prompt_front: Now, answer the following question based on the text below, only give me the answer and do not output any other words.

Question: What is the rationality coefficient used in the observation model?

Read the following text and answer briefly.

Context 1: Paper Info

Title: Incorporating Human Path Preferences in Robot Navigation with Minimal Interventions
Publish Date: 16 Mar 2023
Author List: Oriana Peltzer, Dylan Asmar, Mac Schwager, Mykel Kochenderfer

Figure

Hyperplane arrangement of a twodimensional space containing two obstacles (colored in gray) The robot is located inside the pink polytope, surrounded by three adjacent obstacle-free polytopes Each hyperplane on the boundary of the robot's polytope corresponds to one of the nonredundant constraints in eq (4) (b)Graph derived from the hyperplane arrangement The nodes on the graph designate polytopes, and edges designate transitions to adjacent polytopes To estimate the human's preference, the robot updates a posterior over the goal and over which of the graph transitions φ 1 , φ 2 and φ 3 is preferred by the human (c)Example preference defined over the graph The location of the goal is indicated in yellow in the lower right polytope For each node, the outgoing pink arrow designates the edge on the graph corresponding to the preferred transition between polytopes 
Simple, 10 × 10, 8 polytopes (b) Map 2: Office, 10 × 10, 56 polytopes (c) Map 3: Classroom, 20 × 20, 73 polytopes (d) Sampled observations and robot's executed trajectories 
Fig 5: Maps used for simulating the robot navigation problem with path preferences In (d), the heading angles observed are indicated with arrows The goal is indicated with a pink circle, and the orange robot corresponds to the starting location The blue robot follows a policy that accounts for path preference, while the green robot does not The opacity of the robots increases with time 
Map 1 problem setup and example realizations for goal-only (green) and path preference (blue) solution methods The robot starts at the lower left corner of the environment, and the goal of the task (pink circle) is in the upper left area The robot does not know which goal, among 10 options (shown in light blue squares), is the correct goal The human provides noisy observations, indicated by arrows, at each iteration The green robot selects actions according to the goal-only baseline, and the blue robot uses our proposed method to infer path preferences The polytopes composing G are drawn in blue Probability of correct goal WLPHVWHS +J (c) Entropy of goal distribution g 
Fig  6: Probability of the correct goal, fig 6b, and entropy of the goal belief distribution P (g), fig 6c, for the same problem setup, fig 6a In this problem instance, the human's preference is to go to the goal by passing on the right side of the obstacle Results are averaged over 50 runs and the area filled represents one standard deviation above and below the mean value The goal-only baseline shows an over-confident prediction (shown by the strong reduction in belief entropy) that the correct goal is less likely, making it more difficult to reach the correct goal compared to a method that accounts for path preference 
Success rates in the simple environment (Map 1) The results are averaged over 6 randomly sampled problem instances (start location, goal location, and goal possibilities), and over 50 runs per problem instance ∆T is the number of time steps separating two consecutive human inputs The robot's mission time is Tmax = 30 time steps We selected γ h = 1 5, corresponding to relatively noisy human inputs and making the problem more difficult to solve for the robot 
Computation times for Goal Only and Path Preference methods on Map 1 (fig 5a),Map 2 (fig 5b), and Map 3 (fig 5c),averaged over 100 runs with randomly sampled problem instances The 95 % confidence interval is provided with the mean We evaluate computation time at the first iteration of each run (where the search depth takes on its highest value Tmax) 

abstract

Robots that can effectively understand human intentions from actions are crucial for successful human-robot collaboration  In this work, we address the challenge of a robot navigating towards an unknown goal while also accounting for a human's preference for a particular path in the presence of obstacles 
This problem is particularly challenging when both the goal and path preference are unknown a priori  To overcome this challenge, we propose a method for encoding and inferring path preference online using a partitioning of the space into polytopes  Our approach enables joint inference over the goal and path preference using a stochastic observation model for the human 
We evaluate our method on an unknown-goal navigation problem with sparse human interventions, and find that it outperforms baseline approaches as the human's inputs become increasingly sparse  We find that the time required to update the robot's belief does not increase with the complexity of the environment, which makes our method suitable for online applications 

