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Quadratic Programs (QPs) have become a mature technology for the control of robots of all kinds, including humanoid robots. One aspect has been largely overlooked, however, which is the accuracy with which these QPs should be solved. QP solvers aim at providing solutions accurate up to floating point precision ($\approx10^{-8}$). Considering physical quantities expressed in SI or similar units (meters, radians, etc.), such precision seems completely unrelated to both task requirements and hardware capacity. Typically, humanoid robots never achieve, nor are capable of achieving sub-millimeter precision in manipulation tasks. With this observation in mind, our objectives in this paper are two-fold: first examine how the QP solution accuracy impacts the resulting robot motion accuracy, then evaluate how a reduced solution accuracy requirement can be leveraged to reduce the corresponding computational effort. Experiments with a dynamic simulation of RHPS-1 humanoid robot indicate that computational effort can be divided by more than 27 while maintaining the desired motion accuracy., Comment: Submitted to 2024 IEEE-RAS International Conference on Humanoid Robots (Humanoids)

The ion temperature during magnetic reconnections measured along the direction of the magnetic field at the MST Reverse Field Pinch has not yet received a satisfactory theoretical explanation. In this work we argue that it is consistent with a picture of ion energization by the parallel electric fields generated by the plasma during reconnection, and thermalization due to the chaotic ion dynamics. Three possible sources of randomness are pointed out: particle motion along static stochastic magnetic field lines, breakup of the adiabatic ion dynamics caused by the strong gradient nonlinearity of the magnetic field, parallel acceleration along stochastic time-dependent electric fields. The three mechanisms are likely operative simultaneously; regardless the specific mechanism active, the correct scaling laws with ion parameters are recovered. Furthermore, we argue that quantitative agreement can be obtained by feeding the model with realistic values for the plasma conditions.

A recently developed plasma-wall self-organization (PWSO) model predicts a significantly enhanced density limit, which may be attainable in tokamaks with ECRH-assisted ohmic startup and sufficiently high initial neutral density. Experiments have been conducted on J-TEXT to validate such a density limit scenario based on this model. Experimental results demonstrate that increasing the pre-filled gas pressure or ECRH power during the startup phase can effectively enhance plasma purity and raise the density limit at the flat-top. Despite the dominant carbon fraction in the wall material, some discharges approach the edge of the density-free regime of the 1D model of PWSO., Comment: 17 pages, 8 figures

Obtaining guarantees on the convergence of the minimizers of empirical risks to the ones of the true risk is a fundamental matter in statistical learning. Instead of deriving guarantees on the usual estimation error, the goal of this paper is to provide concentration inequalities on the distance between the sets of minimizers of the risks for a broad spectrum of estimation problems. In particular, the risks are defined on metric spaces through probability measures that are also supported on metric spaces. A particular attention will therefore be given to include unbounded spaces and non-convex cost functions that might also be unbounded. This work identifies a set of assumptions allowing to describe a regime that seem to govern the concentration in many estimation problems, where the empirical minimizers are stable. This stability can then be leveraged to prove parametric concentration rates in probability and in expectation. The assumptions are verified, and the bounds showcased, on a selection of estimation problems such as barycenters on metric space with positive or negative curvature, subspaces of covariance matrices, regression problems and entropic-Wasserstein barycenters.

This work links optimization approaches from hierarchical least-squares programming to instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical Newton's method which solves prioritized non-linear least-squares problems in a numerically stable fashion even in the presence of kinematic and algorithmic singularities of the approximated kinematic constraints. These results are then transferred to control problems which exhibit the additional variability of time. This is necessary in order to formulate acceleration based controllers and to incorporate the second order dynamics. However, we show that the Newton's method without complicated adaptations is not appropriate in the acceleration domain. We therefore formulate a velocity based controller which exhibits second order proportional derivative convergence characteristics. Our developments are verified in toy robot control scenarios as well as in complex robot experiments which stress the importance of prioritized control and its singularity resolution.

In a world designed for legs, quadrupeds, bipeds, and humanoids have the opportunity to impact emerging robotics applications from logistics, to agriculture, to home assistance. The goal of this survey is to cover the recent progress toward these applications that has been driven by model-based optimization for the real-time generation and control of movement. The majority of the research community has converged on the idea of generating locomotion control laws by solving an optimal control problem (OCP) in either a model-based or data-driven manner. However, solving the most general of these problems online remains intractable due to complexities from intermittent unidirectional contacts with the environment, and from the many degrees of freedom of legged robots. This survey covers methods that have been pursued to make these OCPs computationally tractable, with specific focus on how environmental contacts are treated, how the model can be simplified, and how these choices affect the numerical solution methods employed. The survey focuses on model-based optimization, covering its recent use in a stand alone fashion, and suggesting avenues for combination with learning-based formulations to further accelerate progress in this growing field., Comment: submitted for initial review; comments welcome

