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Haolong Li

Publications and source records attributed to Haolong Li.

36 records · Page 2Linked to original sources

Exploring Mathematical Extrapolation of Large Language Models with Synthetic Data

Large Language Models (LLMs) have shown excellent performance in language understanding, text generation, code synthesis, and many other tasks, while they still struggle in complex multi-step reasoning problems, such as mathematical reasoning. In this paper, through a newly proposed arithmetical puzzle problem, we show that the model can perform well on multi-step reasoning tasks via fine-tuning on high-quality synthetic data. Experimental results with the open-llama-3B model on three different test datasets show that not only the model can reach a zero-shot pass@1 at 0.44 on the in-domain dataset, it also demonstrates certain generalization capabilities on the out-of-domain datasets. Specifically, this paper has designed two out-of-domain datasets in the form of extending the numerical range and the composing components of the arithmetical puzzle problem separately. The fine-tuned models have shown encouraging performance on these two far more difficult tasks with the zero-shot pass@1 at 0.33 and 0.35, respectively.

cs.CL↗

Online Calibration of a Single-Track Ground Vehicle Dynamics Model by Tight Fusion with Visual-Inertial Odometry

Wheeled mobile robots need the ability to estimate their motion and the effect of their control actions for navigation planning. In this paper, we present ST-VIO, a novel approach which tightly fuses a single-track dynamics model for wheeled ground vehicles with visual inertial odometry (VIO). Our method calibrates and adapts the dynamics model online to improve the accuracy of forward prediction conditioned on future control inputs. The single-track dynamics model approximates wheeled vehicle motion under specific control inputs on flat ground using ordinary differential equations. We use a singularity-free and differentiable variant of the single-track model to enable seamless integration as dynamics factor into VIO and to optimize the model parameters online together with the VIO state variables. We validate our method with real-world data in both indoor and outdoor environments with different terrain types and wheels. In experiments, we demonstrate that ST-VIO can not only adapt to wheel or ground changes and improve the accuracy of prediction under new control inputs, but can even improve tracking accuracy.

cs.RO↗

Effects of zero and reversed magnetic shear on resistive wall modes in a limiter tokamak plasma

Advanced tokamak scenarios often feature equilibriums with zero and reversed magnetic shear. To isolate and investigate their impacts on the resistive wall mode (RWM) instability analytically, we construct a series of cylindrical limiter equilibriums with reversed magnetic shear in the core and zero magnetic shear towards plasma edge, as a prototype of the configurations in advanced tokamak scenarios. Uniform plasma pressure is assumed, so that we can focus our analysis on the current-driven RWMs. Based on the reduced ideal MHD equations, analytical solutions for the $n=1$ resistive wall mode are obtained, which indicate that increasing the reversal of magnetic shear in the core region enhances the RWM instability, whereas the widened region of zero shear near edge leads to lower growth rate of RWM, except when the $q$ value with zero magnetic shear approaches rational values. On the other hand, enhanced positive shear at plasma edge is found to be stabilizing on RWM. NIMROD calculation results confirm these analytical findings.

physics.plasm-ph↗

Roles of non-axisymmetric perturbations in free drift vertical displacement events on EAST

The safe operation of most tokamaks, especially the largen sized ones, rely on the feedback control of the vertical displacement events (VDEs). However, most these feedback control systems are based on the axisymmetric VDE models. In this work, we use NIMROD simulations to study the roles of non-axisymmetric perturbations in free drift vertical displacement events on EAST. The high-$n$ modes in non-axisymmetric VDE grow first, which drive the formation of high-$n$ magnetic island chains. Subsequently, the magnetic island chains grow and overlap with each other, leading to the destruction of the magnetic flux surface, which induces a minor disruption and accelerates the start of the following major disruption. The magnetic island and the stochastic magnetic field allow the toroidally asymmetric poloidal plasma current to jet towards the hoop force direction, forming the finger and filamentary structures. Such a plasma current asymmetry strongly depends on the anisotropy in thermal transport coefficients.