INTRODUCTION

Collaboration between humans and robots has become increasingly important and one key aspect of this collaboration is the ability for robots to adapt to human decisions  In many scenarios, such as a robot navigating through a busy room to deliver an item, it is important for the robot to take into account human preferences 
For instance, humans may prefer a specific path that would allow their colleagues to notice the item being delivered, but this preference may change dynamically based on various factors such as changes in the environment or unforeseen circumstances  While some preferences can be incorporated into the path-planning process, accommodating dynamic user preferences in real-time remains challenging 
In this paper, we propose a way to enable robots to adapt to human preferences dynamically by leveraging real-time feedback to inform decision-making  In this work, we tackle the problem of robot navigation in which the robot cannot observe the goal or the preferred path to the goal, but must make navigation decisions that are influenced by humans through recommended actions 
Prior work has explored how to adapt to a human's preference through feedback, but such approaches often require a high level of intervention, which can be time-consuming and impractical in real-world scenarios  To optimize the use of human input and quickly infer the human's preference, Fig  : An autonomous robot navigates in a simulated classroom towards a goal location (pink circle) 
At the start of its mission, it receives direction indications (arrows) from a human that indicate which path it should take to get to the goal  In this scenario, the human wants the robot to go around the desks on the right side of the classroom  A robot that does not reason over path preferences (green) will take the shortest path to the goal regardless of the human's input 
Our method (blue) infers the human's path preference from these indications and adapts to their recommendations  we propose an approach that leverages probabilistic representations of human preference and incorporates real-time feedback  Previous research by Bajcsy et al  considered an online adaptation problem in a manipulation task, where the person can apply forces to the robot to indicate their preferences 
By allowing the robot to continue its task while taking into account a probabilistic representation of human preference, their approach does not require frequent inputs  Building on this idea, we adopt a similar approach to adapt to a human's preference in the context of a robot autonomously navigating through a known environment, such as a cluttered office space 
Specifically, we focus on allowing the human to influence the robot's trajectory with respect to obstacles, by providing guidance on preferred routes or paths, while the robot continues to execute its task  Paths can be represented using homotopy classes   However, homotopies can pose computational challenges when used to encode and infer human preferences 
When the robot maintains a belief over homotopy classes, the inference problem can become exponentially complex with the number of obstacles in the space  Additionally, when the goal is unknown, the number of variables increases with the number of candidate destinations  This complexity can render the decision-making problem intractable 
Our solution is to encode path preference based on a partitioning of the environment into polytopes   This representation allows path preferences to be expressed as sets of preferred transitions between adjacent polytopes  Paths belonging to different homotopy classes correspond to different sequences of transitions 
By leveraging conditional independence assumptions, we can make the Bayesian inference problem tractable  These assumptions exploit the fact that human actions provide information about the path in a piece-wise manner  For example, indicating a preference for navigating around a particular obstacle only provides information about the local area and not the entire path 
Finally, after updating its belief representation over the human's preference, the robot can adapt to indications by replanning online  Our contributions are as follows  • We formulate the human-robot collaboration problem as a Partially Observable Markov Decision Process (POMDP) where both the goal of the task and the human's path preference are unknown random variables 
• We propose an encoding of a human's path preference using a partitioning of the environment into polytopes, along with conditional independence assumptions that make the Bayesian inference problem tractable to infer the task goal and path preference online  • Through simulations in two environments of different sizes and complexity, we show that our method is effective for solving problems where the robot must reach a goal that is unknown a-priori while simultaneously adapting to a human's indications 
Our method shows higher success rates compared to baseline approaches when the human inputs are sparse  Our approach enables a robot to make effective navigation decisions in collaboration with a human, even when the goal and path preference are not known in advance, and with minimal human input  In recent years, there has been a growing interest in shared autonomy and interactive systems, where humans and robots work together to accomplish tasks 
Several approaches have been proposed to address the challenge of enabling effective collaboration between human and robot agents while still achieving high task performance  Losey et al  and Jeon, Losey, and Sadigh propose a framework where a human operator is given control of a task-relevant latent action space while an autonomous system handles the rest 
Dragan and Srinivasa present a formalism for arbitrating between a user's input and a robot's policy when both human and robot share control of the same action space  Cognetti et al  [7] provide a method for real-time modifications of a path,       Fig  : We model the intent inference problem with the above diagram 
At each step in time, the robot receives an observation ot from the human conditioned on its current location st, the intended goal g, and the human's path preference θ  The robot updates its belief over g and θ and transitions to a next location st+1  while Hagenow et al  present a method that allows an outside agent to modify key robot state variables and blends the changes with the original control 
However, a common challenge of these approaches is the high level of intervention required from humans  Best and Fitch propose a method for predicting an agent's intended trajectory from observations  Rather than maintaining a belief over the agent's future path, they infer the agent's intended goal among a set of candidate locations at the boundary of the space 
This approach provides information on where the agent is heading and generates a distribution of candidate future trajectories for the agent  Inferring the goal of the task among a discrete set of candidates is also relevant to the area of shared autonomy  Javdani, Srinivasa, and Bagnell propose a formalism for shared control of a robotic arm, where the robot must assist the human in picking up an object but needs to infer which object the human has chosen from joystick inputs 
Planning with homotopy class constraints is useful in problems where the robot's requirements are given with respect to obstacles, and Yi, Goodrich, and Seppi consider topological constraints provided by human operators  Bhattacharya propose an efficient algorithm for solving pathplanning problems under homotopic constraints 
However, the number of homotopy classes for a given problem can be infinite, and as the robot changes location and updates its representation of the world, carrying out inference over homotopy classes in a dynamic environment requires recomputing the set of homotopies at every iteration, making the belief update challenging 
Prior work has addressed the challenge of shared autonomy by considering how robots can infer a human's intended goal, or how they can infer the preferred path to a goal  However, we argue that inferring the goal and the path as separate problems can lead to over-confidence in incorrect beliefs about the user's preferences 
To illustrate this point, consider the following scenario: a robot and a human are collaborating to move an object from one end of a room to Fig  : Using the hyperplanes composing the H-representation of each obstacle, we construct a hyperplane arrangement of the obstacle-free space (a)  We define the human's preference for the robot's one step action choices as the posterior distribution (given all human input up to that point) over transitions from the current to the neighboring polytopes, i e  edges on the graph 
Each time the robot transitions to a new polytope, the set of neighbor polytopes and the distribution over human preferences are updated  another, but there is an obstacle in the way  The human would like the robot to take a path around the obstacle on the left, even though the goal is on the right  If the robot only infers the goal from the human's inputs, it may incorrectly assume that the goal is on the right, and become over-confident in this belief 
On the other hand, if the robot only infers the preferred path, it may mistakenly assume that the goal is on the left, leading to a failure in completing the task  To overcome these challenges, our work proposes a joint inference approach that considers both the human's intended goal and their preferred path to that goal 
Specifically, we model the human's preference over different homotopy classes and leverage a conditional independence assumption to provide a tractable solution  In our approach, we assume that the human's inputs are noisily rational conditioned on both the goal and the preference  By jointly inferring the goal and path preference, we can avoid over-confidence in incorrect beliefs about the user's preferences, leading to improved system performance 
We consider the problem of robot navigation in a known environment to an unknown destination, where a human can intervene and provide a heading direction to the robot using a joystick or force cues  The human also has a preference on which path the robot should take with respect to obstacles, and our objective is for the robot to understand the human's intentions and execute the task with minimal interventions 
Let g be a discrete random variable denoting the goal of the task, belonging to a set of candidates Ω g , and let θ be a discrete-valued random variable representing the human's path preference, belonging to a set of possible preferences Θ  The physical location of the robot at time index t is denoted by s t ∈ R 2 , and the robot's action at time index t, belonging to some action space A, is denoted by a t  
The transition model T (s t+1 | s t , a t ) is deterministic, meaning the robot has full control over its future location  At any time step, the human may provide an observation to the robot  When the human intervenes, the robot receives a direction (heading angle) that can be mapped to a future location in space 
More specifically, we map the direction to an intended location, which is the resulting robot location after advancing in the indicated direction for one time step  For simplicity, we consider that the robot directly makes an observation o t of the location indicated by the human  We assume that the robot has a stochastic observation model for the human P (o t | s t , g, θ) that is conditioned on both the goal of the task g and the human's preferred path θ 
We further assume that having chosen a goal and path preference, the human takes actions to noisily minimize a cost function C g,θ that measures the cost of moving from the robot's current location to the goal along the preferred path  For example, C g,θ (s t , o t ) can be the length of the shortest path from location s t to the goal g after taking a first step to o t , and constrained by path preference θ 
We use C g,θ to induce a probability distribution over observations, given by: where γ h is a hyperparameter that designates the rationality coefficient  This model assumes the human will pick the lowest cost action with the highest probability and the likelihood of an action decreases exponentially with the increase in cost  
Our inclusion of the path preference θ sets our approach apart from   The model is shown in fig  represented as a Bayesian Network 

Inference

At each time step where the human provides an observation, the posterior P (g, θ) is given through the Bayesian update We note that the number of Bayesian updates required at each iteration to update the belief is equal to the cardinality of Ω g × Θ  In addition, each Bayesian update involves computing C g,θ (  
,   ) in eq  ( ), which involves solving an optimization problem (such as a shortest path problem)  In section IV, we propose a specific encoding of preference θ for resolving eq  ( ), while ensuring the number of computations of the cost C g,θ ( ,  ) per update does not grow exponentially with the number of obstacles 

