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Nonlinear model predictive control (NMPC) has proven to be an effective control method, but it is expensive to compute. This work demonstrates the use of hardware FPGA neural network controllers trained to imitate NMPC with supervised learning. We use these Neural Controllers (NCs) implemented on inexpensive embedded FPGA hardware for high frequency control on physical cartpole and F1TENTH race car. Our results show that the NCs match the control performance of the NMPCs in simulation and outperform it in reality, due to the faster control rate that is afforded by the quick FPGA NC inference. We demonstrate kHz control rates for a physical cartpole and offloading control to the FPGA hardware on the F1TENTH car. Code and hardware implementation for this paper are available at https:// github.com/SensorsINI/Neural-Control-Tools.

The spectral smoothness properties of the low-frequency array of the Square Kilometer Array (SKA), namely SKA-Low, are an important issue for its scientific objectives to be attainable. A large array of 256 log-periodic dipole antennas, installed on top of a 42~m circular ground plane, will work as an SKA-Low station in the frequency range 50-350 MHz. In this article, the ground plane induced effects are examined in terms of antenna beam spectral characteristics, while different antenna placements are considered. Results are produced both at isolated antenna and at array level in the band 50-100 MHz, by employing an approximate method for the speeding-up of array simulations. We attempt to distinguish the ground plane effect from that of mutual coupling among antennas, which appears to be more severe at specific frequencies, using 2 figures of merit. The Discrete Fourier Transform (DFT) components of gain pattern ratios identify the fundamental spatial components of the ripple, while the Envelope Correlation Coefficient quantifies the penalty to considering an infinite ground plane., Comment: 11 pages, 7 figures, accepted in International Journal of Antennas and Propagation

The Committee on Radio Astronomy Frequencies (CRAF) is an Expert Committee of the European Science Foundation. It aims to provide a cost-effective single voice on frequency protection issues for European radio astronomy observatories and research institutes, achieving a significantly greater impact than that achievable by individual national institutions. By working together, European observatories and institutes can profit from synergy effects, cover many more topics, and learn from each other. CRAF was founded in 1988 and has since then been engaged with the International Telecommunication Union (ITU), in particular its Radiocommunication Sector (ITU-R), and the European Conference of Postal and Telecommunications Administrations (CEPT) and its European Communications Committee (ECC). This is the self-evaluation report prepared by CRAF for its periodic review of the years 2011-2021., Comment: 75 pages

Within the framework of the first phase of MYRRHA (Multi-purpose hYbrid Research Reactor for High-tech Applications) project, called MINERVA, IJCLab was in charge of a fully equipped Spoke cryomodule prototype development, tested at 2K. It integrates two superconducting single spoke cavities, the RF power couplers and the Cold Tuning Systems associated. On the control side, a MTCA.4-based Low Level Radio Frequency (LLRF) system prototype and the Software/EPICS developments has been realized by IJCLab and the SCK CEN in collaboration with the company IOxOS Technologies. The final version of the global system and the results of the tests at 2K will show with some perspectives., Comment: Poster pr\'esent\'e au LLRF Workshop 2023 (LLRF2023, arXiv : 2310.03199)

Modern radio telescopes strongly rely on accurate computational electromagnetic tools for "beam" models. Especially for densely-packed aperture array radio telescopes, the only feasible way to produce accurate models of the individual embedded element patterns is by using electromagnetic codes. In this paper, the accuracy of two models computed by different commercial codes is evaluated for one station of the SKA-Low radio telescope. Except for a couple of critical frequencies, the amplitude and phase errors are low enough to allow a beamformer efficiency higher than 99%., Comment: Paper accepted by the IEEE Antennas and Wireless Propagation Letters on May 23, 2023

The placement of grab bars for elderly users is based largely on ADA building codes and does not reflect the large differences in height, mobility, and muscle power between individual persons. The goal of this study is to see if there are any correlations between an elderly user's preferred handlebar pose and various demographic indicators, self-rated mobility for tasks requiring postural change, and biomechanical markers. For simplicity, we consider only the case where the handlebar is positioned directly in front of the user, as this confines the relevant body kinematics to a 2D sagittal plane. Previous eldercare devices have been constructed to position a handlebar in various poses in space. Our work augments these devices and adds to the body of knowledge by assessing how the handlebar should be positioned based on data on actual elderly people instead of simulations., Comment: 4 pages, 8 figures

