Dynamic Object Tracking for Quadruped Manipulator with Spherical Image-Based Approach

Exactly estimating and tracking the motion of surrounding dynamic objects is one of important tasks for the autonomy of a quadruped manipulator. However, with only an onboard RGB camera, it is still a challenging work for a quadruped manipulator to track the motion of a dynamic object moving with unknown and changing velocities. To address this problem, this manuscript proposes a novel image-based visual servoing (IBVS) approach consisting of three elements: a spherical projection model, a robust super-twisting observer, and a model predictive controller (MPC). The spherical projection model decouples the visual error of the dynamic target into linear and angular ones. Then, with the presence of the visual error, the robustness of the observer is exploited to estimate the unknown and changing velocities of the dynamic target without depth estimation. Finally, the estimated velocity is fed into the model predictive controller (MPC) to generate joint torques for the quadruped manipulator to track the motion of the dynamical target. The proposed approach is validated through hardware experiments and the experimental results illustrate the approach's effectiveness in improving the autonomy of the quadruped manipulator

First attempt of directionality reconstruction for atmospheric neutrinos in a large homogeneous liquid scintillator detector

The directionality information of incoming neutrinos is essential to atmospheric neutrino oscillation analysis since it is directly related to the oscillation baseline length. Large homogeneous liquid scintillator detectors, while offering excellent energy resolution, are traditionally very limited in their capabilities of measuring event directionality. In this paper, we present a novel directionality reconstruction method for atmospheric neutrino events in large homogeneous liquid scintillator detectors based on waveform analysis and machine learning techniques. We demonstrate for the first time that such detectors can achieve good direction resolution and potentially play an important role in future atmospheric neutrino oscillation measurements.Comment: Prepared for submission to PR

Neutrino Physics with JUNO

The Jiangmen Underground Neutrino Observatory (JUNO), a 20 kton multi-purposeunderground liquid scintillator detector, was proposed with the determinationof the neutrino mass hierarchy as a primary physics goal. It is also capable ofobserving neutrinos from terrestrial and extra-terrestrial sources, includingsupernova burst neutrinos, diffuse supernova neutrino background, geoneutrinos,atmospheric neutrinos, solar neutrinos, as well as exotic searches such asnucleon decays, dark matter, sterile neutrinos, etc. We present the physicsmotivations and the anticipated performance of the JUNO detector for variousproposed measurements. By detecting reactor antineutrinos from two power plantsat 53-km distance, JUNO will determine the neutrino mass hierarchy at a 3-4sigma significance with six years of running. The measurement of antineutrinospectrum will also lead to the precise determination of three out of the sixoscillation parameters to an accuracy of better than 1\%. Neutrino burst from atypical core-collapse supernova at 10 kpc would lead to ~5000inverse-beta-decay events and ~2000 all-flavor neutrino-proton elasticscattering events in JUNO. Detection of DSNB would provide valuable informationon the cosmic star-formation rate and the average core-collapsed neutrinoenergy spectrum. Geo-neutrinos can be detected in JUNO with a rate of ~400events per year, significantly improving the statistics of existing geoneutrinosamples. The JUNO detector is sensitive to several exotic searches, e.g. protondecay via the $p\to K^++\bar\nu$ decay channel. The JUNO detector will providea unique facility to address many outstanding crucial questions in particle andastrophysics. It holds the great potential for further advancing our quest tounderstanding the fundamental properties of neutrinos, one of the buildingblocks of our Universe

Potential of Core-Collapse Supernova Neutrino Detection at JUNO

JUNO is an underground neutrino observatory under construction in Jiangmen, China. It uses 20kton liquid scintillator as target, which enables it to detect supernova burst neutrinos of a large statistics for the next galactic core-collapse supernova (CCSN) and also pre-supernova neutrinos from the nearby CCSN progenitors. All flavors of supernova burst neutrinos can be detected by JUNO via several interaction channels, including inverse beta decay, elastic scattering on electron and proton, interactions on C12 nuclei, etc. This retains the possibility for JUNO to reconstruct the energy spectra of supernova burst neutrinos of all flavors. The real time monitoring systems based on FPGA and DAQ are under development in JUNO, which allow prompt alert and trigger-less data acquisition of CCSN events. The alert performances of both monitoring systems have been thoroughly studied using simulations. Moreover, once a CCSN is tagged, the system can give fast characterizations, such as directionality and light curve

Detection of the Diffuse Supernova Neutrino Background with JUNO

As an underground multi-purpose neutrino detector with 20 kton liquid scintillator, Jiangmen Underground Neutrino Observatory (JUNO) is competitive with and complementary to the water-Cherenkov detectors on the search for the diffuse supernova neutrino background (DSNB). Typical supernova models predict 2-4 events per year within the optimal observation window in the JUNO detector. The dominant background is from the neutral-current (NC) interaction of atmospheric neutrinos with 12C nuclei, which surpasses the DSNB by more than one order of magnitude. We evaluated the systematic uncertainty of NC background from the spread of a variety of data-driven models and further developed a method to determine NC background within 15\% with {\it{in}} {\it{situ}} measurements after ten years of running. Besides, the NC-like backgrounds can be effectively suppressed by the intrinsic pulse-shape discrimination (PSD) capabilities of liquid scintillators. In this talk, I will present in detail the improvements on NC background uncertainty evaluation, PSD discriminator development, and finally, the potential of DSNB sensitivity in JUNO

