arXiv subjects

M. Ristic

Publications and source records attributed to M. Ristic.

5 recordsLinked to original sources

arXiv2026

Adaptive Human-Robot Collaborative Painting Combining Preference-Based Optimization and Dynamic Motion Primitives

This work presents a human-centered collaborative framework that integrates Preference-Based Optimization (PBO) and Dynamic Movement Primitives (DMPs) to optimize robot-assisted tasks such as painting. The system allows the operator to perform the process while the robot adapts its behavior in real-time, dynamically adjusting the orientation of the piece in order to match the orientation of the operator's hand. The PBO framework leverages the GLISp algorithm to iteratively refine control parameters such as execution time, robot responsiveness, and rotation amplification through human feedback. Moreover, DMPs have been modified to enhance the reactive behavior of the robot and its adaptability to ergonomic requirements. The method was validated with a heterogeneous group of participants executing \rev{painting tasks}. The results show that our strategy effectively reduces operator effort while optimizing process outcomes.

cs.RO↗

arXiv2022

Constraining inputs to realistic kilonova simulations through comparison to observed $r$-process abundances

Kilonovae, one source of electromagnetic emission associated with neutron star mergers, are powered by the decay of radioactive isotopes in the neutron-rich merger ejecta. Models for kilonova emission consistent with the electromagnetic counterpart to GW170817 predict characteristic abundance patterns, determined by the relative balance of different types of material in the outflow. Assuming the observed source is prototypical, this inferred abundance pattern in turn must match $r$-process abundances deduced by other means, such as what is observed in the solar system. We report on analysis comparing the input mass-weighted elemental compositions adopted in our radiative transfer simulations to the mass fractions of elements in the Sun, as a practical prototype for the potentially universal abundance signature from neutron-star mergers. We characterize the extent to which our parameter inference results depend on our assumed composition for the dynamical and wind ejecta and examine how the new results compare to previous work. We find that a dynamical ejecta composition calculated using the FRDM2012 nuclear mass and FRLDM fission models with extremely neutron-rich ejecta ($Y_{\rm{e}} = 0.035$) along with moderately neutron-rich ($Y_{\rm e} = 0.27$) wind ejecta composition yields a wind-to-dynamical mass ratio of $M_{\rm{w}}/M_{\rm{d}}$ = 0.47 which best matches the observed AT2017gfo kilonova light curves while also producing the best-matching abundance of neutron-capture elements in the solar system.

astro-ph.HE↗

arXiv2021

A Broad Grid of 2D Kilonova Emission Models

Depending upon the properties of their compact remnants and the physics included in the models, simulations of neutron star mergers can produce a broad range of ejecta properties. The characteristics of this ejecta, in turn, define the kilonova emission. To explore the effect of ejecta properties, we present a grid of 2-component 2D axisymmetric kilonova simulations that vary mass, velocity, morphology, and composition. The masses and velocities of each component vary, respectively, from 0.001 to 0.1 M$_{\odot}$ and 0.05 to 0.3$c$, covering much of the range of results from the neutron star merger literature. The set of 900 models is constrained to have a toroidal low electron fraction ($Y_e$) ejecta with a robust r-process composition and either a spherical or lobed high-$Y_e$ ejecta with two possible compositions. We simulate these models with the Monte Carlo radiative transfer code SuperNu using a full suite of lanthanide and 4th row element opacities. We examine the trends of these models with parameter variation, show how it can be used with statistical tools, and compare the model light curves and spectra to those of AT2017gfo, the electromagnetic counterpart of GW170817.

astro-ph.HE↗

arXiv2021

Interpolating Detailed Simulations of Kilonovae: Adaptive Learning and Parameter Inference Applications

Detailed radiative transfer simulations of kilonovae are difficult to apply directly to observations; they only sparsely cover simulation parameters, such as the mass, velocity, morphology, and composition of the ejecta. On the other hand, semianalytic models for kilonovae can be evaluated continuously over model parameters, but neglect important physical details which are not incorporated in the simulations, thus introducing systematic bias. Starting with a grid of 2D anisotropic simulations of kilonova light curves covering a wide range of ejecta properties, we apply adaptive-learning techniques to iteratively choose new simulations and produce high-fidelity surrogate models for those simulations. These surrogate models allow for continuous evaluation across model parameters while retaining the microphysical details about the ejecta. Using a new code for multimessenger inference, we demonstrate how to use our interpolated models to infer kilonova parameters. Comparing to inferences using simplified analytic models, we recover different ejecta properties. We discuss the implications of this analysis which is qualitatively consistent with similar previous work using detailed ejecta opacity calculations and which illustrates systematic challenges for kilonova modeling. An associated data and code release provides our interpolated light-curve models, interpolation implementation which can be applied to reproduce our work or extend to new models, and our multimessenger parameter inference engine.

astro-ph.HE↗

arXiv2018

Minimum Orbital Period of Pre-Cataclysmic Variables

More than 20 pre-cataclysmic variable (pre-CV) systems have now been discovered with very short orbital periods ranging from 250 min down to 68 min. A pre-CV consists of a white dwarf or hot subdwarf primary and a low-mass companion star, where the companion star has successfully ejected the common envelope of the primary progenitor, but mass transfer from the companion star to the primary has not yet commenced. In this short-period range, a substantial fraction of the companion stars are likely to be either brown dwarfs with masses $\lesssim 0.07 \, M_\odot$ or stars at the bottom of the MS ($\lesssim 0.1 M_\odot$). The discovery of these short-period pre-CVs raises the question -- what is the shortest possible orbital period of such systems? We ran 500 brown dwarf/low-mass main sequence models with {\tt MESA} that cover the mass range from 0.002 to 0.1 $M_\odot$. We find the shortest possible orbital period is 40 min with a corresponding brown dwarf mass of 0.07 $M_\odot$ for an age equal to a Hubble time. We discuss the past evolution of these systems through the common envelope and suggest that many of the systems with present day white dwarf primaries may have exited the common envelope with the primary as a helium burning hot subdwarf. We also characterize the future evolution of the observed systems, which includes a phase as CVs below the conventional period minimum.

astro-ph.SR↗