Characteristic Modes Analysis (CMA) is a widely used method with recent progress in multi-antenna systems. We employ this method to characterize the mutual coupling phenomenon between two SKALA4.1 antennas, the low-frequency array elements of the future radiotelescope Square Kilometer Array (SKA-Low). The CMA accuracy is first validated at the lowest frequency range of interest with respect to a standard Method of Moments (MoM) solution by decomposing the single antenna into its characteristic modes. We then examine critical frequencies of a two-antenna system in modal decomposition, and characterize those responsible for the radiated electric field spurious spectral features owing to the mutual coupling. We connect these modes to first-order coupling of single antenna CMA modes, by using the eigenvalue data of both single- and two- antenna simulations., Comment: 4 pages, 5 figures, presented at the 17th European Conference on Antennas and Propagation

Age-related loss of mobility and increased risk of falling remain important obstacles toward facilitating aging-in-place. Many elderly people lack the coordination and strength necessary to perform common movements around their home, such as getting out of bed or stepping into a bathtub. The traditional solution has been to install grab bars on various surfaces; however, these are often not placed in optimal locations due to feasibility constraints in room layout. In this paper, we present a mobile robot that provides an older adult with a handle anywhere in space - "handle anywhere". The robot consists of an omnidirectional mobile base attached to a repositionable handle. We analyze the postural changes in four activities of daily living and determine, in each, the body pose that requires the maximal muscle effort. Using a simple model of the human body, we develop a methodology to optimally place the handle to provide the maximum support for the elderly person at the point of most effort. Our model is validated with experimental trials. We discuss how the robotic device could be used to enhance patient mobility and reduce the incidence of falls., Comment: 8 pages, 10 figures

We present a project to implement a national common strategy for the mitigation of the steadily deteriorating Radio Frequency Interference (RFI) situation at the Italian radio telescopes. The project involves the Medicina, Noto, and Sardinia dish antennas and comprised the definition of a coordinated plan for site monitoring as well as the implementation of state-of-the-art hardware and software tools for RFI mitigation. Coordinated monitoring of frequency bands up to 40 GHz has been performed by means of continuous observations and dedicated measurement campaigns with fixed stations and mobile laboratories. Measurements were executed on the frequency bands allocated to the radio astronomy and space research service for shared or exclusive use and on the wider ones employed by the current and under-development receivers at the telescopes. Results of the monitoring campaigns provide a reference scenario useful to evaluate the evolution of the interference situation at the telescopes sites and a case series to test and improve the hardware and software tools we conceived to counteract radio frequency interference. We developed a multi-purpose digital backend for high spectral and time resolution observations over large bandwidths. Observational results demonstrate that the spectrometer robustness and sensitivity enable the efficient detection and analysis of interfering signals in radio astronomical data. A prototype off-line software tool for interference detection and flagging has been also implemented. This package is capable to handle the huge amount of data delivered by the most modern instrumentation on board of the Italian radio telecsopes, like dense focal plane arrays, and its modularity easen the integration of new algorithms and the re-usability in different contexts or telescopes., Comment: 39 pages, 10 Figures and 7 Tables. INAF Technical Report n. 149 (2022). http://hdl.handle.net/20.500.12386/32081

Cosmic Dawn, the onset of star formation in the early universe, can in principle be studied via the 21cm transition of neutral hydrogen, for which a sky-averaged absorption signal, redshifted to MHz frequencies, is predicted to be {\it O}(10-100)\,mK. Detection requires separation of the 21cm signal from bright chromatic foreground emission due to Galactic structure, and the characterisation of how it couples to instrumental response. In this work, we present characterisation of antenna gain patterns for the Large-aperture Experiment to detect the Dark Ages (LEDA) via simulations, assessing the effects of the antenna ground-plane geometries used, and measured soil properties. We then investigate the impact of beam pattern uncertainties on the reconstruction of a Gaussian absorption feature. Assuming the pattern is known and correcting for the chromaticity of the instrument, the foregrounds can be modelled with a log-polynomial, and the 21cm signal identified with high accuracy. However, uncertainties on the soil properties lead to \textperthousand\ changes in the chromaticity that can bias the signal recovery. The bias can be up to a factor of two in amplitude and up to few \% in the frequency location. These effects do not appear to be mitigated by larger ground planes, conversely gain patterns with larger ground planes exhibit more complex frequency structure, significantly compromising the parameter reconstruction. Our results, consistent with findings from other antenna design studies, emphasise the importance of chromatic response and suggest caution in assuming log-polynomial foreground models in global signal experiments., Comment: Accepted for publication in MNRAS

The design and development process for the Square Kilometre Array (SKA) radio telescope, the Low Frequency Aperture Array component, was progressed during the SKA pre-construction phase by an international consortium, with the goal of meeting requirements for a critical design review. As part of the development process a full-sized prototype SKA Low station was deployed, the Aperture Array Verification System 1 (AAVS1). We provide a system overview and describe the commissioning results of AAVS1, which is a low frequency radio telescope with 256 dual-polarisation log-periodic dipole antennas working as a phased array. A detailed system description is provided, including an in-depth overview of relevant sub-systems, ranging from hardware, firmware, software, calibration,and control sub-systems. Early commissioning results cover initial bootstrapping, array calibration, stability testing, beam-forming,and on-sky sensitivity validation. Lessons learned are presented, along with future developments.