Stochastic heating is a well-known mechanism through which magnetized particles may be energized by low-frequency electromagnetic waves. In its simplest version, under spatially homogeneous conditions, it is known to be operative only above a threshold in the normalized wave amplitude, which may be a demanding requisite in actual scenarios, severely restricting its range of applicability. In this work we show, by numerical simulations supported by inspection of the particle Hamiltonian, that allowing for even a very weak spatial inhomogeneity completely removes the threshold, trading the requirement upon the wave amplitude with a requisite upon the duration of the interaction between wave and particle. The thresholdless chaotic mechanism considered here is likely to be applicable to other inhomogeneous systems., Comment: V2. Some minor mistakes corrected

Recent MHD simulations find that the reversal of the local resistive interchange parameter $D_R$ from negative to positive due to impurity radiation cooling is able to trigger the resistive tearing mode growth in a tokamak above a threshold in impurity level. A layer of perturbed Pfirsch-Schl\"{u}ter current density and resistivity are also induced by the impurity radiation, which further govern the tearing mode growth and saturation in the nonlinear stage. The impurity threshold and the tearing mode growth strongly depend on the parallel thermal conductivity, and such a dependence derives from the impact on $D_R$ of the fast parallel thermal equilibration along the helical magnetic field lines., Comment: 16 pages, 5 figures

Within the scope of our recent approach for Efficient Unsupervised Constitutive Law Identification and Discovery (EUCLID), we propose an unsupervised Bayesian learning framework for discovery of parsimonious and interpretable constitutive laws with quantifiable uncertainties. As in deterministic EUCLID, we do not resort to stress data, but only to realistically measurable full-field displacement and global reaction force data; as opposed to calibration of an a priori assumed model, we start with a constitutive model ansatz based on a large catalog of candidate functional features; we leverage domain knowledge by including features based on existing, both physics-based and phenomenological, constitutive models. In the new Bayesian-EUCLID approach, we use a hierarchical Bayesian model with sparsity-promoting priors and Monte Carlo sampling to efficiently solve the parsimonious model selection task and discover physically consistent constitutive equations in the form of multivariate multi-modal probabilistic distributions. We demonstrate the ability to accurately and efficiently recover isotropic and anisotropic hyperelastic models like the Neo-Hookean, Isihara, Gent-Thomas, Arruda-Boyce, Ogden, and Holzapfel models in both elastostatics and elastodynamics. The discovered constitutive models are reliable under both epistemic uncertainties - i.e. uncertainties on the true features of the constitutive catalog - and aleatoric uncertainties - which arise from the noise in the displacement field data, and are automatically estimated by the hierarchical Bayesian model., Comment: 36 pages, 17 figures

Random walks on networks are widely used to model stochastic processes such as search strategies, transportation problems or disease propagation. A prominent example of such process is the guiding of naive T cells by the lymph node conduits network. Here,we propose a general framework to find network heterogeneities, which we define as connectivity patterns that affect the random walk. We propose to characterize and measure these heterogeneities by detecting communities in a way that is interpretable in terms of random walk. Moreover, we use an approximation to accurately and efficiently compute these quantities on large networks. Finally, we propose an interactive data visualization platform to follow the dynamics of the random walks and their characteristics on our datasets, and a ready-to-use pipeline for other datasets upon download. By computing quantitative feature of random walk informed communities detected within the network, we show that the lymph node conduit network is spatially coherent, however, despite its quasi-regularity, contains some random walk related heterogeneities. To evaluate these characteristics, we applied the same workflow of diffusion based community detection and analysis on the LNCN and a series of generated toy networks.

The von Neumann stability analysis along with a Chapman-Enskog analysis is proposed for a single-relaxation-time lattice Boltzmann Method (LBM) for wave propagation in isotropic linear elastic solids, using a regular D2Q9 lattice. Different boundary conditions are considered: periodic, free surface, rigid interface. An original absorbing layer model is proposed to prevent spurious wave reflection at domain boundaries. The present method is assessed considering several test cases. First, a spatial Gaussian force modulated in time by a Ricker wavelet is used as a source. Comparisons are made with results obtained using a classical Fourier spectral method. Both P and S waves are shown to be very accurately predicted. The case of Rayleigh surface waves is then addressed to check the accuracy of the method.

Wavelet decompositions of integral operators have proven their efficiency in reducing computing times for many problems, ranging from the simulation of waves or fluids to the resolution of inverse problems in imaging. Unfortunately, computing the decomposition is itself a hard problem which is oftentimes out of reach for large scale problems. The objective of this work is to design fast decomposition algorithms based on another representation called product-convolution expansion. This decomposition can be evaluated efficiently assuming that a few impulse responses of the operator are available, but it is usually less efficient than the wavelet decomposition when incorporated in iterative methods. The proposed decomposition algorithms, run in quasi-linear time and we provide some numerical experiments to assess its performance for an imaging problem involving space varying blurs.