arXiv subjects

Vladimir Litvinenko

Publications and source records attributed to Vladimir Litvinenko.

12 recordsLinked to original sources

arXiv2023

Benchmarking the Full-Order Model Optimization Based Imitation in the Humanoid Robot Reinforcement Learning Walk

When a gait of a bipedal robot is developed using deep reinforcement learning, reference trajectories may or may not be used. Each approach has its advantages and disadvantages, and the choice of method is up to the control developer. This paper investigates the effect of reference trajectories on locomotion learning and the resulting gaits. We implemented three gaits of a full-order anthropomorphic robot model with different reward imitation ratios, provided sim-to-sim control policy transfer, and compared the gaits in terms of robustness and energy efficiency. In addition, we conducted a qualitative analysis of the gaits by interviewing people, since our task was to create an appealing and natural gait for a humanoid robot. According to the results of the experiments, the most successful approach was the one in which the average value of rewards for imitation and adherence to command velocity per episode remained balanced throughout the training. The gait obtained with this method retains naturalness (median of 3.6 according to the user study) compared to the gait trained with imitation only (median of 4.0), while remaining robust close to the gait trained without reference trajectories.

cs.RO↗

arXiv2022

3D Theory of Microscopic Instabilities Driven by Space-Charge Forces

Microscopic, or short-wavelength, instabilities are known for drastic reduction of the beam quality and strong amplification of the noise in a beam. Space charge and coherent synchrotron radiation are known to be the leading causes for such instabilities. In this paper we present rigorous 3D theory of such instabilities driven by the space-charge forces. We define the condition when our theory is applicable for an arbitrary accelerator system with 3D coupling. Finally, we derive a linear integral equation describing such instability and identify conditions when it can be reduced to an ordinary second order differential equation.

physics.acc-ph↗

arXiv2022

The Development of Energy-Recovery Linacs

Energy-recovery linacs (ERLs) have been emphasised by the recent (2020) update of the European Strategy for Particle Physics as one of the most promising technologies for the accelerator base of future high-energy physics. The current paper has been written as a base document to support and specify details of the recently published European roadmap for the development of energy-recovery linacs. The paper summarises the previous achievements on ERLs and the status of the field and its basic technology items. The main possible future contributions and applications of ERLs to particle and nuclear physics as well as industrial developments are presented. The paper includes a vision for the further future, beyond 2030, as well as a comparative data base for the main existing and forthcoming ERL facilities. A series of continuous innovations, such as on intense electron sources or high-quality superconducting cavity technology, will massively contribute to the development of accelerator physics at large. Industrial applications are potentially revolutionary and may carry the development of ERLs much further, establishing another shining example of the impact of particle physics on society and its technical foundation with a special view on sustaining nature.

physics.acc-ph↗

arXiv2021

RoboKit-MV: an Educational Initiative

In this paper, we present a robot model and code base for affordable education in the field of humanoid robotics. We give an overview of the software and hardware of a robot that won several competitions with the team RoboKit in 2019-2021, provide analysis of the contemporary market of education in robotics, and highlight the reasoning beyond certain design solutions.

cs.RO↗

arXiv2021

Starkit: RoboCup Humanoid KidSize 2021 Worldwide Champion Team Paper

This article is devoted to the features that were under development between RoboCup 2019 Sydney and RoboCup 2021 Worldwide. These features include vision-related matters, such as detection and localization, mechanical and algorithmic novelties. Since the competition was held virtually, the simulation-specific features are also considered in the article. We give an overview of the approaches that were tried out along with the analysis of their preconditions, perspectives and the evaluation of their performance.

cs.RO↗

arXiv2020

Tiny-YOLO object detection supplemented with geometrical data

We propose a method of improving detection precision (mAP) with the help of the prior knowledge about the scene geometry: we assume the scene to be a plane with objects placed on it. We focus our attention on autonomous robots, so given the robot's dimensions and the inclination angles of the camera, it is possible to predict the spatial scale for each pixel of the input frame. With slightly modified YOLOv3-tiny we demonstrate that the detection supplemented by the scale channel, further referred as S, outperforms standard RGB-based detection with small computational overhead.

cs.CV↗

arXiv2020

Evolution of the self-injection process in the transition of an LWFA from self-modulation to blowout regime

