arXiv subjects

Sunghee Kim

Publications and source records attributed to Sunghee Kim.

16 recordsLinked to original sources

arXiv2026

Dynamics Computation of Soft-Rigid Hybrid-Link System and Its Application to Motion Analysis of an Athlete Wearing Sport Prosthesis

This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the interaction force between the rigid human skeleton system and a flexible prosthesis. However, most of human musculoskeletal models are based on the computation framework of a rigid-body multi-link system. Recently in soft robotics research field, fast and efficient modeling methods were developed for a flexible rod deformation, which allows us to build a hybrid-link system that integrates rigid-link and soft-bodies in a unified formulation. We apply inverse kinematics of the hybrid-link system to motion reconstruction from a motion captured data, and also present the estimation of the joint torques and ground reaction force by inverse dynamics. Through a human subject experiment, we show that the inverse dynamics achieved approximately 12% error on the ground reaction force estimation. Furthermore, we provide the muscle force estimation considering muscle amputation and interaction force with the prosthesis leg deformation.

cs.RO↗

arXiv2025

2025 update on $\varepsilon_K$ in the Standard Model with lattice QCD inputs

We present theoretical results for the indirect CP violation parameter, $ |\varepsilon_K| $, evaluated directly within the Standard Model using lattice QCD inputs including $ B_K $, $ |V_{cb}| $, $ |V_{us}| $, $ |V_{ud}| $, $ \xi_0 $, $ \xi_2 $, $ F_K $, and the charm quark mass $ m_c $. Our analysis reveals a significant tension at the $ \sim 5\sigma $ level ($ 4.6\sigma $ to $ 5.2\sigma $) between the Standard Model prediction and the experimental value of $ |\varepsilon_K| $. The Standard Model prediction, informed by lattice QCD inputs, accounts for only approximately 65% of the experimental value, leaving a 35% discrepancy unexplained. Notably, this tension vanishes when using the inclusive determination of $ |V_{cb}| $, derived from heavy quark expansion. The discrepancy is therefore tied to the well-known tension between the exclusive and inclusive determinations of $ |V_{cb}| $. We further report results for $ |\varepsilon_K| $ obtained using the Brod--Gorbahn--Stamou (BGS) method based on $ u\text{--}t $ unitarity, which yields an even stronger discrepancy, in the range of $ 4.9\sigma $ to $ 5.5\sigma $, when combined with lattice QCD inputs.

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arXiv2024

2024 Update on $\varepsilon_K$ with lattice QCD inputs

We report recent progress on $\varepsilon_K$ evaluated directly from the standard model (SM) with lattice QCD inputs such as $\hat{B}_K$, exclusive $|V_{cb}|$, $|V_{us}|$, $|V_{ud}|$, $\xi_0$, $\xi_2$, $\xi_\text{LD}$, $f_K$, and $m_c$. We find that the standard model with exclusive $|V_{cb}|$ and lattice QCD inputs describes only $2/3 \cong 65\%$ of the experimental value of $|\varepsilon_K|$ and does not explain its remaining 35\%, which represents a strong tension in $|\varepsilon_K|$ at the $5.1\sigma \sim 4.1\sigma$ level between the SM theory and experiment. We also find that this tension disappears when we use the inclusive value of $|V_{cb}|$ obtained using the heavy quark expansion based on the QCD sum rule approach. We also report results for $|\varepsilon_K|$ obtained using the Brod-Gorbahn-Stamou (BGS) method for $\eta_i$ of $u-t$ unitarity, which leads to even a stronger tension of $5.7\sigma \sim 4.2\sigma$ with lattice QCD inputs.

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arXiv2024

Viscoelasticity Estimation of Sports Prosthesis by Energy-minimizing Inverse Kinematics and Its Validation by Forward Dynamics

In this study, we present a method for estimating the viscoelasticity of a leaf-spring sports prosthesis using advanced energy minimizing inverse kinematics based on the Piece-wise Constant Strain (PCS) model to reconstruct the three-dimensional dynamic behavior. Dynamic motion analysis of the athlete and prosthesis is important to clarify the effect of prosthesis characteristics on foot function. However, three-dimensional deformation calculations of the prosthesis and viscoelasticity have rarely been investigated. In this letter, we apply the PCS model to a prosthesis deformation, which can calculate flexible deformation with low computational cost and handle kinematics and dynamics. In addition, we propose an inverse kinematics calculation method that is consistent with the material properties of the prosthesis by considering the minimization of elastic energy. Furthermore, we propose a method to estimate the viscoelasticity by solving a quadratic programming based on the measured motion capture data. The calculated strains are more reasonable than the results obtained by conventional inverse kinematics calculation. From the result of the viscoelasticity estimation, we simulate the prosthetic motion by forward dynamics calculation and confirm that this result corresponds to the measured motion. These results indicate that our approach adequately models the dynamic phenomena, including the viscoelasticity of the prosthesis.

cs.RO↗

arXiv2024

Progress report on testing robustness of the Newton method in data analysis on 2-point correlation function using a MILC HISQ ensemble

We report recent progress in data analysis on the two point correlation functions which will be prerequisite to obtain semileptonic form factors for the $B_{(s)} \to D_{(s)}\ell\nu$ decays. We use a MILC HISQ ensemble for the measurement. We use the HISQ action for light quarks, and the Oktay-Kronfeld (OK) action for the heavy quarks ($b$ and $c$). We used a sequential Bayesian method for the data analysis. Here we test the new fitting methodology of Benjamin J.~Choi in a completely independent manner.

