A Decentralized Architecture for Active Sensor Networks

This thesis is concerned with the Distributed Information Gathering (DIG) problem in which a Sensor Network is tasked with building a common representation of environment. The problem is motivated by the advantages offered by distributed autonomous sensing systems and the challenges they present. The focus of this study is on Macro Sensor Networks, characterized by platform mobility, heterogeneous teams, and long mission duration. The system under consideration may consist of an arbitrary number of mobile autonomous robots, stationary sensor platforms, and human operators, all linked in a network. This work describes a comprehensive framework called Active Sensor Network (ASN) which addresses the tasks of information fusion, decistion making, system configuration, and user interaction. The main design objectives are scalability with the number of robotic platforms, maximum flexibility in implementation and deployment, and robustness to component and communication failure. The framework is described from three complementary points of view: architecture, algorithms, and implementation. The main contribution of this thesis is the development of the ASN architecture. Its design follows three guiding principles: decentralization, modularity, and locality of interactions. These principles are applied to all aspects of the architecture and the framework in general. To achieve flexibility, the design approach emphasizes interactions between components rather than the definition of the components themselves. The architecture specifies a small set of interfaces sufficient to implement a wide range of information gathering systems. In the area of algorithms, this thesis builds on the earlier work on Decentralized Data Fusion (DDF) and its extension to information-theoretic decistion making. It presents the Bayesian Decentralized Data Fusion (BDDF) algorithm formulated for environment features represented by a general probability density function. Several specific representations are also considered: Gaussian, discrete, and the Certainty Grid map. Well known algorithms for these representations are shown to implement various aspects of the Bayesian framework. As part of the ASN implementation, a practical indoor sensor network has been developed and tested. Two series of experiments were conducted, utilizing two types of environment representation: 1) point features with Gaussian position uncertainty and 2) Certainty Grid maps. The network was operational for several days at a time, with individual platforms coming on and off-line. On several occasions, the network consisted of 39 software components. The lessons learned during the system's development may be applicable to other heterogeneous distributed systems with data-intensive algorithms

Force and strain feedback for distributed actuation

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1998.Abstract in English and Russian.Includes bibliographical references (p. 149-152).This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.A method of shaping the open loop structural transfer function from a distributed sensor to a distributed actuator is developed. The outputs of two sensors of different impedances are combined electronically with the goal of increasing pole-zero spacing for improved performance in low-authority structural control loops. The concept of a three-element actuator- sensor module capable of adjusting the equivalent actuator and sensor impedances is presented. The module consists of an actuator, and two sensors for measuring force and strain. The output of the module is constructed by mixing the force and strain signals using a mixing coefficient which can be used to tune the apparent sensor impedance for maximum performance. General shape of zero trajectories as a function of the mixing coefficient is derived. Mass-spring and beam models are used to further explore the behavior of the zeroes of the mixed transfer function. Both an approximate beam model derived using assumed mode method and the exact solution of the beam vibration equation are employed. A practical implementation of the module is proposed. The design uses a piezoelectric actuator with a collocated piezoelectric strain sensor and a novel piezoelectric shear load cell. A test article was built, mounted on a cantilever aluminum beam, and tested. Experiments verified the ability to increase pole-zero separation of a structural transfer function by mixing the outputs of displacement and force sensors. At low frequencies the overall shape of experimentally found zero trajectories compared well to the results of beam models. Non-minimum phase zeroes encountered for certain values of the mixing coefficient in both the models and the experiments limit the range in which the mixed transfer function is attractive for feedback control.by Alexei A. Makarenko.S.M

Development and validation of HERWIG 7 tunes from CMS underlying-event measurements

This paper presents new sets of parameters (“tunes”) for the underlying-event model of the HERWIG7 event generator. These parameters control the description of multiple-parton interactions (MPI) and colour reconnection in HERWIG7, and are obtained from a fit to minimum-bias data collected by the CMS experiment at s=0.9, 7, and 13Te. The tunes are based on the NNPDF 3.1 next-to-next-to-leading-order parton distribution function (PDF) set for the parton shower, and either a leading-order or next-to-next-to-leading-order PDF set for the simulation of MPI and the beam remnants. Predictions utilizing the tunes are produced for event shape observables in electron-positron collisions, and for minimum-bias, inclusive jet, top quark pair, and Z and W boson events in proton-proton collisions, and are compared with data. Each of the new tunes describes the data at a reasonable level, and the tunes using a leading-order PDF for the simulation of MPI provide the best description of the dat

Search for new particles in events with energetic jets and large missing transverse momentum in proton-proton collisions at root s=13 TeV

A search is presented for new particles produced at the LHC in proton-proton collisions at root s = 13 TeV, using events with energetic jets and large missing transverse momentum. The analysis is based on a data sample corresponding to an integrated luminosity of 101 fb(-1), collected in 2017-2018 with the CMS detector. Machine learning techniques are used to define separate categories for events with narrow jets from initial-state radiation and events with large-radius jets consistent with a hadronic decay of a W or Z boson. A statistical combination is made with an earlier search based on a data sample of 36 fb(-1), collected in 2016. No significant excess of events is observed with respect to the standard model background expectation determined from control samples in data. The results are interpreted in terms of limits on the branching fraction of an invisible decay of the Higgs boson, as well as constraints on simplified models of dark matter, on first-generation scalar leptoquarks decaying to quarks and neutrinos, and on models with large extra dimensions. Several of the new limits, specifically for spin-1 dark matter mediators, pseudoscalar mediators, colored mediators, and leptoquarks, are the most restrictive to date.Peer reviewe

