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Trevor Smith

Publications and source records attributed to Trevor Smith.

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Quantum Graph Neural Networks for Jet Tagging on Quantum Hardware

Jets are central to the physics programs of both current and future colliders, from precision Standard Model measurements and searches for new physics at the Large Hadron Collider to studies of nucleon structure at the future Electron-Ion Collider. Motivated by these applications, we explore quantum machine learning for jet classification and present a permutation-invariant Quantum Graph Neural Network (QGNN) applied to particle-cloud representations of jets. We apply the model to two such discrimination tasks: quark vs. gluon and up vs. down quark flavor tagging, with the latter being, to our knowledge, the first application of a quantum model to this problem. In the ideal simulation, the QGNN performs competitively against the Particle Flow Network and traditional QCD observables. We further deploy scaled-down models to IBM and IonQ quantum processing units (QPUs), where we train and evaluate them, obtaining promising results. Finally, we perform an interpretability analysis to characterize the observables learned by the quantum model, relating them to generalized angularities for the quark-gluon study and to jet charge for the flavor study.

hep-ph

Modeling Branches for Active Manipulation using Iterative Parameter Estimation

This study presents a method for modeling diverse plant branches by iteratively estimating material parameters to support delicate branch manipulation. Branch manipulation is necessary in agricultural robotics for plant repositioning, stabilizing, and clearing visual obstructions in dense foliage. The proposed method builds a tetrahedral branch model from point-cloud data and simulates its behavior using the finite element method. Using real observed deformation data, it iteratively estimates branch parameters and then computes an optimal path with a deformation-aware motion planner to move and stabilize branches within another robot's field of view. Across 30 trials on branches with varying geometries and material properties, the proposed method reduced the deformation energy by 35.69% while increasing the path length by 8.10% on average.

cs.RO

Force Aware Branch Manipulation To Assist Agricultural Tasks

This study presents a methodology to safely manipulate branches to aid various agricultural tasks. Humans in a real agricultural environment often manipulate branches to perform agricultural tasks effectively, but current agricultural robots lack this capability. This proposed strategy to manipulate branches can aid in different precision agriculture tasks, such as fruit picking in dense foliage, pollinating flowers under occlusion, and moving overhanging vines and branches for navigation. The proposed method modifies RRT* to plan a path that satisfies the branch geometric constraints and obeys branch deformable characteristics. Re-planning is done to obtain a path that helps the robot exert force within a desired range so that branches are not damaged during manipulation. Experimentally, this method achieved a success rate of 78% across 50 trials, successfully moving a branch from different starting points to a target region.

cs.RO

FloPE: Flower Pose Estimation for Precision Pollination

This study presents Flower Pose Estimation (FloPE), a real-time flower pose estimation framework for computationally constrained robotic pollination systems. Robotic pollination has been proposed to supplement natural pollination to ensure global food security due to the decreased population of natural pollinators. However, flower pose estimation for pollination is challenging due to natural variability, flower clusters, and high accuracy demands due to the flowers' fragility when pollinating. This method leverages 3D Gaussian Splatting to generate photorealistic synthetic datasets with precise pose annotations, enabling effective knowledge distillation from a high-capacity teacher model to a lightweight student model for efficient inference. The approach was evaluated on both single and multi-arm robotic platforms, achieving a mean pose estimation error of 0.6 cm and 19.14 degrees within a low computational cost. Our experiments validate the effectiveness of FloPE, achieving up to 78.75% pollination success rate and outperforming prior robotic pollination techniques.

cs.RO

Loopy Movements: Emergence of Rotation in a Multicellular Robot

Unlike most human-engineered systems, many biological systems rely on emergent behaviors from low-level interactions, enabling greater diversity and superior adaptation to complex, dynamic environments. This study explores emergent decentralized rotation in the Loopy multicellular robot, composed of homogeneous, physically linked, 1-degree-of-freedom cells. Inspired by biological systems like sunflowers, Loopy uses simple local interactions-diffusion, reaction, and active transport of simulated chemicals, called morphogens-without centralized control or knowledge of its global morphology. Through these interactions, the robot self-organizes to achieve coordinated rotational motion and forms lobes-local protrusions created by clusters of motor cells. This study investigates how these interactions drive Loopy's rotation, the impact of its morphology, and its resilience to actuator failures. Our findings reveal two distinct behaviors: 1) inner valleys between lobes rotate faster than the outer peaks, contrasting with rigid body dynamics, and 2) cells rotate in the opposite direction of the overall morphology. The experiments show that while Loopy's morphology does not affect its angular velocity relative to its cells, larger lobes increase cellular rotation and decrease morphology rotation relative to the environment. Even with up to one-third of its actuators disabled and significant morphological changes, Loopy maintains its rotational abilities, highlighting the potential of decentralized, bio-inspired strategies for resilient and adaptable robotic systems.