physics.plasm-ph↗

A weighted matching scheme of magnetic coil design for FRC shaping control

The two-dimentional (2D) separatrix shaping plays a crucial role in the confinement of the Field Reversed Configuration (FRC), and the magnetic coils serve as an effective means for its control. In this work we develop a method to optimize the location, and current amplitude of the coils required for achieving the target separatrix shape. By iteratively calculating the coil currents, the plasma current, and the equilibrium magnetic flux, the equilibrium separatrix progressively converges towards the desired shape. The coil currents are determined through a matching method, and the NIMEQ code is employed to compute the FRC equilibrium with a Rigid Rotor type of plasma distribution. This approach enables the adaption of the equilibrium separatrix into any desired shape, thus offering a potential coil optimization scheme for the device design and the 2D shaping control of FRC plasma.

physics.plasm-ph↗

Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models

Visual-inertial odometry (VIO) is an important technology for autonomous robots with power and payload constraints. In this paper, we propose a novel approach for VIO with stereo cameras which integrates and calibrates the velocity-control based kinematic motion model of wheeled mobile robots online. Including such a motion model can help to improve the accuracy of VIO. Compared to several previous approaches proposed to integrate wheel odometer measurements for this purpose, our method does not require wheel encoders and can be applied when the robot motion can be modeled with velocity-control based kinematic motion model. We use radial basis function (RBF) kernels to compensate for the time delay and deviations between control commands and actual robot motion. The motion model is calibrated online by the VIO system and can be used as a forward model for motion control and planning. We evaluate our approach with data obtained in variously sized indoor environments, demonstrate improvements over a pure VIO method, and evaluate the prediction accuracy of the online calibrated model.

cs.CV↗

Event-based Non-Rigid Reconstruction from Contours

Visual reconstruction of fast non-rigid object deformations over time is a challenge for conventional frame-based cameras. In this paper, we propose a novel approach for reconstructing such deformations using measurements from event-based cameras. Under the assumption of a static background, where all events are generated by the motion, our approach estimates the deformation of objects from events generated at the object contour in a probabilistic optimization framework. It associates events to mesh faces on the contour and maximizes the alignment of the line of sight through the event pixel with the associated face. In experiments on synthetic and real data, we demonstrate the advantages of our method over state-of-the-art optimization and learning-based approaches for reconstructing the motion of human hands. A video of the experiments is available at https://youtu.be/gzfw7i5OKjg

cs.CV↗

Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion

Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art approaches fail to produce reliable estimation of the robot posture, in particular base height. In this paper, we propose a novel approach for combining visual-inertial odometry (VIO) with leg odometry in an extended Kalman filter (EKF) based state estimator. The VIO module uses a stereo camera and IMU to yield low-drift 3D position and yaw orientation and drift-free pitch and roll orientation of the robot base link in the inertial frame. However, these values have a considerable amount of latency due to image processing and optimization, while the rate of update is quite low which is not suitable for low-level control. To reduce the latency, we predict the VIO state estimate at the rate of the IMU measurements of the VIO sensor. The EKF module uses the base pose and linear velocity predicted by VIO, fuses them further with a second high-rate IMU and leg odometry measurements, and produces robot state estimates with a high frequency and small latency suitable for control. We integrate this lightweight estimation framework with a nonlinear model predictive controller and show successful implementation of a set of agile locomotion behaviors, including trotting and jumping at varying horizontal speeds, on a torque-controlled quadruped robot.

