Computer-Aided Bilateral Teleoperation of Manipulators

Haptic bilateral teleoperation is often a challenging and mentally demanding job for the operators of robot control systems. It is especially difficult in cases such as the remote maintenance of the ITER divertor region. The difficulty of the ITER divertor maintenance hails from a multitude of reasons: the residual radiation level of the ITER reactor during a shutdown is too high for any human access, the maintenance tunnels of the divertor are confined, the operators have to operate heavy loads in delicate tasks, and only a limited number of radiation tolerant cameras are available for providing video feedback. In addition, most of the maintenance work cannot be automated because of the dynamic nature and complexity of the tasks. Haptic shared control systems can be used for reducing the amount of mental and physical workload perceived by the operators of remote maintenance systems. To reduce the workload, a haptic shared control system assists the operators by generating virtual forces based on the virtual models of the teleoperation environment and sensor data from the slave manipulator. The generated assistance forces are laid over the force feedback signals from the teleoperation environment. The assisting forces can e.g. guide the operators along optimal paths and prevent collisions in the teleoperation environment. In addition to the reduction of the operator workload, teleoperation tasks also become faster and safer with haptic shared control. This thesis investigates the implementation techniques and theory of haptic bilateral teleoperation and shared control systems. Based on the theoretical analysis, an experimental haptic shared control system, called the Computer Assisted Teleoperation (CAT) was developed. The intention of CAT is to assist the remote handling (RH) system operators of the Divertor Test Platform 2 (DTP2) in ITER remote maintenance research. The effectiveness of CAT is evaluated in a teleoperation experiment performed with a 6 DOF Water Hydraulic MANipulator (WHMAN) developed for the ITER divertor maintenance. The results of the experiment gives directive indication that the CAT system improves the execution times of a bilateral teleoperation task and simultaneously reduces the workload perceived by the operators of the system

Networks of Emotion Concepts

The aim of this work was to study the similarity network and hierarchical clustering of Finnish emotion concepts. Native speakers of Finnish evaluated similarity between the 50 most frequently used Finnish words describing emotional experiences. We hypothesized that methods developed within network theory, such as identifying clusters and specific local network structures, can reveal structures that would be difficult to discover using traditional methods such as multidimensional scaling (MDS) and ordinary cluster analysis. The concepts divided into three main clusters, which can be described as negative, positive, and surprise. Negative and positive clusters divided further into meaningful sub-clusters, corresponding to those found in previous studies. Importantly, this method allowed the same concept to be a member in more than one cluster. Our results suggest that studying particular network structures that do not fit into a low-dimensional description can shed additional light on why subjects evaluate certain concepts as similar. To encourage the use of network methods in analyzing similarity data, we provide the analysis software for free use (http://www.becs.tkk.fi/similaritynets/)

Fragmentation of jets containing a prompt J/psi meson in PbPb and pp collisions at root s(NN)=5.02 TeV

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Observation of a New Excited Beauty Strange Baryon Decaying to Xi(-)(b)pi(+)pi(-)

The Xi(-)(b)pi(+)pi(-) invariant mass spectrum is investigated with an event sample of proton-proton collisions at root s = 13 TeV, collected by the CMS experiment at the LHC in 2016-2018 and corresponding to an integrated luminosity of 140 fb(-1). The ground state Xi(-)(b) is reconstructed via its decays to J/psi Xi(-) and J/psi Lambda K-. A narrow resonance, labeled Xi(b)(6100)(-), is observed at a Xi(-)(b)pi(+)pi(-) invariant mass of 6100.3 +/- 0.2(stat) +/- 0.1(syst) +/- 0.6(Xi(-)(b)) MeV, where the last uncertainty reflects the precision of the Xi(-)(b) baryon mass. The upper limit on the Xi(b)(6100)(-) natural width is determined to be 1.9 MeV at 95% confidence level. The low Xi(b)(6100)(-) signal yield observed in data does not allow a measurement of the quantum numbers of the new state. However, following analogies with the established excited Xi(c) baryon states, the new Xi(b)(6100)(-) resonance and its decay sequence are consistent with the orbitally excited Xi(- )(b)baryon, with spin and parity quantum numbers J(P) = 3/2(-).Peer reviewe

Search for Wγ resonances in proton-proton collisions at vs=13 TeV using hadronic decays of Lorentz-boosted W bosons