cs.RO

Design of Stickbug: a Six-Armed Precision Pollination Robot

This work presents the design of Stickbug, a six-armed, multi-agent, precision pollination robot that combines the accuracy of single-agent systems with swarm parallelization in greenhouses. Precision pollination robots have often been proposed to offset the effects of a decreasing population of natural pollinators, but they frequently lack the required parallelization and scalability. Stickbug achieves this by allowing each arm and drive base to act as an individual agent, significantly reducing planning complexity. Stickbug uses a compact holonomic Kiwi drive to navigate narrow greenhouse rows, a tall mast to support multiple manipulators and reach plant heights, a detection model and classifier to identify Bramble flowers, and a felt-tipped end-effector for contact-based pollination. Initial experimental validation demonstrates that Stickbug can attempt over 1.5 pollinations per minute with a 50% success rate. Additionally, a Bramble flower perception dataset was created and is publicly available alongside Stickbug's software and design files.

cs.RO

Swarm of One: Bottom-up Emergence of Stable Robot Bodies from Identical Cells

Unlike most human-engineered systems, biological systems are emergent from low-level interactions, allowing much broader diversity and superior adaptation to the complex environments. Inspired by the process of morphogenesis in nature, a bottom-up design approach for robot morphology is proposed to treat a robot's body as an emergent response to underlying processes rather than a predefined shape. This paper presents Loopy, a "Swarm-of-One" polymorphic robot testbed that can be viewed simultaneously as a robotic swarm and a single robot. Loopy's shape is determined jointly by self-organization and morphological computing using physically linked homogeneous cells. Experimental results show that Loopy can form symmetric shapes consisting of lobes. Using the the same set of parameters, even small amounts of initial noise can change the number of lobes formed. However, once in a stable configuration, Loopy has an "inertia" to transfiguring in response to dynamic parameters. By making the connections among self-organization, morphological computing, and robot design, this paper lays the foundation for more adaptable robot designs in the future.

cs.RO

Online test administration results in students selecting more responses to multiple-choice-multiple-response items

Multiple-choice multiple-response (MCMR) items (i.e., multiple-choice questions for which more than one response may be selected) can be a valuable tool for assessment. Like traditional multiple-choice single-response questions, they are easy to score, but MCMR items can provide more information about student thinking by probing multiple reasoning facets in a single problem context. In this paper, we discuss differences in performance on MCMR items that result from differences in administration method (paper vs. online). In particular, we find a tendency for ``clickiness'' in online administration: students choose more responses to MCMR items when taking the electronic version of the assessment. Based on these findings, we recommend that online administration be compared only to other online administrations and not to paper administrations when comparing student results on MCMR items. These results also suggest that MCMR items provide a unique opportunity to probe differences in online and on-paper administration of low-stakes assessments.

physics.ed-ph

Intensity Modulated Photocurrent Microspectrosopy for Next Generation Photovoltaics

In this report, we describe a large-area Laser Beam Induced Current (LBIC) microscope that has been adapted to perform Intensity Modulated Photocurrent Spectroscopy in an imaging mode combined with automated J-V electrical characterization. Henceforth we refer to the method as either Intensity Modulated Photocurrent Micro-spectroscopy or simply IMPS microscopy. Microscopy based IMPS aims to use the localised frequency response to correlate the optoelectrical response with a particular interface, bulk material, specific transport layer or transport parameter. The system developed here is specifically designed to track the decomposition of organic solar cells including hybrid-inorganic PSCs during long-term exposure to quantities such as light, oxygen, moisture, and heat