Real-time Monitoring for the Next Core-Collapse Supernova in JUNO

Core-collapse supernova (CCSN) is one of the most energetic astrophysical events in the Universe. The early and prompt detection of neutrinos before (pre-SN) and during the SN burst is a unique opportunity to realize the multi-messenger observation of the CCSN events. In this work, we describe the monitoring concept and present the sensitivity of the system to the pre-SN and SN neutrinos at the Jiangmen Underground Neutrino Observatory (JUNO), which is a 20 kton liquid scintillator detector under construction in South China. The real-time monitoring system is designed with both the prompt monitors on the electronic board and online monitors at the data acquisition stage, in order to ensure both the alert speed and alert coverage of progenitor stars. By assuming a false alert rate of 1 per year, this monitoring system can be sensitive to the pre-SN neutrinos up to the distance of about 1.6 (0.9) kpc and SN neutrinos up to about 370 (360) kpc for a progenitor mass of 30$M_{\odot}$ for the case of normal (inverted) mass ordering. The pointing ability of the CCSN is evaluated by using the accumulated event anisotropy of the inverse beta decay interactions from pre-SN or SN neutrinos, which, along with the early alert, can play important roles for the followup multi-messenger observations of the next Galactic or nearby extragalactic CCSN.Comment: 24 pages, 9 figure

A feasible IP traceback framework through dynamic deterministic packet marking

DDoS attack source traceback is an open and challenging problem. Deterministic packet marking (DPM) is a simple and effective traceback mechanism, but the current DPM based traceback schemes are not practical due to their scalability constraint. We noticed a factor that only a limited number of computers and routers are involved in an attack session. Therefore, we only need to mark these involved nodes for traceback purpose, rather than marking every node of the Internet as the existing schemes doing. Based on this finding, we propose a novel marking on demand (MOD) traceback scheme based on the DPM mechanism. In order to traceback to involved attack source, what we need to do is to mark these involved ingress routers using the traditional DPM strategy. Similar to existing schemes, we require participated routers to install a traffic monitor. When a monitor notices a surge of suspicious network flows, it will request a unique mark from a globally shared MOD server, and mark the suspicious flows with the unique marks. At the same time, the MOD server records the information of the marks and their related requesting IP addresses. Once a DDoS attack is confirmed, the victim can obtain the attack sources by requesting the MOD server with the marks extracted from attack packets. Moreover, we use the marking space in a round-robin style, which essentially addresses the scalability problem of the existing DPM based traceback schemes. We establish a mathematical model for the proposed traceback scheme, and thoroughly analyze the system. Theoretical analysis and extensive real-world data experiments demonstrate that the proposed traceback method is feasible and effective

Prospects for Proton Decay Searches in JUNO

Proton Decay is one of the apparent consequences of Baryon Number Violation, which has been predicted in many Grand Unified Theories. It would become an explanation to the asymmetry of matter and anti-matter in the universe. Many experiments have been contributing to search for this rare but key sign of new physics. Among them, SuperK has acquired the best result. On the channel p to ν and K+, the lower limit of proton lifetime has been predicted to be 5.9×10$^{33}$ years. Jiangmen Underground Neutrino Observatory (JUNO), which is a 20 kton liquid scintillator detector under construction in China, should have high sensitivity based on our recent research. With a high detection efficiency and large sensitive mass, it is expected to reach the order of 10$^{34}$ in ten years running time. In this poster, the preliminary study including simulation work and algorithm design will be presented

Urban Saturated Power Load Analysis Based on a Novel Combined Forecasting Model

Analysis of urban saturated power loads is helpful to coordinate urban power grid construction and economic social development. There are two different kinds of forecasting models: the logistic curve model focuses on the growth law of the data itself, while the multi-dimensional forecasting model considers several influencing factors as the input variables. To improve forecasting performance, a novel combined forecasting model for saturated power load analysis was proposed in this paper, which combined the above two models. Meanwhile, the weights of these two models in the combined forecasting model were optimized by employing a fruit fly optimization algorithm. Using Hubei Province as the example, the effectiveness of the proposed combined forecasting model was verified, demonstrating a higher forecasting accuracy. The analysis result shows that the power load of Hubei Province will reach saturation in 2039, and the annual maximum power load will reach about 78,630 MW. The results obtained from this proposed hybrid urban saturated power load analysis model can serve as a reference for sustainable development for urban power grids, regional economies, and society at large