Transition Matrix Theory

In this article we present a unification of the theory of algebraic, singular, topological and directional transition matrices by introducing the (generalized) transition matrix which encompasses each of the previous four. Some transition matrix existence results are presented as well as verification that each of the previous transition matrices are cases of the generalized transition matrix. Furthermore we address how applications of the previous transition matrices to the Conley Index theory carry over to the generalized transition matrix

Persistent Homology Guided Monte-Carlo Tree Search for Effective Non-Prehensile Manipulation

Performing object retrieval tasks in messy real-world workspaces involves the challenges of \emph{uncertainty} and \emph{clutter}. One option is to solve retrieval problems via a sequence of prehensile pick-n-place operations, which can be computationally expensive to compute in highly-cluttered scenarios and also inefficient to execute. The proposed framework selects the option of performing non-prehensile actions, such as pushing, to clean a cluttered workspace to allow a robotic arm to retrieve a target object. Non-prehensile actions, allow to interact simultaneously with multiple objects, which can speed up execution. At the same time, they can significantly increase uncertainty as it is not easy to accurately estimate the outcome of a pushing operation in clutter. The proposed framework integrates topological tools and Monte-Carlo tree search to achieve effective and robust pushing for object retrieval problems. In particular, it proposes using persistent homology to automatically identify manageable clustering of blocking objects in the workspace without the need for manually adjusting hyper-parameters. Furthermore, MCTS uses this information to explore feasible actions to push groups of objects together, aiming to minimize the number of pushing actions needed to clear the path to the target object. Real-world experiments using a Baxter robot, which involves some noise in actuation, show that the proposed framework achieves a higher success rate in solving retrieval tasks in dense clutter compared to state-of-the-art alternatives. Moreover, it produces high-quality solutions with a small number of pushing actions improving the overall execution time. More critically, it is robust enough that it allows to plan the sequence of actions offline and then execute them reliably online with Baxter

Data-Efficient Characterization of the Global Dynamics of Robot Controllers with Confidence Guarantees

This paper proposes an integration of surrogate modeling and topology to significantly reduce the amount of data required to describe the underlying global dynamics of robot controllers, including closed-box ones. A Gaussian Process (GP), trained with randomized short trajectories over the state-space, acts as a surrogate model for the underlying dynamical system. Then, a combinatorial representation is built and used to describe the dynamics in the form of a directed acyclic graph, known as {\it Morse graph}. The Morse graph is able to describe the system's attractors and their corresponding regions of attraction (\roa). Furthermore, a pointwise confidence level of the global dynamics estimation over the entire state space is provided. In contrast to alternatives, the framework does not require estimation of Lyapunov functions, alleviating the need for high prediction accuracy of the GP. The framework is suitable for data-driven controllers that do not expose an analytical model as long as Lipschitz-continuity is satisfied. The method is compared against established analytical and recent machine learning alternatives for estimating \roa s, outperforming them in data efficiency without sacrificing accuracy. Link to code: https://go.rutgers.edu/49hy35e

Deep Underground Neutrino Experiment (DUNE) Near Detector Conceptual Design Report

International audienceThe Deep Underground Neutrino Experiment (DUNE) is an international, world-class experiment aimed at exploring fundamental questions about the universe that are at the forefront of astrophysics and particle physics research. DUNE will study questions pertaining to the preponderance of matter over antimatter in the early universe, the dynamics of supernovae, the subtleties of neutrino interaction physics, and a number of beyond the Standard Model topics accessible in a powerful neutrino beam. A critical component of the DUNE physics program involves the study of changes in a powerful beam of neutrinos, i.e., neutrino oscillations, as the neutrinos propagate a long distance. The experiment consists of a near detector, sited close to the source of the beam, and a far detector, sited along the beam at a large distance. This document, the DUNE Near Detector Conceptual Design Report (CDR), describes the design of the DUNE near detector and the science program that drives the design and technology choices. The goals and requirements underlying the design, along with projected performance are given. It serves as a starting point for a more detailed design that will be described in future documents

DUNE Offline Computing Conceptual Design Report

This document describes Offline Software and Computing for the Deep Underground Neutrino Experiment (DUNE) experiment, in particular, the conceptual design of the offline computing needed to accomplish its physics goals. Our emphasis in this document is the development of the computing infrastructure needed to acquire, catalog, reconstruct, simulate and analyze the data from the DUNE experiment and its prototypes. In this effort, we concentrate on developing the tools and systems that facilitate the development and deployment of advanced algorithms. Rather than prescribing particular algorithms, our goal is to provide resources that are flexible and accessible enough to support creative software solutions as HEP computing evolves and to provide computing that achieves the physics goals of the DUNE experiment.This document describes the conceptual design for the Offline Software and Computing for the Deep Underground Neutrino Experiment (DUNE). The goals of the experiment include 1) studying neutrino oscillations using a beam of neutrinos sent from Fermilab in Illinois to the Sanford Underground Research Facility (SURF) in Lead, South Dakota, 2) studying astrophysical neutrino sources and rare processes and 3) understanding the physics of neutrino interactions in matter. We describe the development of the computing infrastructure needed to achieve the physics goals of the experiment by storing, cataloging, reconstructing, simulating, and analyzing $\sim$ 30 PB of data/year from DUNE and its prototypes. Rather than prescribing particular algorithms, our goal is to provide resources that are flexible and accessible enough to support creative software solutions and advanced algorithms as HEP computing evolves. We describe the physics objectives, organization, use cases, and proposed technical solutions

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