Decision Making

We consider a navigation problem where the robot receives reward according to the model R(s t , g, θ, a t )  We wish to find the optimal policy π that maximizes the expected discounted sum of future rewards, with discount factor γ  The above problem is a Partially Observable Markov Decision Process (POMDP)  
In this section, we propose an encoding of human's path preference θ for computing the posterior in eq  ( )  Devifrom the concept of homotopy classes, we define the preference according to a partitioning of the environment into polytopes, as shown in fig  , creating a hyperplane arrangement of the space 
Hyperplane arrangements have been used by Vincent and Schwager in the context of Neural Network verification  In our setting, we leverage this representation to define path preferences as preferred transitions between adjacent regions of the space 

Hyperplane Arrangement

We assume a two-dimensional environment composed of m polytopic obstacles, each defined by their half-space representation (H-representation) where A i ∈ R di×2 and b i ∈ R di , and where d i is the number of edges (hyperplanes) composing polytope i  Let n = i d i be the total number of hyperplanes  We leverage each obstacle's H-representation to construct a hyperplane arrangement of the environment as shown in fig 
 e  a partitioning of the space into polytopes  More specifically, each location in space belongs to a polytope j for which we can write an H-representation of the form where α j i ∈ {−1, 1} di is a vector specific to polytope j and obstacle i corresponding to the relative position of any point in the set with respect to each hyperplane in O i  
Fig  : Intent inference model in a hyperplane arrangement of the obstacle free space  We spatially decompose the preference θ into a set of preferred neighboring polytopes per region of the space  Within each polytope j, the human preference pj is a discrete distribution over the preferred neighbor in N (j) 
We assume that for a location st belonging to polytope j, and given goal g and preference pj, the observation ot and any other preference p i,i =j are conditionally independent  Concatenating elements from each obstacle's Hrepresentation, we can write polytope j's H-representation as where Some of the constraints in eq  ( ) (corresponding to rows of A, b and α j ) are redundant, i e  the set P j does not change upon their removal 
We can further reduce the Hrepresentation of a polytope to include only non-redundant constraints  By removing the rows corresponding to redundant constraints, we obtain new matrices A j e , b j e and α j e such that we can write the polytope's reduced H-representation as The non-redundant constraints correspond to edges of the polytope 
In other words, as the robot continually moves in space, the first hyperplane that it will cross upon exiting the polytope will correspond to one of the polytope's nonredundant constraints  Vincent and Schwager outline an iterative method for removing redundant constraints by solving n linear programs 
We use this method in practice for computing α j e for each polytope  We can now characterize each polytope by a vector α j e ∈ {−1, 1} n j e , where n j e ≤ n is the number of essential constraints of the polytope  The polytopes P j partition the environment into a hyperplane arrangement 

Path Preference

In this section, we provide a definition of preference θ according to a graphical representation of the environment based on the hyperplane arrangement  Under this representation, a path preference corresponds to a set of preferred transitions  In other words, for each polytope in the space, the human will have a preference to which neighboring polytope they wish to transition 
Let G := (V, E) be an undirected graph, where vertices are obstacle-free polytopes, and edges connect two adjacent polytopes  Each polytope is described by a unique vector α j as defined in eq  ( )  Two polytopes are adjacent if they share non-redundant constraints (rows in eq  ( )) corresponding to the same hyperplane (i e  they are on opposite sides of the hyperplane) 
Let N (v) be the set of neighbors of a vertex v  For each vertex, we denote p v the discrete-valued random variable describing which edge in N (v) the human intends to transition to  Using this formalism, we define a path preference as the set of preferred transitions over all nodes in the graph, Let m θ = v∈V |N (v)| be the cardinality of Θ, and m g = |Ω g | the number of possible goals 
A priori, the number of Bayesian updates required to update the belief at every iteration should be m θ × m g   Now, let us assume the conditional independence relationships described by the new problem diagram in fig    More specifically, we introduce the assumption that conditioned on a robot location s t , the goal g, and the preference for the corresponding vertex p v in the graph, the observation o t and the preference for any other vertex are conditionally independent 
In other words, the observations the human provides can be defined conditioned only on the robot location, the goal, and the human's preference for its current vertex p v   By introducing this assumption, each update step only requires updating the joint (p v , g), reducing the number of cost computations to |N (v)| × m g  
We can notice that by introducing this assumption, we removed the direct relationship between the number of polytopes in the environment and the complexity of the Bayesian update in eq  ( )  In practice, components of θ are not mutually independent  For example, if the human preference at a vertex v 1 is
, it is unlikely that the human will also prefer p v2 = (v 2 , v 1 ) (turning back)  We can improve our model by assuming a dependent relationship between preferences for adjacent edges, which does not significantly increase the complexity of the inference problem  An interesting property of our encoding is that any two paths that belong to different homotopy classes will cross different sequences of polytopes, i e  they correspond to a different sequence of edges on G 
This can be proved by contradiction  Let us suppose that two continuous trajectories ξ 1 and ξ 2 , with the same start and end points and that do not intersect any obstacle, traverse the same regions in G in the same order  From the construction of the hyperplane arrangement, each polytope that the paths traverse through is obstacle-free 
Therefore, within each polytope, there is no obstacle in the area located in between the portions of ξ 1 and ξ 2 that belong to the region  A smooth transformation of ξ 1 into ξ 2 can be obtained by transforming each portion of ξ 1 belonging to the polytopes it intersects into the corresponding portion of ξ 2 for the same polytopes, where the extremities of the trajectory portions are connected to one another along the polytope's edges (where the same edge is crossed by both paths) 
Along this transformation, the paths do not intersect any obstacle, and therefore ξ 1 and ξ 2 belong to the same homotopy class 

EXPERIMENTS

We evaluate our model on a simulated navigation task where the robot must reach a goal that is unknown a priori while respecting the path preferences indicated by a human  The robot navigates in a grid world containing obstacles  The transition model is deterministic: the robot selects an adjacent location on the grid to reach at the next time step 
The robot is also allowed to take diagonal actions  Each location s t in the map can be mapped to a vertex v t ∈ G  Therefore, the actions leading to locations mapped to different vertices correspond to edges on the graph  We note f (s t , a t ) the edge crossed by taking action a t from location s t  
The robot is given a mission time limit T max for reaching the goal  In this problem, we assume that the human selects actions to noisily minimize a cost function C g,θ , where θ is defined as per eq  ( ), corresponding to the length of the shortest path to the goal constrained by the preference (where the robot is only allowed to make transitions on G along preferred edges) 
More specifically, where δ(s t , g | o t , p vt ) designates the length of the shortest path from s t to g passing by o t and constrained by preference p vt   This is a slight variant of the cost function proposed by Best and Fitch , where we add in a conditioning on the path preference  We compute costs by running the A path planning algorithm on the environment maps (grid worlds with diagonal actions) and impose preference constraints by pruning invalid transitions from the search tree 
Reward model  At each step in time, the robot receives a reward which is a sum of three components: a goal-specific reward a preference-specific reward or penalty We compute solutions to the POMDP defined in section III-B with the online solver POMCP , and with the particularity that within the rollouts, the robot does not expect to collect human inputs 
Each time a solution is computed, the robot takes an action and may receive an observation  If it does, it updates its belief distribution over the unknown problem variables and resolves the POMDP over a receding horizon 

