arXiv subjects

William Smith

Publications and source records attributed to William Smith.

18 recordsLinked to original sources

arXiv2025

Laser Interferometer Lunar Antenna (LILA): Advancing the U.S. Priorities in Gravitational-wave and Lunar Science

The Laser Interferometer Lunar Antenna (LILA) is a next-generation gravitational-wave (GW) facility on the Moon. By harnessing the Moon's unique environment, LILA fills a critical observational gap in the mid-band GW spectrum ($0.1 - 10$ Hz) between terrestrial detectors (LIGO, Virgo, KAGRA) and the future space mission LISA. Observations enabled by LILA will fundamentally transform multi-messenger astrophysics and GW probes of fundamental physics. LILA will measure the lunar deep interior better than any existing planetary seismic instruments. The LILA mission is designed for phased development aligned with capabilities of the U.S.'s Commercial Lunar Payload Services and Artemis programs. LILA is a unique collaboration between universities, space industries, U.S. government laboratories, and international partners.

gr-qc↗

arXiv2025

Substantial Diel Changes of Cloud Adjustments to Aerosols in Ship-tracks

Human induced changes in atmospheric aerosols have introduced a climate forcing by modifying cloud droplet number concentration, liquid water, and cloud fraction. This forcing is subject to large uncertainties as cloud adjustments have not only complex dependence on background conditions, but also temporal fluctuations, especially those driven by diel variations in solar heating. However, direct observations of such diel changes are still limited. Here, we present observational evidence of substantial diel changes in the cloud adjustments to aerosols within ship tracks, linear lines of polluted clouds captured in satellite images. We developed a novel method to automatically determine the age of each ship-track segment and analyze cloud adjustments to aerosols. We show that more aged polluted clouds with extended nighttime exposure exhibit higher increases in cloud fraction. By contrast, liquid water path adjustments follow a non-monotonic pattern: they generally decrease with time before reversing trend in clouds formed at nighttime. Most of these diel contrasts are statistically significant and likely stem from differences in solar heating and cloud precipitation. The increase in cloud fraction adjustment suggests a larger aerosol effective radiative forcing, -0.1 to -0.4 W per meter squared, than the estimate without considering temporal variations, while the temporal changes in liquid water path adjustments may partially offset it. These findings underscore the importance of diel variations in aerosol cloud interactions. Our approach demonstrates that ship tracks, despite appearing as instantaneous observations, yield valuable insights into the temporal evolution of cloud adjustments.

physics.ao-ph↗

arXiv2025

Ramsey Theory on the Integer Grid: The "L" Problem

In an $[n] \times [n]$ integer grid, a monochromatic $L$ is any set of points $\{(i, j), (i, j+t), (i+t, j+t)\}$ for some positive integer $t$, where $1 \leq i, j, i+t, j+t \leq n$. In this paper, we investigate the upper bound for the smallest integer $n$ such that a $3$-colored $n \times n$ grid is guaranteed to contain a monochromatic $L$. We use various methods, such as counting intervals on the main diagonal and using Golomb rulers, to improve the upper bound. This bound originally sat at 2593, and we improve it first to 1803, then to 1573, then to 772, and finally to 493. In the latter part of this paper, we discuss the lower bound and our attempts to improve it using SAT solvers.

math.CO↗

arXiv2024

Longitudinal dynamic modelling and control for a quad-tilt rotor UAV

Tilt rotor aircraft combine the benefits of both helicopters and fixed wing aircraft, this makes them popular for a variety of applications, including Search and Rescue and VVIP transport. However, due to the multiple flight modes, significant challenges with regards to the control system design are experienced. The main challenges with VTOL aircraft, comes during the dynamic phase (mode transition), where the aircraft transitions from a hover state to full forwards flight. In this transition phase the aerodynamic lift and torque generated by the wing/control surfaces increases and as such, the rotor thrust, and the tilt rate must be carefully considered, such that the height and attitude remain invariant during the mode transition. In this paper, a digital PID controller with the applicable digital filter and data hold functions is designed so that a successful mode transition between hover and forwards flight can be ascertained. Finally, the presented control system for the tilt-rotor UAV is demonstrated through simulations by using the MATLAB software suite. The performance obtained from the simulations confirm the success of the implemented methods, with full stability in all three degrees of freedom being demonstrated.