cs.RO↗

MHD Simulations on Magnetic Compression of Field Reversed Configurations

The magnetic compression has long been proposed a promising method for the plasma heating in a field reversed configuration (FRC), however, it remains a challenge to fully understand the physical mechanisms underlying the compression process, due to its highly dynamic nature beyond the one-dimensional (1D) adiabatic theory model [R. L. Spencer et al., Phys. Fluids 26, 1564 (1983)]. In this work, magnetohydrodynamics (MHD) simulations on the magnetic compression of FRCs using the NIMROD code [C. R. Sovinec et al., J. Comput. Phys. 195, 355 (2004)] and their comparisons with the 1D theory have been performed. The effects of the assumptions of the theory on the compression process have been explored, and the detailed profiles of the FRC during compression have been investigated. The pressure evolution agrees with the theoretical prediction under various initial conditions. The axial contraction of the FRC can be affected by the initial density profile and the ramping rate of the compression magnetic field, but the theoretical predictions on the FRC's length in general and the relation $r_s=\sqrt{2}r_o$ in particular hold approximately well during the whole compression process, where $r_s$ is the major radius of FRC separatrix and $r_o$ is that of the magnetic axis. The evolutions of the density and temperature can be affected significantly by the initial equilibrium profile and the ramping rate of the compression magnetic field. During the compression, the major radius of the FRC is another parameter that is susceptible to the ramping rate of the compression field. Basically, for the same magnetic compression ratio, the peak density is higher and the FRC's radius $r_s$ is smaller than the theoretical predictions.

physics.plasm-ph↗

Quasi-static magnetic compression of field-reversed configuration plasma: Amended scalings and limits from two-dimensional MHD equilibrium

In this work, several key scaling laws of the quasi-static magnetic compression of field reversed configuration (FRC) plasma [Spencer, Tuszewski, and Linford, 1983] are amended from a series of 2D FRC MHD equilibriums numerically obtained using the Grad-Shafranov equation solver NIMEQ. Based on the new scaling for the elongation and the magnetic fields at the separatrix and the wall, the empirically stable limits for the compression ratio, the fusion gain, and the neutron yield are evaluated, which may serve as a more accurate estimate for the upper ceiling of performance from the magnetic compression of FRC plasma as a potential fusion energy as well as neutron source devices.

physics.plasm-ph↗

Two-dimensional shaping of Solov'ev equilibrium with vacuum using external coils

In this work, we demonstrate a method for constructing the Solov'ev equilibrium with any given 2D shape surrounded by a vacuum region using external poloidal field coils. The computational domain consists of two parts: the plasma region, where the solution is the same as the Solov'ev solution, and the vacuum region, where the magnetic field generated by external coils as well as plasma current is determined using the Green function method through a matching condition near the separatrix. However, the method is not limited to the Solov'ev equilibrium in particular. The accuracy, efficiency, and robustness of such a scheme suggest that this method may be applied to the 2D shaping of tokamak plasma with vacuum region using external coils in general.

physics.plasm-ph↗

Observability Analysis of Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models

In this paper, we analyze the observability of the visual-inertial odometry (VIO) using stereo cameras with a velocity-control based kinematic motion model. Previous work shows that in general case the global position and yaw are unobservable in VIO system, additionally the roll and pitch become also unobservable if there is no rotation. We prove that by integrating a planar motion constraint roll and pitch become observable. We also show that the parameters of the motion model are observable.

cs.RO↗

Cold bubble formation from 2/1 tearing mode during massive gas injection in a tokamak

Massive gas injection (MGI) experiments have been carried out in many tokamaks to study disruption dynamics and mitigation schemes. Two events often observed in those experiments are the excitation of the $m=2, n=1$ magnetohydrodynamic (MHD) mode, and the formation of cold bubble structure in the temperature distribution before the thermal quench (TQ). Here $m$ is the poloidal mode number, $n$ the toroidal mode number. The physics mechanisms underlying those phenomena, however, have not been entirely clear. In this work, our recent NIMROD simulations of the MGI process in a tokamak have reproduced the main features of both events, which has allowed us to examine and establish the causal relation between them. In these simulations, the $3/1$ and $2/1$ islands are found to form successively after the arrival of impurity ion cold front at the corresponding $q = 3$ and $q = 2$ rational surfaces. At the interface between impurity and plasma, a local thin current sheet forms due to an enhanced local pressure gradient and moves inward following the gas cold front, this may contribute to the formation of a dominant $2/1$ mode. Following the growth of the $2/1$ tearing mode, the impurity penetration into the core region inside the $q=2$ surface gives rise to the formation of the cold bubble temperature structure and initiates the final TQ. A subdominant $1/1$ mode developed earlier near the $q=1$ surface alone does not cause such a cold bubble formation, however, the exact manner of the preceding impurity penetration depends on the nature of the $1/1$ mode: kink-tearing or quasi-interchange.