Combined searches for the production of supersymmetric top quark partners in proton-proton collisions at root s=13 TeV

A combination of searches for top squark pair production using proton-proton collision data at a center-of-mass energy of 13 TeV at the CERN LHC, corresponding to an integrated luminosity of 137 fb(-1) collected by the CMS experiment, is presented. Signatures with at least 2 jets and large missing transverse momentum are categorized into events with 0, 1, or 2 leptons. New results for regions of parameter space where the kinematical properties of top squark pair production and top quark pair production are very similar are presented. Depending on themodel, the combined result excludes a top squarkmass up to 1325 GeV for amassless neutralino, and a neutralinomass up to 700 GeV for a top squarkmass of 1150 GeV. Top squarks with masses from 145 to 295 GeV, for neutralino masses from 0 to 100 GeV, with a mass difference between the top squark and the neutralino in a window of 30 GeV around the mass of the top quark, are excluded for the first time with CMS data. The results of theses searches are also interpreted in an alternative signal model of dark matter production via a spin-0 mediator in association with a top quark pair. Upper limits are set on the cross section for mediator particle masses of up to 420 GeV

Probing effective field theory operators in the associated production of top quarks with a Z boson in multilepton final states at root s=13 TeV

Peer reviewe

MUSiC : a model-unspecific search for new physics in proton-proton collisions at root s=13TeV

Results of the Model Unspecific Search in CMS (MUSiC), using proton-proton collision data recorded at the LHC at a centre-of-mass energy of 13 TeV, corresponding to an integrated luminosity of 35.9 fb(-1), are presented. The MUSiC analysis searches for anomalies that could be signatures of physics beyond the standard model. The analysis is based on the comparison of observed data with the standard model prediction, as determined from simulation, in several hundred final states and multiple kinematic distributions. Events containing at least one electron or muon are classified based on their final state topology, and an automated search algorithm surveys the observed data for deviations from the prediction. The sensitivity of the search is validated using multiple methods. No significant deviations from the predictions have been observed. For a wide range of final state topologies, agreement is found between the data and the standard model simulation. This analysis complements dedicated search analyses by significantly expanding the range of final states covered using a model independent approach with the largest data set to date to probe phase space regions beyond the reach of previous general searches.Peer reviewe

Measurement of prompt open-charm production cross sections in proton-proton collisions at root s=13 TeV

The production cross sections for prompt open-charm mesons in proton-proton collisions at a center-of-mass energy of 13TeV are reported. The measurement is performed using a data sample collected by the CMS experiment corresponding to an integrated luminosity of 29 nb(-1). The differential production cross sections of the D*(+/-), D-+/-, and D-0 ((D) over bar (0)) mesons are presented in ranges of transverse momentum and pseudorapidity 4 < p(T) < 100 GeV and vertical bar eta vertical bar < 2.1, respectively. The results are compared to several theoretical calculations and to previous measurements.Peer reviewe

Search for top squark production in fully hadronic final states in proton-proton collisions at root s=13 TeV

A search for production of the supersymmetric partners of the top quark, top squarks, is presented. The search is based on proton-proton collision events containing multiple jets, no leptons, and large transverse momentum imbalance. The data were collected with the CMS detector at the CERN LHC at a center-of-mass energy of 13 TeV, and correspond to an integrated luminosity of 137 fb(-1). The targeted signal production scenarios are direct and gluino-mediated top squark production, including scenarios in which the top squark and neutralino masses are nearly degenerate. The search utilizes novel algorithms based on deep neural networks that identify hadronically decaying top quarks and W bosons, which are expected in many of the targeted signal models. No statistically significant excess of events is observed relative to the expectation from the standard model, and limits on the top squark production cross section are obtained in the context of simplified supersymmetric models for various production and decay modes. Exclusion limits as high as 1310 GeVare established at the 95% confidence level on the mass of the top squark for direct top squark production models, and as high as 2260 GeV on the mass of the gluino for gluino-mediated top squark production models. These results represent a significant improvement over the results of previous searches for supersymmetry by CMS in the same final state.Peer reviewe

Measurements of the Electroweak Diboson Production Cross Sections in Proton-Proton Collisions at root s=5.02 TeV Using Leptonic Decays

The first measurements of diboson production cross sections in proton-proton interactions at a center-of-mass energy of 5.02 TeV are reported. They are based on data collected with the CMS detector at the LHC, corresponding to an integrated luminosity of 302 pb(-1). Events with two, three, or four charged light leptons (electrons or muons) in the final state are analyzed. The WW, WZ, and ZZ total cross sections are measured as sigma(WW) = 37:0(-5.2)(+5.5) (stat)(-2.6)(+2.7) (syst) pb, sigma(WZ) = 6.4(-2.1)(+2.5) (stat)(-0.3)(+0.5)(syst) pb, and sigma(ZZ) = 5.3(-2.1)(+2.5)(stat)(-0.4)(+0.5) (syst) pb. All measurements are in good agreement with theoretical calculations at combined next-to-next-to-leading order quantum chromodynamics and next-to-leading order electroweak accuracy