physics.ins-det

Exploring student facility with "goes like'' reasoning in introductory physics

Covariational reasoning -- reasoning about how changes in one quantity relate to changes in another quantity -- has been examined extensively in mathematics education research. Little research has been done, however, on covariational reasoning in introductory physics contexts. We explore one aspect of covariational reasoning: ``goes like'' reasoning. ``Goes like'' reasoning refers to ways physicists relate two quantities through a simplified function. For example, physicists often say that ``the electric field goes like one over r squared.'' While this reasoning mode is used regularly by physicists and physics instructors, how students make sense of and use it remains unclear. We present evidence from reasoning inventory items which indicate that many students are sense making with tools from prior math instruction, that could be developed into expert ``goes like'' thinking with direct instruction. Recommendations for further work in characterizing student sense making as a foundation for future development of instruction are made.

physics.ed-ph

When negative is not "less than zero": Electric charge as a signed quantity

Electromagnetism (E&M) is often challenging for students enrolled in introductory college-level physics courses. Compared to mechanics, the mathematics of E&M is more sophisticated and the representations are more abstract. Furthermore, students may lack productive intuitions they had with force and motion. In this article, we explore the mathematization of electric charge. Specifically, we explore how difficulties with positive and negative signs can arise for learners who approach integers primarily as positions on a number line.

physics.ed-ph

Online administration of a reasoning inventory in development

We are developing a new research based assessment (RBA) focused on quantitative reasoning -- rather than conceptual understanding -- in physics contexts. We rapidly moved administration of the RBA online in Spring 2020 due to the COVID-19 pandemic. We present our experiences with online, unproctored administration of an RBA in development to students enrolled in a large-enrollment, calculus-based, introductory physics course. We describe our attempts to adhere to best practices on a limited time frame, and present a preliminary analysis of the results, comparing results from the online administration to earlier results from in-person, proctored administration. We include discussion of online administration of multiple-choice/multiple-response (MCMR) items, which we use on the instrument as a way to probe multiple facets of student reasoning. Our initial comparison indicates little difference between online and paper administrations of the RBA, consistent with previous work by other researchers.

physics.ed-ph

A Conceptual Blend Analysis of Physics Quantitative Literacy Reasoning Inventory Items

Mathematical reasoning flexibility across physics contexts is a desirable learning outcome of introductory physics, where the math world and physical world meet. Physics Quantitative Literacy (PQL) is a set of interconnected skills and habits of mind that support quantitative reasoning about the physical world. The Physics Inventory of Quantitative Literacy (PIQL), which we are currently refining and validating, assesses students proportional reasoning, covariational reasoning, and reasoning with signed quantities in physics contexts. In this paper, we apply a Conceptual Blending Theory analysis of two exemplar PIQL items to demonstrate how we are using this theory to help develop an instrument that represents the kind of blended reasoning that characterizes expertise in physics. A Conceptual Blending Theory analysis allows for assessment of hierarchical partially correct reasoning patterns, and thereby holds potential to map the emergence of mathematical reasoning flexibility throughout the introductory physics sequence.

physics.ed-ph

Towards understanding and characterizing expert covariational reasoning in physics

Relating two quantities to describe a physical system or process is at the heart of "doing physics" for novices and experts alike. In this paper, we explore the ways in which experts use covariational reasoning when solving introductory physics graphing problems. Here, graduate students are considered experts for the introductory level material, as they often take the role of instructor at large research universities. Drawing on work from Research in Undergraduate Mathematics Education (RUME), we replicated a study of mathematics experts' covariational reasoning done by Hobson and Moore with physics experts [N. L. F. Hobson and K. C. Moore, in RUME Conference Proceedings, pp. 664-672 (2017)]. We conducted think-aloud interviews with 10 physics graduate students using tasks minimally adapted from the mathematics study. Adaptations were made solely for the purpose of participant understanding of the question, and validated by preliminary interviews. Preliminary findings suggest physics experts approach covariational reasoning problems significantly differently than mathematics experts. In particular, two behaviors are identified in the reasoning of expert physicists that were not seen in the mathematics study. We introduce these two behaviors, which we call Using Compiled Relationships and Neighborhood Analysis, and articulate their differences from the behaviors articulated by Hobson and Moore. Finally, we share implications for instruction and questions for further research.

physics.ed-ph