A search for W gamma resonances in the mass range between 0.7 and 6.0 TeV is presented. The W boson is reconstructed via its hadronic decays, with the final-state products forming a single large-radius jet, owing to a high Lorentz boost of the W boson. The search is based on proton-proton collision data at root s = 13 TeV, corresponding to an integrated luminosity of 137 fb(-1), collected with the CMS detector at the LHC in 2016-2018. The W gamma mass spectrum is parameterized with a smoothly falling background function and examined for the presence of resonance-like signals. No significant excess above the predicted background is observed. Model-specific upper limits at 95% confidence level on the product of the cross section and branching fraction to the W gamma channel are set. Limits for narrow resonances and for resonances with an intrinsic width equal to 5% of their mass, for spin-0 and spin-1 hypotheses, range between 0.17 fb at 6.0 TeV and 55 fb at 0.7 TeV. These are the most restrictive limits to date on the existence of such resonances over a large range of probed masses. In specific heavy scalar (vector) triplet benchmark models, narrow resonances with masses between 0.75 (1.15) and 1.40 (1.36) TeV are excluded for a range of model parameters. Model-independent limits on the product of the cross section, signal acceptance, and branching fraction to the W gamma channel are set for minimum W gamma mass thresholds between 1.5 and 8.0 TeV. (c) 2022 The Author(s). Published by Elsevier B.V.Peer reviewe

Measurement of double-parton scattering in inclusive production of four jets with low transverse momentum in proton-proton collisions at root s=13 TeV

A measurement of inclusive four-jet production in proton-proton collisions at a center-of-mass energy of 13 TeV is presented. The transverse momenta of jets within vertical bar eta vertical bar 4.7 are required to exceed 35, 30, 25, and 20 GeV for the first-, second-, third-, and fourth-leading jet, respectively. Differential cross sections are measured as functions of the jet transverse momentum, jet pseudorapidity, and several other observables that describe the angular correlations between the jets. The measured distributions show sensitivity to different aspects of the underlying event, parton shower modeling, and matrix element calculations. In particular, the interplay between angular correlations caused by parton shower and double-parton scattering contributions is shown to be important. The double-parton scattering contribution is extracted by means of a template fit to the data, using distributions for single-parton scattering obtained from Monte Carlo event generators and a double-parton scattering distribution constructed from inclusive single-jet events in data. The effective double-parton scattering cross section is calculated and discussed in view of previous measurements and of its dependence on the models used to describe the single-parton scattering background.Peer reviewe

Probing Charm Quark Dynamics via Multiparticle Correlations in Pb-Pb Collisions at root s(NN)=5.02 TeV

Multiparticle azimuthal correlations of prompt D-0 mesons arc measured in Pb-Pb collisions at a nucleon-nucleon center-of-mass energy of root s(NN) = 5.02 TeV. For the first time, a four-particle cumulant method is used to extract the second Fourier coefficient of the azimuthal distribution (v(2)) of D-0 mesons as a function of event centrality and the D-0 transverse momentum. The ratios of the four-particle v(2) values to previously measured two-particle cumulant results provide direct experimental access to event-by-event fluctuations of charm quark azimuthal anisotropies. These ratios are also found to be comparable to those of inclusive charged particles in the event. However, hints of deviations are seen in the most central and peripheral collisions. To investigate the origin of flow fluctuations in the charm sector, these measurements are compared to a model implementing fluctuations of charm quark energy loss via collisional or radiative processes in the quark-gluon plasma. These models cannot quantitatively describe the data over the full transverse momentum and centrality ranges, although the calculations with collisional energy loss provide a better description of the data.Peer reviewe

Study of dijet events with large rapidity separation in proton-proton collisions at root s=2.76 TeV

The cross sections for inclusive and Mueller-Navelet dijet production are measured as a function of the rapidity separation between the jets in proton-proton collisions at root s = 2.76 TeV for jets with transverse momentum p(T) > 35 GeV and rapidity vertical bar y vertical bar 20 GeV is introduced to improve the sensitivity to the effects of the Balitsky-Fadin-Kuraev-Lipatov (BFKL) evolution. The measurement is compared with the predictions of various Monte Carlo models based on leading-order and next-to-leading-order calculations including the Dokshitzer-Gribov-Lipatov-Altarelli-Parisi leading-logarithm (LL) parton shower as well as the LL BFKL resummation.Peer reviewe

Search for electroweak production of charginos and neutralinos in proton-proton collisions at root s=13 TeV

A direct search for electroweak production of charginos and neutralinos is presented. Events with three or four leptons, with up to two hadronically decaying tau leptons, or two same-sign light leptons are analyzed. The data sample consists of 137 fb(-1) of proton-proton collisions with a center of mass energy of 13 TeV, recorded with the CMS detector at the LHC. The results are interpreted in terms of several simplified models. These represent a broad range of production and decay scenarios for charginos and neutralinos. A parametric neural network is used to target several of the models with large backgrounds. In addition, results using orthogonal search regions are provided for all the models, simplifying alternative theoretical interpretations of the results. Depending on the model hypotheses, charginos and neutralinos with masses up to values between 300 and 1450 GeV are excluded at 95% confidence level.Peer reviewe

Measurement of the production cross section for Z plus b jets in proton-proton collisions at root s=13 TeV

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