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arXiv2024

Current progress on the semileptonic form factors for $\bar{B} \to D^{\ast} \ell \bar{\nu}$ decay using the Oktay-Kronfeld action

We present recent progress in calculating the semileptonic form factors $h_{A_1}(w)$ for the $\bar{B} \to D^{\ast} \ell \bar{\nu}$ decays. We use the Oktay-Kronfeld (OK) action for the charm and bottom valence quarks and the HISQ action for light quarks. We adopt the Newton method combined with the scanning method to find a good initial guess for the $\chi^2$ minimizer in the fitting of the 2pt correlation functions. The main advantage is that the Newton method lets us to consume all the time slices allowed by the physical positivity. We report the first, reliable, but preliminary results for $h_{A_1}(w)/\rho_{A_1}$ at zero recoil ($w=1$). Here we use a MILC HISQ ensemble ($a = 0.12$ fm, $M_{\pi}$ = 220 MeV, and $N_f = 2 + 1 + 1$ flavors).

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arXiv2023

2023 Update of $\varepsilon_K$ with lattice QCD inputs

We report recent progress on $\varepsilon_K$ evaluated directly from the standard model (SM) with lattice QCD inputs such as $\hat{B}_K$, $|V_{cb}|$, $|V_{us}|$, $|V_{ud}|$, $ξ_0$, $ξ_2$, $ξ_\text{LD}$, $f_K$, and $m_c$. We find that the standard model with exclusive $|V_{cb}|$ and lattice QCD inputs describes only 66\% of the experimental value of $|\varepsilon_K|$ and does not explain its remaining 34\%, which corresponds to a strong tension in $|\varepsilon_K|$ at the $4.9σ\sim 3.9σ$ level between the SM theory and experiment. We also find that this tension disappears when we use the inclusive value of $|V_{cb}|$ obtained using the heavy quark expansion based on the QCD sum rule approach.

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arXiv2023

2022 Update on $\varepsilon_K$ with lattice QCD inputs

We present recent updates for $\varepsilon_K$ determined directly from the standard model (SM) with lattice QCD inputs such as $\hat{B}_K$, $|V_{cb}|$, $|V_{us}|$, $ξ_0$, $ξ_2$, $ξ_\text{LD}$, $f_K$, and $m_c$. We find that the standard model with exclusive $|V_{cb}|$ and other lattice QCD inputs describes only 65% of the experimental value of $|\varepsilon_K|$ and does not explain its remaining 35%, which leads to a strong tension in $|\varepsilon_K|$ at the $5.1σ\sim 3.9σ$ level between the SM theory and experiment. We also find that this tension disappears when we use the inclusive value of $|V_{cb}|$ obtained using the heavy quark expansion based on the QCD sum rule approach, although this inclusive tension is small ($\approx 1.4σ$) but keeps increasing as time goes on.

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arXiv2022

Deep learning study on the Dirac eigenvalue spectrum of staggered quarks

We study the chirality of staggered quarks on the Dirac eigenvalue spectrum using deep learning (DL) techniques. The Kluberg-Stern method to construct staggered bilinear operators conserves continuum property such as recursion relations, uniqueness of chirality, and Ward identities, which leads to a unique and characteristic pattern (we call it "leakage pattern (LP)") in the matrix elements of the chirality operator sandwiched between two quark eigenstates of staggered Dirac operator. DL analysis gives $99.4(2)\%$ accuracy on normal gauge configurations and $0.998$ AUC (Area Under ROC Curve) for classifying non-zero mode octets in the Dirac eigenvalue spectrum. It confirms that the leakage pattern is universal on normal gauge configurations. The multi-layer perceptron (MLP) method turns out to be the best DL model for our study on the LP.

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arXiv2021

Chiral symmetry and taste symmetry from the eigenvalue spectrum of staggered Dirac operators

We investigate general properties of the eigenvalue spectrum for improved staggered quarks. We introduce a new chirality operator $[γ_5 \otimes 1]$ and a new shift operator $[1 \otimes ξ_5]$, which respect the same recursion relation as the $γ_5$ operator in the continuum. Then we show that matrix elements of the chirality operator sandwiched between two eigenstates of the staggered Dirac operator are related to those of the shift operator by the Ward identity of the conserved $U(1)_A$ symmetry of staggered fermion actions. We perform a numerical study in quenched QCD using HYP staggered quarks to demonstrate the Ward identity. We introduce a new concept of leakage patterns which collectively represent the matrix elements of the chirality operator and the shift operator sandwiched between two eigenstates of the staggered Dirac operator. The leakage pattern provides a new method to identify zero modes and non-zero modes in the Dirac eigenvalue spectrum. This method is as robust as the spectral flow method but requires much less computing power. Analysis using a machine learning technique confirms that the leakage pattern is universal, since the staggered Dirac eigenmodes on normal gauge configurations respect it. In addition, the leakage pattern can be used to determine a ratio of renormalization factors as a by-product. We conclude that it might be possible and realistic to measure the topological charge $Q$ using the Atiya-Singer index theorem and the leakage pattern of the chirality operator in the staggered fermion formalism.