Baselines

• Goal only  The robot solves the POMDP while ignoring the effects of path preference  Similarly to , we assume the human is taking action to minimize a goaldependent cost C g (s t , o t ) = δ(s t , g | o t ), where the conditioning on the preference is removed  We also omit the path preference's contribution to the reward R pref  
• Compliant  The robot complies with the human input, but does not take an initiative  If the user stops providing information, the robot continues in the last direction indicated for 5 time steps (conserving its momentum), then stops  • Blended  We designed an arbitration function to decide between our proposed policy (accounting for path preferences) and the user's recommendation when the robot receives inputs 
Our metric to evaluate confidence in the robot's prediction for the purpose of arbitration is the entropy of the intention distribution H(g, p i ), where p i denotes the preferred neighbor for the current region  Because our representation of the world is discrete, the arbitration is given by a step function 
Denoted by U , the action corresponding to the human's input, and P , the robot's prediction for the optimal action, we write the policy where we chose h = 1 6 as the confidence threshold 

Results

When evaluating the algorithm, we consider that a run is successful if the robot reached the goal within its allocated mission time T max and only made transitions between graph vertices corresponding to the human's preferences  We vary the time delay between human inputs, from constant guidance (∆ T = 1) to only a single observation (∆ T ≥ T max ) 
Success rates  Table I reports the success rates for experiments conducted over six randomly sampled problem instances and 50 runs per instance in Map 1 (fig  )  When the human provides inputs at every iteration, the compliant policy shows the highest success rates  However, as ∆ T increases, the compliant robot is not able to accomplish the task within the allotted time as it does not receive sufficient inputs to do so, and performance decreases compared to the autonomous baselines 
We find that in these runs, accounting for path preference consistently improves performance compared with the goal-only baseline  Results also show that blending the user's input with the robot's policy (Path Preference + Blend) when the human provides information leads to improved performance  Belief entropy 
Figure shows a challenging problem instance where the directions the human provides do not align directly with the shortest path to the goal  By ignoring the effects of preferences in the problem model (goal only), the robot quickly infers from observations that the upper left goal is less likely than others (P (g) drops) 
The strong decrease in entropy shows that the robot becomes overconfident in this prediction  Overconfidence in an incorrect goal will prevent the agent from finding the correct goal once the human's indications directly align with it, as it needs to correct for the wrong predictions, as shown in the path realization (fig 
)  In this realization, the goal-only method (green robot) fails to search the upper left area within the allotted time  By accounting for path preferences in its model, the blue robot's entropy over the goal distribution decreases more steadily, allowing for it to leverage the human's latest observations and reach the goal successfully 
shows an over-confident prediction (shown by the strong reduction in belief entropy) that the correct goal is less likely, making it more difficult to reach the correct goal compared to a method that accounts for path preference  Computation time  In table II we provide the time required to solve the POMDP, and the time required to update the robot's belief as it receives new observations 
We compute solutions on three maps: a simple 10 × 10 grid world with 8 polytopes (fig  ), a 10 × 10 grid world with 56 polytopes (fig  ), and a 20×20 grid world with 73 polytopes (fig  )  The latter environment being larger, we increase the mission time and the depth of the search tree in POMCP from T max = 30 (Map 1 and Map 2) to T max = 60 (Map 3) 
We do not notice an increase in the time required to update the robot's belief with an increase in problem complexity, which is consistent with our observation that the complexity of the Bayesian update should not increase with the number of obstacles or polytopes  On the contrary, the belief update time on Map 2 and Map 3, containing more obstacles, is reduced compared to the first map 
More obstacles result in fewer iterations when solving the constrained shortest path problem with A   Adding constraints due to the obstacles and polytopes reduces the size of the A search tree  C  Limitations Simulation environments  In our simulations, we hardcoded the preference policy over the maps (e g  in Map 1, go around the table counter-clockwise) 
We randomly sampled problem instances (start and goal locations, and goal options) to reduce the bias introduced by these preference choices  To best evaluate and compare the different approaches, it would be best to sample preferences among a distribution of preferences chosen by a human (for example, from benchmarks resulting from a collection of data) 
Creating such a benchmark is an interesting direction for future work  Hyperplane arrangement construction  The main limitation of our approach is that the size and geometry of each polytope depends strongly on the geometry of the obstacles, as seen in fig    Because of this, the robot can make predictions over preferences that are too refined compared with the topology of the environment 
A direct consequence is that when the size of the polytopes is small, the information provided by the human can be incorrectly interpreted as a preference on the robot's immediate action  Our method can be improved by changing the structure of the hyperplane arrangement so that it relies on the topology of the environment, but does not vary strongly with the geometry of the features in the environment 
For this purpose, topometric maps and region construction algorithms are promising directions  We presented an approach for encoding and inferring a human's path preference in an environment with obstacles  By leveraging a partitioning of the space into polytopes and a stochastic observation model, our method allows for joint inference over the goal and path preference even when both are unknown a-priori 
Our experiments on an unknown-goal navigation problem with sparse human interventions demonstrate the effectiveness of our approach and its suitability for online applications  The time required to update the robot's belief does not increase with the complexity of the environment, which further highlights the practicality of our method 
Context 2: \section{Introduction}\label{sec1}
\setcounter{equation}{0} 

Transport problems with highly forward-peaked scattering are prevalent in a variety of areas, including astrophysics, medical physics, and plasma physics \cite{HGK,aristova,multiphysics} 
For these problems, solutions of the transport equation converge slowly when using conventional methods such as source iteration (SI) \cite{adamslarsen} and the generalized minimal residual method (GMRES) \cite{gmres} 
Moreover, diffusion-based acceleration techniques like diffusion synthetic acceleration (DSA) \cite{alcouffe} and nonlinear diffusion acceleration (NDA) \cite{smithetall} are generally inefficient when tackling these problems, as they only accelerate up to the first moment of the angular flux \cite{JapanFPSA} 
In fact, higher-order moments carry important information in problems with highly forward-peaked scattering and can be used to further accelerate convergence \cite{japanDiss} 