eess.SY↗

arXiv2024

Lie Theory Based Optimization for Unified State Planning of Mobile Manipulators

Mobile manipulators are finding use in numerous practical applications. The current issues with mobile manipulation are the large state space owing to the mobile base and the challenge of modeling high degree of freedom systems. It is critical to devise fast and accurate algorithms that generate smooth motion plans for such mobile manipulators. Existing techniques attempt to solve this problem but focus on separating the motion of the base and manipulator. We propose an approach using Lie theory to find the inverse kinematic constraints by converting the kinematic model, created using screw coordinates, between its Lie group and vector representation. An optimization function is devised to solve for the desired joint states of the entire mobile manipulator. This allows the motion of the mobile base and manipulator to be planned and applied in unison resulting in a smooth and accurate motion plan. The performance of the proposed state planner is validated on simulated mobile manipulators in an analytical experiment. Our solver is available with further derivations and results at https://github.com/peleito/slithers.

cs.RO↗

arXiv2024

Reversing Arrested Development: A New Method to Address Halo Assembly Bias

Halo assembly bias is a phenomenon whereby the clustering of dark matter halos is dependent on halo properties, such as age, at fixed mass. Understanding the origin of assembly bias is important for interpreting the clustering of galaxies and constraining cosmological models. One proposed explanation for the origin of assembly bias is the truncation of mass accretion in low-mass halos in the presence of more massive halos, called 'arrested development.' Halos undergoing arrested development would have older measured ages and exhibit stronger clustering than equal mass halos that have not undergone arrested development. We propose a new method to test the validity of this explanation for assembly bias, and correct for it in cosmological N-body simulations. The method is based on the idea that the early mass accretion history of a halo, before arrested development takes effect, can be used to predict the late-time evolution of the halo in the absence of arrested development. We implement this idea by fitting a model to the early portion of halo accretion histories and extrapolating to late times. We then calculate 'corrected' masses and ages for halos based on this extrapolation and investigate how this impacts the assembly bias signal. We find that correcting for arrested development this way leads to a factor of two reduction in the strength of the assembly bias signal across a range of low halo masses. This result provides new evidence that arrested development is a cause of assembly bias and validates our approach to mitigating the effect.

astro-ph.CO↗

arXiv2024

Molecular interaction volume model of mixing enthalpy for molten salt system: An integrated calorimetry-model case study of LaCl$_3$-(LiCl-KCl)

Calorimetric determination of enthalpies of mixing ($\Delta$H$_{\rm mix}$) of multicomponent molten salts often employs empirical models that lack parameters with clear physical interpretation (e.g., coordination numbers, molar volumes, and pair potentials). Although such physics informed models are not always needed, a thermodynamic understanding of the relationships between excess energies of mixing and local to intermediate solvation structures is particularly important for pyrochemical separation, as is the case for lanthanides (Ln), which are common neutron poisons and critical industrial elements found in spent nuclear fuels. Here we implement the molecular interaction volume model (MIVM) to synthesize information from experimentally measured $\Delta$H$_{\rm mix}$ (using high temperature melt drop calorimetry) and the distribution of solvation structures from ab initio molecular dynamics (AIMD) simulations. This was demonstrated by a case study of molten salt system consisted of LaCl$_3$ mixing with a eutectic LiCl-KCl (58mol% to 42mol%) at 873 K and 1133 K. The parameters modelled from MIVM were used to extrapolate excess Gibbs energy ($\Delta$G$_{\rm mix}$), and compositional dependence of La$^{3+}$ activity in the LaCl$_3$-(LiCl-KCl) system. In contrast, by AIMD or polarizable ion model (PIM) simulations, a significant deviation regarding the predicted $\Delta$H$_{\rm mix}$ was seen if computed directly from the molecular dynamic trajectories. The integrated experimental and simulation data within the MIVM formalism are generalizable to a wide variety of molten salts and demonstrate a significant improvement over currently employed methods to study molten salts for nuclear and separations sciences.