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arXiv2020

Chiral Ward identities for Dirac eigenmodes with staggered fermions

We study chiral properties of eigenvalue spectrum for staggered quarks. We present a new method to identify would-be zero modes and nonzero modes using their symmetry and chiral properties. Here, we review the traditional method with HYP improved staggered quarks, and extend it to a completely new method which uses the chiral Ward identities and leakage patterns to achieve the goal.

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arXiv2017

How to identify zero modes for improved staggered fermions

We present results of the eigenvalue spectrum for the staggered Diräc operator obtained using a modified Lanczos algorithm. We identify zero modes and non-zero modes. We derive the chiral Ward identity derived from the conserved $U(1)_A$ symmetry, and check it numerically. This is the first step toward construction of an improved method to identify zero modes reliably with staggered fermions.

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arXiv2015

Kaon BSM B-parameters using improved staggered fermions from $N_f=2+1$ unquenched QCD

We present results for the matrix elements of the additional $ΔS=2$ operators that appear in models of physics beyond the Standard Model (BSM), expressed in terms of four BSM $B$-parameters. Combined with experimental results for $ΔM_K$ and $ε_K$, these constrain the parameters of BSM models. We use improved staggered fermions, with valence HYP-smeared quarks and $N_f=2+1$ flavors of "asqtad" sea quarks. The configurations have been generated by the MILC collaboration. The matching between lattice and continuum four-fermion operators and bilinears is done perturbatively at one-loop order. We use three lattice spacings for the continuum extrapolation: $a\approx 0.09$, $0.06$ and $0.045\;$fm. Valence light-quark masses range down to $\approx m_s^{\rm phys}/13$ while the light sea-quark masses range down to $\approx m_s^{\rm phys}/20$. Compared to our previous published work, we have added four additional lattice ensembles, leading to better controlled extrapolations in the lattice spacing and sea-quark masses. We report final results for two renormalization scales, $μ=2\;\text{GeV}$ and $3\;\text{GeV}$, and compare them to those obtained by other collaborations. Agreement is found for two of the four BSM $B$-parameters ($B_2$ and $B_3^\text{SUSY}$). The other two ($B_4$ and $B_5$) differ significantly from those obtained using RI-MOM renormalization as an intermediate scheme, but are in agreement with recent preliminary results obtained by the RBC-UKQCD collaboration using RI-SMOM intermediate schemes.

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arXiv2014

Improved determination of $B_K$ with staggered quarks

We present results for the kaon mixing parameter $B_K$ obtained using improved staggered fermions on a much enlarged set of MILC asqtad lattices. Compared to our previous publication, which was based largely on a single ensemble at each of the three lattice spacings $a\approx 0.09\;$fm, $0.06\;$fm and $0.045\;$fm, we have added seven new fine and four new superfine ensembles, with a range of values of the light and strange sea-quark masses. We have also increased the number of measurements on one of the original ensembles. This allows us to do controlled extrapolations in the light and strange sea-quark masses, which we do simultaneously with the continuum extrapolation. This reduces the extrapolation error and improves the reliability of our error estimates. Our final result is $\hat{B}_K = 0.7379 \pm 0.0047 (\text{stat}) \pm 0.0365 (\text{sys})$.

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arXiv2013

Neutral kaon mixing from new physics: matrix elements in $N_f=2+1$ QCD

We present results for matrix elements of $ΔS=2$ four-fermion operators arising generically in models of new physics. These are needed to constrain such models using the measured values of $\varepsilon_K$ and $ΔM_K$. We use lattice QCD with 2+1 flavors of improved staggered fermions on lattices generated by the MILC collaboration. We extrapolate to the continuum from three lattice spacings ranging down to $a\approx 0.045\;$fm. Total errors are $\sim 5-6%$, arising primarily from our use of one-loop matching between lattice and continuum operators. For two of the matrix elements, our results disagree significantly from those obtained using different fermion discretizations.

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arXiv2012

Kaon $B$-parameter from improved staggered fermions in $N_f=2+1$ QCD

We present a calculation of the kaon $B$-parameter, $B_K$, using lattice QCD. We use improved staggered valence and sea fermions, the latter generated by the MILC collaboration with $N_f=2+1$ light flavors. To control discretization errors, we use four different lattice spacings ranging down to $a\approx 0.045\;$fm. The chiral and continuum extrapolations are done using SU(2) staggered chiral perturbation theory. Our final result is $\hat{B}_K = 0.727 \pm 0.004 (\text{stat}) \pm 0.038 (\text{sys})$, where the dominant systematic error is from our use of truncated (one-loop) matching factors.

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