Long wavelength infrared (LWIR) laser driven plasma wakefield accelerators are investigated here in the self-modulated laser wakefield acceleration (SM-LWFA) and blowout regimes using 3D Particle-in-Cell simulations. The simulation results show that in SM-LWFA regime, self-injection arises with wave breaking, whereas in the blowout regime, self-injection is not observed under the simulation conditions. The wave breaking process in SM-LWFA regime occurs at a field strength that is significantly below the 1D wave-breaking threshold. This process intensifies at higher laser power and plasma density and is suppressed at low plasma densities ($\leq 1\times10^{17}$ $cm^{-3}$ here). The produced electrons show spatial modulations with a period matching that of the laser wavelength, which is a clear signature of direct laser acceleration (DLA).

physics.plasm-ph↗

arXiv2020

Planning to Score a Goal in Robotic Football with Heuristic Search

This paper considers a problem of planning an attack in robotic football (RoboCup). The problem is reduced to finding a trajectory of the ball from its current position to the opponents goals. Heuristic search algorithm, i.e. A*, is used to find such a trajectory. For this algorithm to be applicable we introduce a discretized model of the environment, i.e. a graph, as well as the core search components: cost function and heuristic function. Both are designed to take into account all the available information of the game state. We extensively evaluate the suggested approach in simulation comparing it to a range of baselines. The result of the conducted evaluation clearly shows the benefit of utilizing heuristic search within the RoboCup context.

cs.RO↗

arXiv2014

Modulator simulations for coherent electron cooling using a variable density electron beam

Increasing the luminosity of relativistic hadron beams is critical for the advancement of nuclear physics. Coherent electron cooling (CEC) promises to cool such beams significantly faster than alternative methods. We present simulations of 40 GeV/nucleon Au+79 ions through the first (modulator) section of a coherent electron cooler. In the modulator, the electron beam copropagates with the ion beam, which perturbs the electron beam density and velocity via anisotropic Debye shielding. In contrast to previous simulations, where the electron density was constant in time and space, here the electron beam has a finite transverse extent, and undergoes focusing by quadrupoles as it passes through the modulator. The peak density in the modulator increases by a factor of 3, as specified by the beam Twiss parameters. The inherently 3D particle and field dynamics is modeled with the parallel VSim framework using a $δ$f PIC algorithm. Physical parameters are taken from the CEC proof-of-principle experiment under development at Brookhaven National Lab.

physics.acc-ph↗

arXiv2013

Semi-analytical description of the modulator section of the coherent electron cooling

In the coherent electron cooling, the modern hadron beam cooling technique, each hadron receives an individual kick from the electric field of the amplified electron density perturbation created in the modulator by this hadron in a co-propagating electron beam. We developed a method for computing the dynamics of these density perturbations in an infinite electron plasma with any equilibrium velocity distribution -- a possible model for the modulator. We derived analytical expressions for the dynamics of the density perturbations in the Fourier-Laplace domain for a variety of 1D, 2D, and 3D equilibrium distributions of the electron beam. To obtain the space-time dynamics, we employed the fast Fourier transform (FFT) algorithm. We also found an analytical solution in the space-time domain for the 1D Cauchy equilibrium distribution, which serves as a benchmark for our general approach based on numerical evaluation of the integral transforms and as a fast alternative to the numerical computations. We tested the method for various distributions and initial conditions.

physics.acc-ph↗

arXiv2011

On Free-Electron Laser Growing Modes and their Bandwidth

Free-electron lasers play an increasing role in science, from generating unique femtosecond X- ray pulses for single short recording of the protein structures to amplifying feeble interactions in advanced cooling systems for high-energy hadron colliders. While modern Free-electron laser codes can describe their amplification mechanism, a deep analytical understanding of the mechanism is of extreme importance for a number of applications. Mode competition, their growth rates and amplification bandwidth are among the most important parameters of a free-electron laser. A dispersion relation, which defines these important characteristics, can be solved analytically only for a very few simple cases. In this letter we show that for a typical bell-shape energy distribution in electron beam there is no more that one growing mode. We also derive an analytical expression which determines the bandwidth of the free-electron laser.

physics.acc-ph↗

arXiv2011

A Three-Dimensional Model of Small Signal Free-Electron Lasers

Coherent electron cooling is an ultra-high-bandwidth form of stochastic cooling which utilizes the charge perturbation from Debye screening as a seed for a free-electron laser. The amplified and frequency-modulated signal that results from the free-electron laser process is then used to give an energy-dependent kick on the hadrons in a bunch. In this paper, we present a theoretical description of a high-gain free-electron laser with applications to a complete theoretical description of coherent electron cooling.

physics.acc-ph↗