This paper focuses on solution methods for the monoenergetic, steady-state transport equation in homogeneous slab geometry 
Under these conditions, the transport equation is given by
\begin{subequations}\label[pluraleq]{eq1}
\begin{equation}
\label{t1}
\mu\frac{\partial}{\partial x} \psi(x,\mu) + \sigma_t \psi(x,\mu) = \int_{-1}^{1} d\mu' \sigma_s(\mu,\mu') \psi(x,\mu') + Q(x, \mu), \,\,\, x\in [0, X],-1\leq\mu\leq 1  ,\\
\end{equation}
with boundary conditions
\begin{align}
\label{t2}
\psi(0,\mu) &= \psi_L(\mu), \quad \mu > 0,\\
\label{t3}
\psi(X,\mu) &= \psi_R(\mu), \quad \mu < 0 
\end{align}
\end{subequations}
Here, $\psi(x,\mu)$ represents the angular flux at position $x$ and direction $\mu$, $\sigma_t$ is the macroscopic total cross section, $\sigma_s(\mu,\mu')$ is the differential scattering cross section, and $Q$ is an internal source 

New innovations have paved the way to better solve this equation in systems with highly forward-peaked scattering 
For instance, work has been done on modified $P_L$ equations and modified scattering cross section moments to accelerate convergence of anisotropic neutron transport problems \cite{khattab} 
In order to speed up the convergence of radiative transfer in clouds, a quasi-diffusion method has been developed \cite{aristova} 
In addition, the DSA-multigrid method was developed to solve problems in electron transport more efficiently \cite{trucksin} 

One of the most recent convergence methods developed is Fokker-Planck Synthetic Acceleration (FPSA) \cite{JapanFPSA,japanDiss} 
FPSA accelerates up to $N$ moments of the angular flux and has shown significant improvement in the convergence rate for the types of problems described above 
The method returns a speed-up of several orders of magnitude with respect to wall-clock time when compared to DSA  \cite{JapanFPSA} 

In this paper, we introduce a new acceleration technique, called \textit{Nonlinear Fokker-Planck Acceleration} (NFPA) 
This  method  returns  a  modified  Fokker-Planck (FP) equation  that  preserves  the  angular moments of the flux given by the transport  equation 
This preservation of moments is particularly appealing for applications to multiphysics problems \cite{multiphysics}, in which the coupling between the transport physics and the other physics can be done through the (lower-order) FP equation 
To our knowledge, this is the first implementation of a numerical method that returns a Fokker-Planck-like equation that is discretely consistent with the linear Boltzmann equation 

This paper is organized as follows 
\Cref{sec2} starts with a brief description of FPSA 
Then, we derive the NFPA scheme 
In \cref{sec3}, we discuss the discretization schemes used in this work and present numerical results 
These are compared against standard acceleration techniques 
We conclude with a discussion in \cref{sec4} 

\section{Fokker-Planck Acceleration}\label{sec2}
\setcounter{equation}{0} 
In this section we briefly outline the theory behind FPSA, describe NFPA for monoenergetic, steady-state transport problems in slab geometry, and present the numerical methodology behind NFPA 
The theory given here can be easily extended to higher-dimensional problems 
Moreover, extending the method to energy-dependence shall not lead to significant additional theoretical difficulties 

To solve the transport problem given by \cref{eq1} we approximate the in-scattering term in \cref{t1} with a Legendre moment expansion:
\begin{equation}
\label{transport1}
\mu\frac{\partial}{\partial x} \psi(x,\mu) + \sigma_t \psi(x,\mu) = \sum_{l=0}^L \frac{(2l+1)}{2} P_l(\mu) \sigma_{s,l} \phi_l(x) + Q(x, \mu),
\end{equation}
with 
\begin{equation}
\label{transport2}
\phi_l(x) =  \int_{-1}^{1} d\mu P_l(\mu) \psi(x,\mu) 
\end{equation}
Here, $\phi_l$ is the $l^{th}$ Legendre moment of the angular flux, $ \sigma_{s,l}$ is the $l^{th}$ Legendre coefficient of the differential scattering cross section,  and $P_l$ is the $l^{th}$-order Legendre polynomial 
For simplicity, we will drop the notation $(x,\mu)$ in the remainder of this section 

The solution to \cref{transport1} converges asymptotically to the solution of the following Fokker-Planck equation in the forward-peaked limit \cite{pomraning1}:
\begin{equation}
\label{fp1}
\mu\frac{\partial \psi}{\partial x} + \sigma_a \psi = \frac{\sigma_{tr}}{2}\frac{\partial }{\partial \mu} (1-\mu^2) \frac{\partial \psi}{\partial \mu} + Q\,,
\end{equation}
where $\sigma_{tr}= \sigma_{s,0} -\sigma_{s,1}$ is the momentum transfer cross section and $\sigma_a = \sigma_t-\sigma_{s,0}$ is the macroscopic absorption cross section 

Source Iteration \cite{adamslarsen} is generally used to solve \cref{transport1}, which can be rewritten in operator notation:
\begin{equation}
\label{si1}
\mathcal{L} \psi^{m+1} = \mathcal{S} \psi^{m} + Q\,,
\end{equation}
where 
\begin{equation}
\mathcal{L} = \mu \frac{\partial}{\partial x} + \sigma_t,
   \quad
\mathcal{S} = \sum_{l=0}^L \frac{(2l+1)}{2} P_l(\mu) \sigma_{s,l} \int_{-1}^{1}d\mu P_l(\mu) ,
\label{trans1}
\end{equation}
and $m$ is the iteration index 
This equation is solved iteratively until a tolerance criterion is met  The FP approximation shown in \cref{fp1} can be used to accelerate the convergence of \cref{transport1} 

\subsection{FPSA: Fokker-Planck Synthetic Acceleration}\label{FPSA}

In the FPSA scheme \cite{JapanFPSA,japanDiss}, the FP approximation is used as a preconditioner to synthetically accelerate convergence when solving \cref{transport1} (cf  \cite{adamslarsen} for a detailed description of synthetic acceleration) 
When solving \cref{si1}, the angular flux at each iteration $m$ has an error associated with it 
FPSA systematically follows a predict, correct, iterate scheme 
A transport sweep, one iteration in \cref{si1}, is made for a prediction 
The FP approximation is used to correct the error in the prediction, and this iteration is performed until a convergence criterion is met 
The equations used are:
\begin{subequations}
\label{fpsaeq}
\begin{align}
\label{predict}
\mathrm{Predict}&: \mathcal{L} \psi^{m+\frac{1}{2}} = \mathcal{S} \psi^{m} + Q\,,\\
\label{correct}
\mathrm{Correct}&: \psi^{m+1} =  \psi^{m+\frac{1}{2}} + \mathcal{P}^{-1} \mathcal{S} \left( \psi^{m+\frac{1}{2}} -  \psi^{m}\right),
\end{align}
\end{subequations}
where we define $\mathcal{P}$ as
\begin{equation}
\label{FPSAsi1}
\mathcal{P} = \mathcal{A}-\mathcal{F} =\underbrace{\left(\mu\frac{\partial}{\partial x} + \sigma_a\right)}_\mathcal{A} - \underbrace{\left(\frac{\sigma_{tr}}{2}\frac{\partial }{\partial \mu} (1-\mu^2) \frac{\partial }{\partial \mu}\right)}_\mathcal{F},
\end{equation}
In this synthetic acceleration method, the FP approximation is used to correct the error in each iteration of the high-order (HO) equation (\ref{predict})  
Therefore, there is no consistency between the angular moments of the flux in the HO and low-order (LO) equations 