cond-mat.mtrl-sci↗

arXiv2023

Deterministic stream-sampling for probabilistic programming: semantics and verification

Probabilistic programming languages rely fundamentally on some notion of sampling, and this is doubly true for probabilistic programming languages which perform Bayesian inference using Monte Carlo techniques. Verifying samplers - proving that they generate samples from the correct distribution - is crucial to the use of probabilistic programming languages for statistical modelling and inference. However, the typical denotational semantics of probabilistic programs is incompatible with deterministic notions of sampling. This is problematic, considering that most statistical inference is performed using pseudorandom number generators. We present a higher-order probabilistic programming language centred on the notion of samplers and sampler operations. We give this language an operational and denotational semantics in terms of continuous maps between topological spaces. Our language also supports discontinuous operations, such as comparisons between reals, by using the type system to track discontinuities. This feature might be of independent interest, for example in the context of differentiable programming. Using this language, we develop tools for the formal verification of sampler correctness. We present an equational calculus to reason about equivalence of samplers, and a sound calculus to prove semantic correctness of samplers, i.e. that a sampler correctly targets a given measure by construction.

cs.PL↗

arXiv2022

3D Neuron Morphology Analysis

We consider the problem of finding an accurate representation of neuron shapes, extracting sub-cellular features, and classifying neurons based on neuron shapes. In neuroscience research, the skeleton representation is often used as a compact and abstract representation of neuron shapes. However, existing methods are limited to getting and analyzing "curve" skeletons which can only be applied for tubular shapes. This paper presents a 3D neuron morphology analysis method for more general and complex neuron shapes. First, we introduce the concept of skeleton mesh to represent general neuron shapes and propose a novel method for computing mesh representations from 3D surface point clouds. A skeleton graph is then obtained from skeleton mesh and is used to extract sub-cellular features. Finally, an unsupervised learning method is used to embed the skeleton graph for neuron classification. Extensive experiment results are provided and demonstrate the robustness of our method to analyze neuron morphology.

cs.CV↗

arXiv2022

Learning Task Requirements and Agent Capabilities for Multi-agent Task Allocation

This paper presents a learning framework to estimate an agent capability and task requirement model for multi-agent task allocation. With a set of team configurations and the corresponding task performances as the training data, linear task constraints can be learned to be embedded in many existing optimization-based task allocation frameworks. Comprehensive computational evaluations are conducted to test the scalability and prediction accuracy of the learning framework with a limited number of team configurations and performance pairs. A ROS and Gazebo-based simulation environment is developed to validate the proposed requirements learning and task allocation framework in practical multi-agent exploration and manipulation tasks. Results show that the learning process for scenarios with 40 tasks and 6 types of agents uses around 12 seconds, ending up with prediction errors in the range of 0.5-2%.

cs.RO↗

arXiv2021

NeRF for Outdoor Scene Relighting

Photorealistic editing of outdoor scenes from photographs requires a profound understanding of the image formation process and an accurate estimation of the scene geometry, reflectance and illumination. A delicate manipulation of the lighting can then be performed while keeping the scene albedo and geometry unaltered. We present NeRF-OSR, i.e., the first approach for outdoor scene relighting based on neural radiance fields. In contrast to the prior art, our technique allows simultaneous editing of both scene illumination and camera viewpoint using only a collection of outdoor photos shot in uncontrolled settings. Moreover, it enables direct control over the scene illumination, as defined through a spherical harmonics model. For evaluation, we collect a new benchmark dataset of several outdoor sites photographed from multiple viewpoints and at different times. For each time, a 360 degree environment map is captured together with a colour-calibration chequerboard to allow accurate numerical evaluations on real data against ground truth. Comparisons against SoTA show that NeRF-OSR enables controllable lighting and viewpoint editing at higher quality and with realistic self-shadowing reproduction. Our method and the dataset are publicly available at https://4dqv.mpi-inf.mpg.de/NeRF-OSR/.

