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Joshua Smith

Publications and source records attributed to Joshua Smith.

25 records · Page 2Linked to original sources
arXiv2020

A Cryogenic Silicon Interferometer for Gravitational-wave Detection

The detection of gravitational waves from compact binary mergers by LIGO has opened the era of gravitational wave astronomy, revealing a previously hidden side of the cosmos. To maximize the reach of the existing LIGO observatory facilities, we have designed a new instrument that will have 5 times the range of Advanced LIGO, or greater than 100 times the event rate. Observations with this new instrument will make possible dramatic steps toward understanding the physics of the nearby universe, as well as observing the universe out to cosmological distances by the detection of binary black hole coalescences. This article presents the instrument design and a quantitative analysis of the anticipated noise floor.

astro-ph.IM↗
arXiv2020

Online Simultaneous Semi-Parametric Dynamics Model Learning

Accurate models of robots' dynamics are critical for control, stability, motion optimization, and interaction. Semi-Parametric approaches to dynamics learning combine physics-based Parametric models with unstructured Non-Parametric regression with the hope to achieve both accuracy and generalizablity. In this paper we highlight the non-stationary problem created when attempting to adapt both Parametric and Non-Parametric components simultaneously. We present a consistency transform designed to compensate for this non-stationary effect, such that the contributions of both models can adapt simultaneously without adversely affecting the performance of the platform. Thus we are able to apply the Semi-Parametric learning approach for continuous iterative online adaptation, without relying on batch or offline updates. We validate the transform via a perfect virtual model as well as by applying the overall system on a Kuka LWR IV manipulator. We demonstrate improved tracking performance during online learning and show a clear transference of contribution between the two components with a learning bias towards the Parametric component.

cs.RO↗
arXiv2017

A Projected Inverse Dynamics Approach for Dual-arm Cartesian Impedance Control

We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component of the controller to enforce contact and the unconstrained controller to accomplish the task with a desired 6-DOF impedance behaviour. Furthermore, the proposed method optimises the torque required to maintain contact, subject to unknown disturbances, and can do so without direct measurement of external force. The techniques are evaluated on a single-arm wiping a table and a dual-arm platform manipulating a rigid object of unknown mass and with human interaction.

cs.RO↗
arXiv2016

Methane Incorporation into Liquid Fuel by Non-Equilibrium Plasma Discharges

The conventional ways of processing natural gas into more efficient and economical fuels usually either have low conversion rate or low energy efficiency. In this work, a new approach of methane liquefaction is proposed. Instead of direct treatment of only natural gas, plasma activated methane is reacting with liquid fuel. In this way, methane molecules are directly incorporated onto liquid fuel to achieve liquefaction. Nanosecond-pulsed dielectric barrier discharge and atmospheric pressure glow discharge are used here to ensure no local heating in gas bubbles. Effects of both discharges on methane reaction with liquid fuel are investigated, mass and chemical changes in liquid are observed. Preliminary results show fixation of methane in liquid fuel.

physics.plasm-ph↗
arXiv2012

Minimal autocatalytic networks

Self-sustaining autocatalytic chemical networks represent a necessary, though not sufficient condition for the emergence of early living systems. These networks have been formalised and investigated within the framework of RAF theory, which has led to a number of insights and results concerning the likelihood of such networks forming. In this paper, we extend this analysis by focussing on how {\em small} autocatalytic networks are likely to be when they first emerge. First we show that simulations are unlikely to settle this question, by establishing that the problem of finding a smallest RAF within a catalytic reaction system is NP-hard. However, irreducible RAFs (irrRAFs) can be constructed in polynomial time, and we show it is possible to determine in polynomial time whether a bounded size set of these irrRAFs contain the smallest RAFs within a system. Moreover, we derive rigorous bounds on the sizes of small RAFs and use simulations to sample irrRAFs under the binary polymer model. We then apply mathematical arguments to prove a new result suggested by those simulations: at the transition catalysis level at which RAFs first form in this model, small RAFs are unlikely to be present. We also investigate further the relationship between RAFs and another formal approach to self-sustaining and closed chemical networks, namely chemical organisation theory (COT).

q-bio.MN↗
arXiv2011

Quotient Complexity of Bifix-, Factor-, and Subword-Free Regular Languages

A language L is prefix-free if, whenever words u and v are in L and u is a prefix of v, then u=v. Suffix-, factor-, and subword-free languages are defined similarly, where "subword" means "subsequence". A language is bifix-free if it is both prefix- and suffix-free. We study the quotient complexity, more commonly known as state complexity, of operations in the classes of bifix-, factor-, and subword-free regular languages. We find tight upper bounds on the quotient complexity of intersection, union, difference, symmetric difference, concatenation, star, and reversal in these three classes of languages.

cs.FL↗