, and whose effect on the energy spectrum is unknown. This paper analyzes the spectra of H_0 and two corrections to it suggested by work of Moss and Shiiki, namely H_1=H_0+k/4 and H_2=H_1+C, in the simple but nontrivial case of a single CP^1 lump moving on the two-sphere. Here M_1=TSO(3), a noncompact kaehler 6-manifold invariant under an SO(3)xSO(3) action, whose geometry is well understood. The symmetry gives rise to two conserved angular momenta, spin and isospin. A hidden isometry of M_1 is found which implies that all three energy spectra are symmetric under spin-isospin interchange. The Casimir energy is found exactly on the zero section of TSO(3), and approximated numerically on the rest of M_1. The lowest 19 eigenvalues of H_i are found for i=0,1,2, and their spin-isospin and parity compared. The curvature corrections in H_1 lead to a qualitatively unchanged low-level spectrum while the Casimir energy in H_2 leads to significant changes. The scaling behaviour of the spectra under changes in the radii of the domain and target spheres is analyzed, and it is found that the disparity between the spectra of H_1 and H_2 is reduced when the target sphere is made smaller.Comment: 35 pages, 3 figure

A Compact Beam Stop for a Rare Kaon Decay Experiment

We describe the development and testing of a novel beam stop for use in a rare kaon decay experiment at the Brookhaven AGS. The beam stop is located inside a dipole spectrometer magnet in close proximity to straw drift chambers and intercepts a high-intensity neutral hadron beam. The design process, involving both Monte Carlo simulations and beam tests of alternative beam-stop shielding arrangements, had the goal of minimizing the leakage of particles from the beam stop and the resulting hit rates in detectors, while preserving maximum acceptance for events of interest. The beam tests consisted of measurements of rates in drift chambers, scintilation counter hodoscopes, a gas threshold Cherenkov counter, and a lead glass array. Measurements were also made with a set of specialized detectors which were sensitive to low-energy neutrons, photons, and charged particles. Comparisons are made between these measurements and a detailed Monte Carlo simulation.Comment: 39 pages, 14 figures, submitted to Nuclear Instruments and Method

A straw drift chamber spectrometer for studies of rare kaon decays

We describe the design, construction, readout, tests, and performance of planar drift chambers, based on 5 mm diameter copperized Mylar and Kapton straws, used in an experimental search for rare kaon decays. The experiment took place in the high-intensity neutral beam at the Alternating Gradient Synchrotron of Brookhaven National Laboratory, using a neutral beam stop, two analyzing dipoles, and redundant particle identification to remove backgrounds

The Athena X-ray Integral Field Unit: a consolidated design for the system requirement review of the preliminary definition phase

Instrumentatio

Highly-parallelized simulation of a pixelated LArTPC on a GPU

The rapid development of general-purpose computing on graphics processing units (GPGPU) is allowing the implementation of highly-parallelized Monte Carlo simulation chains for particle physics experiments. This technique is particularly suitable for the simulation of a pixelated charge readout for time projection chambers, given the large number of channels that this technology employs. Here we present the first implementation of a full microphysical simulator of a liquid argon time projection chamber (LArTPC) equipped with light readout and pixelated charge readout, developed for the DUNE Near Detector. The software is implemented with an end-to-end set of GPU-optimized algorithms. The algorithms have been written in Python and translated into CUDA kernels using Numba, a just-in-time compiler for a subset of Python and NumPy instructions. The GPU implementation achieves a speed up of four orders of magnitude compared with the equivalent CPU version. The simulation of the current induced on 10^3 pixels takes around 1 ms on the GPU, compared with approximately 10 s on the CPU. The results of the simulation are compared against data from a pixel-readout LArTPC prototype

Clinical and pathological findings of Babesia infection in dogs

The clinical and pathological findings of Babesia infection in 32 dogs in northern Australia are presented. Eleven different breed types were represented from 6 localities in north Queensland and one locality in northern Western Australia. Twenty three (72%) were males. Babesia-infected dogs were grouped by the degree of haematological disturbance and clinical severity: Acute babesiosis (25/32), all pups with severe haemolytic anaemia; subclinical carriers (5/32) with non-specific malaise, characterised haematologically by a normal erythrogram but marked leucopenia; chronic anaemia, observed in 2 adult dogs. Pups were azotaemic (serum urea >6.6 mmol/l) and had elevated serum bilirubin levels (20.8 to 48.5 mmol/l). Total serum protein was usually within the normal range. Pups that died were also hypoglycaemic and severely hyperkalaemic (K+>10 mmol/l). Low parasitaemias in routine blood smears complicated diagnosis but smears made from ear or toe capillaries, or after haematocrit concentration, greatly enhanced finding parasitised cells. At necropsy, pallor and jaundice were the most consistent observations. Haemoglobinuric nephrosis, an active reticulo-endothelial system and capillaries packed with large numbers of infected erythrocytes were the main histopathological findings. A combination of imidocarb dipropionate at 5 mg/kg body weight, given intramuscularly, with fluid therapy and blood transfusion was the most successful treatment