\subsection{NFPA: Nonlinear Fokker-Planck Acceleration}\label{NFPA}

Similar to FPSA, NFPA uses the FP approximation to accelerate the convergence of the solution 
We introduce the additive term $\hat{D}_F$ to \cref{fp1}, obtaining the modified FP equation
\begin{equation}
\label{mfp1}
\mu\frac{\partial \psi}{\partial x} + \sigma_a \psi = \frac{\sigma_{tr}}{2}\frac{\partial }{\partial \mu} (1-\mu^2) \frac{\partial \psi}{\partial \mu} + \hat{D}_F + Q\, 
\end{equation}
The role of $\hat{D}_F$ is to force the transport and modified FP equations to be consistent 
Subtracting \cref{mfp1} from \cref{transport1} and rearranging, we obtain the consistency term
\begin{equation}
\label{dfp}
\hat{D}_F = \sum_{l=0}^L \frac{(2l+1)}{2} P_l \sigma_l \phi_l - \frac{\sigma_{tr}}{2}\frac{\partial}{\partial \mu} (1-\mu^2) \frac{\partial \psi}{\partial \mu} - \sigma_{s,0} \psi\, 
\end{equation}

The NFPA method is given by the following equations:
\begin{subequations}\label[pluraleq]{holocons}
\begin{align}
\label{HO1}
\text{HO}&: \mu\frac{\partial \psi_{HO}}{\partial x} + \sigma_t \psi_{HO} = \sum_{l=0}^L \frac{(2l+1)}{2} P_l \sigma_l \phi_{l, LO} + Q\,,\\
\label{LO11}
\text{LO}&: \mu\frac{\partial \psi_{LO}}{\partial x} + \sigma_a \psi_{LO} = \frac{\sigma_{tr}}{2}\frac{\partial }{\partial \mu} (1-\mu^2) \frac{\partial \psi_{LO}}{\partial \mu} + \hat{D}_F + Q\,,\\
\label{con1}
\text{Consistency term}&: \hat{D}_F = \sum_{l=0}^L \frac{(2l+1)}{2} P_l \sigma_l \phi_{l, HO}^m - \frac{\sigma_{tr}}{2}\frac{\partial }{\partial \mu} (1-\mu^2) \frac{\partial \psi_{HO}}{\partial \mu} - \sigma_{s,0} \psi_{HO}\,,
\end{align}
\end{subequations}
where $\psi_{HO}$ is the angular flux obtained from the HO equation and $\psi_{LO}$ is the angular flux obtained from the LO equation 
The nonlinear HOLO-plus-consistency system given by \cref{holocons} can be solved using any nonlinear solution technique \cite{kelley}  Note that the NFPA scheme returns a FP equation that is consistent with HO transport  
Moreover, this modified FP equation accounts for large-angle scattering which the standard FP equation does not  
The LO equation (\ref{fp1}) can then be integrated into multiphysics models in a similar fashion to standard HOLO schemes \cite{patelFBR}  To solve the HOLO-plus-consistency system above, we use Picard iteration \cite{kelley}:
\begin{subequations}
\begin{align}
\label{H1}
\text{Transport Sweep for HO}&:
\mathcal{L} \psi_{HO}^{k+1} = \mathcal{S} \psi_{LO}^{k} + Q, \\
\label{L1}
\text{Evaluate Consistency Term}&: \hat{D}_F^{k+1} = \left(\mathcal{S} - \mathcal{F} - \sigma_{s,0}\mathcal{I}\right) \psi_{HO}^{k+1}, \\
\label{c1}
\text{Solve LO Equation}&: \psi_{LO}^{k+1} = \mathcal{P}^{-1} \left(\hat{D}_F^{k+1} + Q\right), 
\end{align}
\end{subequations}
where $\mathcal{L}$ and $\mathcal{S}$ are given in \cref{trans1}, $\mathcal{P}$ and $\mathcal{F}$ are given in \cref{FPSAsi1}, $\mathcal{I}$ is the identity operator, and $k$ is the iteration index 
Iteration is done until a convergence criterion is met 

The main advantage of setting up the LO equation in this fashion is that the stiffness matrix for LO needs to be setup and inverted \textit{only once}, just as with FPSA \cite{JapanFPSA, japanDiss}  This has a large impact on the method's performance 
A flowchart of this algorithm is shown in \cref{Nalgorithm} 

\begin{figure}[H]
\centering
\begin{tikzpicture}[node distance = 3cm, auto]
   
    \node [block] (init) {Initial guess of flux moments};
    \node [cloud_HO, right of=init, node distance=4cm] (HOm) {HO};
    \node [cloud_LO, below of=HOm, node distance=2cm] (LOm) {LO};
    \node [HO, below of=init] (transport) {One sweep in transport equation};
    \node [decision, below of=transport,node distance=4cm] (decide) {Flux moments converged?};
    \node [LO, left of=decide, node distance=4cm] (dterm) {Solve for consistency term};
    \node [LO, left of=dterm, node distance=3cm] (MFP) {Solve for FP angular flux};
    \node [LO, above of=MFP, node distance=4cm] (moments) {Convert angular flux to moments};
    \node [block, right of=decide, node distance=4cm] (stop) {Stop};
   
    \path [line] (init) -- (transport);
    \path [line] (transport) -- (decide);
    \path [line] (decide) -- node {no} (dterm);
    \path [line] (dterm) -- (MFP);
    \path [line] (MFP) -- (moments);
    \path [line] (moments) -- (transport);
    \path [line] (decide) -- node {yes}(stop);
\end{tikzpicture}
\caption{NFPA algorithm}
\label{Nalgorithm}
\end{figure}

\section{Numerical Experiments}\label{sec3}

In \cref{sec31} we describe the discretization methods used to implement the algorithms 
In \cref{sec32} we provide numerical results for 2 different choices of source $Q$ and boundary conditions 
For each choice we solve the problem using 3 different scattering kernels, applying 3 different choices of parameters for each kernel 
We provide NFPA numerical results for these 18 cases and compare them against those obtained from FPSA and other standard methods 

All numerical experiments were performed using MATLAB 
Runtime was tracked using the tic-toc functionality \cite{matlab17}, with
only the solver runtime being taken into consideration in the comparisons 
A 2017 MacBook Pro with a 2 8 GHz Quad-Core Intel Core i7 and 16 GB of RAM was used for all simulations 