physics.plasm-ph↗

MHD analysis on the physical designs of CFETR and HFRC

The China Fusion Engineering Test Reactor (CFETR) and the Huazhong Field Reversed Configuration (HFRC), currently both under intensive physical and engineering designs in China, are the two major projects representative of the low-density steady-state and high-density pulsed pathways to fusion. One of the primary tasks of the physics designs for both CFETR and HFRC is the assessment and analysis of the magnetohydrodynamic (MHD) stability of the proposed design schemes. Comprehensive efforts on the assessment of MHD stability of CFETR and HFRC baseline scenarios have led to preliminary progresses that may further benefit engineering designs.

physics.plasm-ph↗

Tracking 6-DoF Object Motion from Events and Frames

Event cameras are promising devices for lowlatency tracking and high-dynamic range imaging. In this paper,we propose a novel approach for 6 degree-of-freedom (6-DoF)object motion tracking that combines measurements of eventand frame-based cameras. We formulate tracking from highrate events with a probabilistic generative model of the eventmeasurement process of the object. On a second layer, we refinethe object trajectory in slower rate image frames through directimage alignment. We evaluate the accuracy of our approach inseveral object tracking scenarios with synthetic data, and alsoperform experiments with real data.

cs.CV↗

Effects of Helium massive gas injection level on disruption mitigation on EAST

In this study, NIMROD simulations are performed to investigate the effects of massive helium gas injection level on the induced disruption on EAST tokamak. It is demonstrated in simulations that two different scenarios of plasma cooling (complete cooling and partial cooling) take place for different amounts of injected impurities. For the impurity injection above a critical level, a single MHD activity is able to induce a complete core temperature collapse. For impurity injection below the critical level, a series of multiple minor disruptions occur before the complete thermal quench (TQ).

physics.plasm-ph↗

Formation of edge pressure pedestal and reversed magnetic shear due to toroidal rotation in a tokamak equilibrium

Toroidal rotation is well known to play significant roles in the edge transport and L-H transition dynamics of tokamaks. Our recent calculation finds that a sufficiently strong localized toroidal rotation can directly bring out the formation of edge pressure pedestal with reversed magnetic shear that is reminiscent of an H-mode plasma, purely through the effects of toroidal rotation on the tokamak MHD equilibrium itself. In particular, the enhanced edge toroidal rotation enables a substantial peaking of the parallel current profile near edge in higher $β$ regimes, which leads to the flattening or reversal of the local $q$ (safety factor) profile. Here the formation of pressure pedestal along with the reversed magnetic shear region is shown to be the natural outcome of the MHD tokamak equilibrium in a self-consistent response to the presence of a localized toroidal rotation typically observed in H-mode or QH-mode.

physics.plasm-ph↗

Solving the Grad-Shafranov equation using spectral elements for tokamak equilibrium with toroidal rotation

The Grad-Shafranov equation is solved using spectral elements for tokamak equilibrium with toroidal rotation. The Grad-Shafranov solver builds upon and extends the NIMEQ code [Howell and Sovinec, Comput. Phys. Commun. 185 (2014) 1415] previously developed for static tokamak equilibria. Both geometric and algebraic convergence are achieved as the polynomial degree of the spectral-element basis increases. A new analytical solution to the Grad-Shafranov equation is obtained for Solov'ev equilibrium in presence of rigid toroidal rotation, in addition to a previously obtained analytical solution for a defferent set of equilibrium and rotation profiles. The numerical solutions from the extended NIMEQ are benchmarked with the analytical solutions, with good agreements. Besides, the extended NIMEQ code is benchmarked with the FLOW code [L. Guazzotto, R. Betti, et al., Phys. Plasma 11(2004)604].

physics.plasm-ph↗