cs.CV↗

arXiv2021

Robust Task Scheduling for Heterogeneous Robot Teams under Capability Uncertainty

This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with distributed sub-tasks. Examples include pandemic robotic service coordination, explore and rescue, and delivery systems with heterogeneous vehicles. Due to their inherent flexibility and robustness, multi-agent systems are applied in a growing range of real-world problems that involve heterogeneous tasks and uncertain information. Most previous works assume one fixed way to decompose a task into roles that can later be assigned to the agents. This assumption is not valid for a complex task where the roles can vary and multiple decomposition structures exist. Meanwhile, it is unclear how uncertainties in task requirements and agent capabilities can be systematically quantified and optimized under a multi-agent system setting. A representation for complex tasks is proposed: agent capabilities are represented as a vector of random distributions, and task requirements are verified by a generalizable binary function. The conditional value at risk (CVaR) is chosen as a metric in the objective function to generate robust plans. An efficient algorithm is described to solve the model, and the whole framework is evaluated in two different practical test cases: capture-the-flag and robotic service coordination during a pandemic (e.g., COVID-19). Results demonstrate that the framework is generalizable, scalable up to 140 agents and 40 tasks for the example test cases, and provides low-cost plans that ensure a high probability of success.

cs.RO↗

arXiv2021

Strong magnon-photon coupling with chip-integrated YIG in the zero-temperature limit

The cross-integration of spin-wave and superconducting technologies is a promising method for creating novel hybrid devices for future information processing technologies to store, manipulate, or convert data in both classical and quantum regimes. Hybrid magnon-polariton systems have been widely studied using bulk Yttrium Iron Garnet (Y$_{3}$Fe$_{5}$O$_{12}$, YIG) and three-dimensional microwave photon cavities. However, limitations in YIG growth have thus far prevented its incorporation into CMOS compatible technology such as high quality factor superconducting quantum technology. To overcome this impediment, we have used Plasma Focused Ion Beam (PFIB) technology -- taking advantage of precision placement down to the micron-scale -- to integrate YIG with superconducting microwave devices. Ferromagnetic resonance has been measured at millikelvin temperatures on PFIB-processed YIG samples using planar microwave circuits. Furthermore, we demonstrate strong coupling between superconducting resonator and YIG ferromagnetic resonance modes by maintaining reasonably low loss while reducing the system down to the micron scale. This achievement of strong coupling on-chip is a crucial step toward fabrication of functional hybrid quantum devices that advantage from spin-wave and superconducting components.

cond-mat.mes-hall↗

arXiv2020

Heterogeneous Vehicle Routing and Teaming with Gaussian Distributed Energy Uncertainty

For robot swarms operating on complex missions in an uncertain environment, it is important that the decision-making algorithm considers both heterogeneity and uncertainty. This paper presents a stochastic programming framework for the vehicle routing problem with stochastic travel energy costs and heterogeneous vehicles and tasks. We represent the heterogeneity as linear constraints, estimate the uncertain energy cost through Gaussian process regression, formulate this stochasticity as chance constraints or stochastic recourse costs, and then solve the stochastic programs using branch and cut algorithms to minimize the expected energy cost. The performance and practicality are demonstrated through extensive computational experiments and a practical test case.

cs.RO↗

arXiv2020

Machine Learning Algorithms for Active Monitoring of High Performance Computing as a Service (HPCaaS) Cloud Environments