\subsection{Discretization}\label{sec31}

The Transport and FP equations were discretized using linear discontinuous finite element discretization in space \cite{mpd1}, and discrete ordinates (S$_N$) in angle \cite{landm} 
The Fokker-Planck operator $\mathcal{F}$ was discretized using moment preserving discretization (MPD) \cite{mpd1} 
Details of the derivation of the linear discontinuous finite element discretization can be seen in \cite{japanDiss,martin} 
The finite element discretization for the  Fokker-Planck equation follows the same derivation 

A brief review for the angular discretization used for the FP equation is given below 
First, we use Gauss-Legendre quadrature to discretize the FP equation in angle:
\begin{equation}
\mu_n\frac{\partial \psi_n(x)}{\partial x} + \sigma_a \psi_n(x) - \frac{\sigma_{tr}}{2}\nabla^2_n \psi_n(x) =  Q_n(x),
\end{equation}
for $n=1,  ,N$ 
Here, $\nabla^2_n$ term is the discrete form of the angular Laplacian operator evaluated at angle $n$ 

The MPD scheme is then shown as
\begin{equation}
\nabla^2_n \psi_n = M \psi_n = V^{-1} L V \psi_n,
\end{equation}
where $M$ is the MPD discretized operator defined by
\begin{subequations}
\begin{equation}
V_{i,j} = P_{i-1}(\mu_j)w_j,
\end{equation}
and 
\begin{equation}
L_{i,j} = -i(i-1),
\end{equation}
\end{subequations}
for $i,j=1,   ,N$ 
Here, $P_l(\mu_j)$ are the Legendre polynomials evaluated at each angle $\mu_j$ and $w_j$ are the respective weights 
$M$ is defined as a (N x N) operator for a vector of $N$ angular fluxes $ \psi(x)$, at spatial location $x$  

In summary, if we write the FP equation as
\begin{equation}
\mathcal{H} \frac{\partial \psi}{\partial x}(x) + \sigma_a \psi(x) - \mathcal{F} \psi(x) =  Q(x),
\end{equation}
then $\mathcal{H}$ is Diag$(\mu_n)$ for $n=1,   ,N$, $Q(x)$ is a vector of source terms $Q_n(x)$, and $\mathcal{F}$ is represented by $\frac{\sigma_{tr}}{2}M$ 


\subsection{Numerical Results}\label{sec32}

It is shown that for slowly converging problems, typical convergence methods like $L_\infty$ suffer from false convergence \cite{adamslarsen} 
To work around this issue, the criterion is modified to use information about the current and previous iteration:
\begin{equation}
\label{falseconverge}
\frac{|| \phi^{m}_0(x) - \phi^{m-1}_0(x) ||_2}{1-\frac{|| \phi^{m+1}_0(x) - \phi^{m}_0(x) ||_2}{|| \phi^{m}_0(x) - \phi^{m-1}_0(x) ||_2}} < 10^{-8} 
\end{equation}

Two problems were tested using 200 spatial cells, $X$ = 400, $\sigma_a = 0$, $L$ = 15, and $N$ = 16 
Problem 1 has vacuum boundaries and a homogeneous isotropic source $Q$ for $0 < x < X$ 
Problem 2 has no internal source and an incoming beam at the left boundary  The source and boundary conditions used are shown in \cref{parameters}  
\begin{table}[H]
\begin{center}
\scalebox{0 9}{
\begin{tabular}{c | c | c} \hline 
& Problem 1 & Problem 2 \\ \hline \hline
Q(x) & 0 5 & 0 \\
$\psi_L$ & 0 & $\delta(\mu - \mu_N)$  \\
$\psi_R$ & 0 & 0 \\
\end{tabular}}
\end{center}
\caption{Problem Parameters}
\label{parameters} 
\end{table} 
We consider three scattering kernels in this paper: Screened Rutherford \cite{pomraning1}, Exponential \cite{pomraning2}, and Henyey-Greenstein \cite{HGK} 
Three cases for each kernel were tested 
The results obtained with NFPA are compared with those obtained using GMRES, DSA, and FPSA with the MPD scheme 

\subsubsection{SRK: Screened Rutherford Kernel}

The Screened Rutherford Kernel \cite{pomraning1, JapanFPSA} is a widely used scattering kernel for modeling scattering behavior of electrons \cite{SRK} 
The kernel depends on the parameter $\eta$, such that
\begin{equation}
\sigma^{SRK}_{s,l} = \sigma_s  \int_{-1}^{1} d\mu P_l(\mu) \frac{\eta (\eta+1)}{(1+2\eta-\mu)^2} 
\end{equation}
The SRK has a valid FP limit as $\eta$ approaches 0 \cite{patelFBR}  Three different values of $\eta$ were used to generate the scattering kernels shown in \cref{SRK} 
GMRES, DSA, FPSA, and NFPA all converged to the same solution for problems 1 and 2  \Cref{SRK_plots} shows the solutions for SRK with $\eta = 10^{-7}$ 
\begin{figure}[t]
\begin{center}
  \includegraphics[scale=0 1,angle=0]{SRK jpg}
  \caption{Screened Rutherford Kernels}
  \label{SRK}
\end{center}
\end{figure}
\begin{figure}[H]
    \centering
    \subfloat[Problem 1]{{\includegraphics[width=7cm]{s7_iso jpg} }}
    \qquad
    \subfloat[Problem 2]{{\includegraphics[width=7cm]{s7_beam jpg} }}
    \caption{Results for SRK Problems with $\eta = 10^{-7}$}
    \label{SRK_plots}
\end{figure}

\begin{table}[H]
\begin{center}
\scalebox{0 8}{
\begin{tabular}{c || c || c || c} \hline 
Parameter & Solver & Runtime (s) & Iterations \\ \hline \hline
\multirow{4}{*}{$\eta = 10^{-5}$} & GMRES & 98 8 & 12 \\
& DSA & 2380 & 53585 \\
& FPSA & 1 21 & 26 \\
& NFPA & 1 39 & 26 \\ \hline 
\multirow{4}{*}{$\eta = 10^{-6}$} & GMRES & 208 & 84 \\
& DSA & 3040 & 69156 \\
& FPSA & 0 747 & 16 \\
& NFPA & 0 857 & 16 \\ \hline 
\multirow{4}{*}{$\eta = 10^{-7}$} & GMRES & 174 & 124 \\
& DSA & 3270 & 73940 \\
& FPSA & 0 475 & 10 \\
& NFPA & 0 542 & 10 \\ \hline
\end{tabular}}
\end{center}
\caption{Runtime and Iteration Counts for Problem 1 with SRK}
\label{SRKresults1} 
\end{table}
\begin{table}[H]
\begin{center}
\scalebox{0 8}{
\begin{tabular}{c || c || c || c} \hline 
Parameter & Solver & Runtime (s) & Iterations \\ \hline \hline
\multirow{4}{*}{$\eta = 10^{-5}$} & GMRES & 52 4 & 187 \\
& DSA & 1107 & 25072 \\
& FPSA & 0 953 & 20 \\
& NFPA & 1 14 & 20 \\ \hline 
\multirow{4}{*}{$\eta = 10^{-6}$} & GMRES & 108 & 71 \\
& DSA & 1434 & 32562  \\
& FPSA & 0 730 & 14 \\
& NFPA & 0 857 & 14 \\ \hline 
\multirow{4}{*}{$\eta = 10^{-7}$} & GMRES & 94 1 & 185 \\
& DSA & 1470 & 33246 \\
& FPSA & 0 438 & 8 \\
& NFPA & 0 484 & 8 \\ \hline  
\end{tabular}}
\end{center}
\caption{Runtime and Iteration Counts for Problem 2 with SRK}
\label{SRKresults2} 
\end{table}

