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  1. A control methodology for aerial or aquatic vehicles is presented that leverages intelligent distributed sensing inspired by the lateral line found in fish to directly measure the fluid forces acting on the vehicle. As a result, the complex robot control problem is effectively simplified to that of a rigid body in a vacuum. Furthermore, by sensing these forces, they can be compensated for immediately, rather than after they have displaced the vehicle. We have created a sensory shell around a prototype autonomous underwater vehicle, derived algorithms to remove static pressure and calculate total force from the discrete measurements using amore »fitting technique that filters sensor error, and validated the control methodology on a vehicle in the presence of multiple fluid disturbances. This sensing control scheme reduces position tracking errors by as much as 72% compared to a standard position error feedback controller.« less
  2. Abstract The accurate simulation of additional interactions at the ATLAS experiment for the analysis of proton–proton collisions delivered by the Large Hadron Collider presents a significant challenge to the computing resources. During the LHC Run 2 (2015–2018), there were up to 70 inelastic interactions per bunch crossing, which need to be accounted for in Monte Carlo (MC) production. In this document, a new method to account for these additional interactions in the simulation chain is described. Instead of sampling the inelastic interactions and adding their energy deposits to a hard-scatter interaction one-by-one, the inelastic interactions are presampled, independent of the hardmore »scatter, and stored as combined events. Consequently, for each hard-scatter interaction, only one such presampled event needs to be added as part of the simulation chain. For the Run 2 simulation chain, with an average of 35 interactions per bunch crossing, this new method provides a substantial reduction in MC production CPU needs of around 20%, while reproducing the properties of the reconstructed quantities relevant for physics analyses with good accuracy.« less
    Free, publicly-accessible full text available December 1, 2023
  3. Abstract The ATLAS experiment at the Large Hadron Collider has a broad physics programme ranging from precision measurements to direct searches for new particles and new interactions, requiring ever larger and ever more accurate datasets of simulated Monte Carlo events. Detector simulation with Geant4 is accurate but requires significant CPU resources. Over the past decade, ATLAS has developed and utilized tools that replace the most CPU-intensive component of the simulation—the calorimeter shower simulation—with faster simulation methods. Here, AtlFast3, the next generation of high-accuracy fast simulation in ATLAS, is introduced. AtlFast3 combines parameterized approaches with machine-learning techniques and is deployed tomore »meet current and future computing challenges, and simulation needs of the ATLAS experiment. With highly accurate performance and significantly improved modelling of substructure within jets, AtlFast3 can simulate large numbers of events for a wide range of physics processes.« less
    Free, publicly-accessible full text available December 1, 2023
  4. Free, publicly-accessible full text available May 1, 2023