Cloud computing provides ubiquitous and on-demand access to vast reconfigurable resources that can meet any computational need. Many service models are available, but the Infrastructure as a Service (IaaS) model is particularly suited to operate as a high performance computing (HPC) platform, by networking large numbers of cloud computing nodes. We used the Pacific Northwest National Laboratory (PNNL) cloud computing environment to perform our experiments. A number of cloud computing providers such as Amazon Web Services, Microsoft Azure, or IBM Cloud, offer flexible and scalable computing resources. This paper explores the viability identifying types of engineering applications running on a cloud infrastructure configured as an HPC platform using privacy preserving features as input to statistical models. The engineering applications considered in this work include MCNP6, a radiation transport code developed by Los Alamos National Laboratory, OpenFOAM, an open source computational fluid dynamics code, and CADO-NFS, a numerical implementation of the general number field sieve algorithm used for prime number factorization. Our experiments use the OpenStack cloud management tool to create a cloud HPC environment and the privacy preserving Ceilometer billing meters as classification features to demonstrate identification of these applications.

cs.DC↗

arXiv2019

BioFaceNet: Deep Biophysical Face Image Interpretation

In this paper we present BioFaceNet, a deep CNN that learns to decompose a single face image into biophysical parameters maps, diffuse and specular shading maps as well as estimating the spectral power distribution of the scene illuminant and the spectral sensitivity of the camera. The network comprises a fully convolutional encoder for estimating the spatial maps with a fully connected branch for estimating the vector quantities. The network is trained using a self-supervised appearance loss computed via a model-based decoder. The task is highly underconstrained so we impose a number of model-based priors. Skin spectral reflectance is restricted to a biophysical model, we impose a statistical prior on camera spectral sensitivities, a physical constraint on illumination spectra, a sparsity prior on specular reflections and direct supervision on diffuse shading using a rough shape proxy. We show convincing qualitative results on in-the-wild data and introduce a benchmark for quantitative evaluation on this new task.

cs.CV↗

arXiv2019

Orientation-aware Semantic Segmentation on Icosahedron Spheres

We address semantic segmentation on omnidirectional images, to leverage a holistic understanding of the surrounding scene for applications like autonomous driving systems. For the spherical domain, several methods recently adopt an icosahedron mesh, but systems are typically rotation invariant or require significant memory and parameters, thus enabling execution only at very low resolutions. In our work, we propose an orientation-aware CNN framework for the icosahedron mesh. Our representation allows for fast network operations, as our design simplifies to standard network operations of classical CNNs, but under consideration of north-aligned kernel convolutions for features on the sphere. We implement our representation and demonstrate its memory efficiency up-to a level-8 resolution mesh (equivalent to 640 x 1024 equirectangular images). Finally, since our kernels operate on the tangent of the sphere, standard feature weights, pretrained on perspective data, can be directly transferred with only small need for weight refinement. In our evaluation our orientation-aware CNN becomes a new state of the art for the recent 2D3DS dataset, and our Omni-SYNTHIA version of SYNTHIA. Rotation invariant classification and segmentation tasks are additionally presented for comparison to prior art.

cs.CV↗

arXiv2018

Non-rigid 3D Shape Registration using an Adaptive Template

We present a new fully-automatic non-rigid 3D shape registration (morphing) framework comprising (1) a new 3D landmarking and pose normalisation method; (2) an adaptive shape template method to accelerate the convergence of registration algorithms and achieve a better final shape correspondence and (3) a new iterative registration method that combines Iterative Closest Points with Coherent Point Drift (CPD) to achieve a more stable and accurate correspondence establishment than standard CPD. We call this new morphing approach Iterative Coherent Point Drift (ICPD). Our proposed framework is evaluated qualitatively and quantitatively on three datasets and compared with several other methods. The proposed framework is shown to give state-of-the-art performance.

cs.CV↗