The low frequency component of the Square Kilometre Array (SKA1-Low) will be an aperture phased array located at the Murchison Radio-astronomy Observatory (MRO) site in Western Australia. It will be composed of 512 stations, each of them consisting of 256 log-periodic dual polarized antennas, and will operate in the low frequency range (50 MHz - 350 MHz) of the SKA bandwidth. The Aperture Array Verification System 2 (AAVS2), operational since late 2019, is the last full-size engineering prototype station deployed at the MRO site before the start of the SKA1-Low construction phase. The aim of this paper is to characterize the station performance through commissioning observations at six different frequencies (55, 70, 110, 160, 230 and 320 MHz) collected during its first year of activities. We describe the calibration procedure, present the resulting all-sky images and their analysis, and discuss the station calibratability and system stability. Using the difference imaging method, we also derive estimates of the SKA1-Low sensitivity for the same frequencies, and compare them to those obtained through electromagnetic simulations across the entire telescope bandwidth, finding good agreement (within $\leq 13%$). Moreover, our estimates exceed the SKA1-Low requirements at all the considered frequencies, by up to a factor of $\sim$2.3. Our results are very promising and allow an initial validation of the AAVS2 prototype station performance, which is an important step towards the upcoming SKA-Low telescope construction and science., Comment: 20 pages, 9 figures; submitted to JATIS - SKA Observatory Special Section

We present the first southern-hemisphere all-sky imager and radio-transient monitoring system implemented on two prototype stations of the low-frequency component of the Square Kilometre Array. Since its deployment the system has been used for real-time monitoring of the recorded commissioning data. Additionally, a transient searching algorithm has been executed on the resulting all-sky images. It uses a difference imaging technique, and has enabled identification of a wide variety of transient classes, ranging from human-made radio-frequency interference to genuine astrophysical events. Observations at the frequency 159.4 MHz and higher in a single coarse channel (0.926 MHz) were made with 2s time resolution, and multiple nights were analysed. Despite having modest sensitivity (~few Jy/beam), using a single coarse channel and 2-s imaging, the system detected bright transients from PSR B0950+08, proving that it can be used to detect bright transients of an astrophysical origin. The unusual, extreme activity of the pulsar PSR B0950+08 (up to ~155 Jy/beam) was initially detected in a "blind" search in the 2020-04-10/11 data and later assigned to this specific pulsar. The limitations of our data, however, prevent use from making firm conclusions of the effect being due to a combination of refractive and diffractive scintillation or intrinsic emission mechanisms. The system can routinely collect data over many days without interruptions; the large amount of recorded data at 159.4 and 229.7 MHz allowed us to determine a preliminary transient surface density upper limit of $1.32 \times 10^{-9} \text{deg}^{-2}$ for a timescale and limiting flux density of 2s and 42 Jy, respectively. We plan to extend the observing bandwidth to tens of MHz and improve time resolution to tens of milliseconds in order to increase the sensitivity and enable detections of Fast Radio Bursts below 300 MHz., Comment: 22 pages, 11 figures, 3 tables, Accepted for publication in PASA

Large pre-trained language models are capable of generating realistic text. However, controlling these models so that the generated text satisfies lexical constraints, i.e., contains specific words, is a challenging problem. Given that state-of-the-art language models are too large to be trained from scratch in a manageable time, it is desirable to control these models without re-training them. Methods capable of doing this are called plug-and-play. Recent plug-and-play methods have been successful in constraining small bidirectional language models as well as forward models in tasks with a restricted search space, e.g., machine translation. However, controlling large transformer-based models to meet lexical constraints without re-training them remains a challenge. In this work, we propose Directed Beam Search (DBS), a plug-and-play method for lexically constrained language generation. Our method can be applied to any language model, is easy to implement and can be used for general language generation. In our experiments we use DBS to control GPT-2. We demonstrate its performance on keyword-to-phrase generation and we obtain comparable results as a state-of-the-art non-plug-and-play model for lexically constrained story generation., Comment: Preprint. Work in progress