The results of all solvers are shown in \cref{SRKresults1,SRKresults2} 
We see that NFPA and FPSA tremendously outperform GMRES and DSA in runtime for all cases 
FPSA is a simpler method than NFPA, requiring less calculations per iteration; therefore, it is expected that it outperforms NFPA in runtime 
We see a reduction in runtime and iterations for FPSA and NFPA as the FP limit is approached, with DSA and GMRES requiring many more iterations by comparison as $\eta$ approaches 0 

An advantage that NFPA offers is that the angular moments of the flux in the LO equation will remain consistent with those of the transport equation even as a problem becomes less forward-peaked 
On the other hand, the moments found using only the FP equation and source iteration lose accuracy 
To illustrate this, Problem 1 was tested using different Screened Rutherford Kernels with increasing $\eta$ parameters 
The percent errors (relative to the transport solution) for the scalar flux obtained with the LO equation and with the standard FP equation at the center of the slab are shown in \cref{momcomp} 
It can be seen that the percent relative errors in the scalar flux of the FP solution is orders of magnitude larger than the error produced using the LO equation 
The same trend can be seen when using the exponential and Henyey-Greenstein kernels  

\begin{figure}[H]
\begin{center}
  \includegraphics[scale=0 15,angle=0]{relerrorlog jpg}
  \caption{Log Scale of $\%$ Relative Error vs $\eta$ for Problem 1 at the Center of the Slab with SRK}
  \label{momcomp}
\end{center}
\end{figure}

\subsubsection{EK: Exponential Kernel}

The exponential kernel \cite{pomraning2, JapanFPSA} is a fictitious kernel made for problems that have a valid Fokker-Planck limit \cite{pomraning1} 
The zero$^{\text{th}}$ moment, $\sigma^{EK}_{s,0}$, is chosen arbitrarily; we define $\sigma^{EK}_{s,0}$ as the same zero$^{\text{th}}$ moment from the SRK 
The $\Delta$ parameter determines the kernel: the first and second moments are given by 
\begin{subequations}
\begin{align}
\sigma^{EK}_{s,1} &= \sigma^{EK}_{s,0} (1-\Delta),\\
\sigma^{EK}_{s,2} &= \sigma^{EK}_{s,0} (1-3\Delta+3\Delta^2),
\end{align}
and the relationship for $l\geq 3$ is
\begin{equation}
\sigma^{EK}_{s,l} = \sigma^{EK}_{s,l-2} - \Delta(2l+1) \sigma^{EK}_{s,l-1} 
\end{equation}
\end{subequations}
As $\Delta$ is reduced, the scattering kernel becomes more forward-peaked 

The EK has a valid FP limit as $\Delta$ approaches 0 \cite{patelFBR} 
Three different values of $\Delta$ were used to generate the scattering kernels shown in \cref{EXP} 
The generated scattering kernels are shown in \cref{EXP} 
GMRES, DSA, FPSA, and NFPA all converged to the same solution for problems 1 and 2 
\Cref{EK_plots} shows the solutions for EK with $\Delta = 10^{-7}$ 
\begin{figure}[t]
\begin{center}
  \includegraphics[scale=0 1,angle=0]{EXP jpg}
  \caption{Exponential Kernels}
  \label{EXP}
\end{center}
\end{figure}
\begin{figure}[H]
    \centering
    \subfloat[Problem 1]{{\includegraphics[width=7cm]{dta7_iso jpg} }}
    \qquad
    \subfloat[Problem 2]{{\includegraphics[width=7cm]{dta7_beam jpg} }}
    \caption{Results for EK Problems with $\Delta = 10^{-7}$}
    \label{EK_plots}
\end{figure}

The runtimes and iterations for GMRES, DSA, FPSA, and NFPA are shown in \cref{Expresults1,Expresults2} 
We see a similar trend with the EK as seen with SRK 
Smaller $\Delta$ values lead to a reduction in runtime and iterations for NFPA and FPSA, which greatly outperform DSA and GMRES in both categories 

\begin{table}[h]
\begin{center}
\scalebox{0 8}{
\begin{tabular}{c || c || c || c} \hline 
Parameter & Solver & Runtime (s) & Iterations \\ \hline \hline
\multirow{4}{*}{$\Delta = 10^{-5}$} & GMRES & 196 & 142 \\
& DSA & 3110 & 70140 \\
& FPSA & 0 514 & 11 \\ 
& NFPA & 0 630 & 11 \\\hline 
\multirow{4}{*}{$\Delta = 10^{-6}$} & GMRES & 156 & 132 \\
& DSA & 3120 & 70758 \\
& FPSA & 0 388 & 7 \\ 
& NFPA & 0 393 & 7 \\ \hline 
\multirow{4}{*}{$\Delta = 10^{-7}$} & GMRES & 81 & 127 \\
& DSA & 3120 & 70851  \\
& FPSA & 0 292 & 6 \\ 
& NFPA & 0 318 & 6 \\ \hline
\end{tabular}}
\end{center}
\caption{Runtime and Iteration Counts for Problem 1 with EK}
\label{Expresults1} 
\end{table}
\begin{table}[h]
\begin{center}
\scalebox{0 8}{
\begin{tabular}{c || c || c || c} \hline 
Parameter & Solver & Runtime (s) & Iterations \\ \hline \hline
\multirow{4}{*}{$\Delta = 10^{-5}$} & GMRES & 110 & 73 \\
& DSA & 1455 & 33033 \\
& FPSA & 0 492 & 10 \\ 
& NFPA & 0 613 & 10 \\ \hline 
\multirow{4}{*}{$\Delta = 10^{-6}$} & GMRES & 82 7 & 79 \\
& DSA & 1470 & 33309 \\
& FPSA & 0 358 & 7 \\ 
& NFPA & 0 431 & 7 \\ \hline 
\multirow{4}{*}{$\Delta = 10^{-7}$} & GMRES & 56 8 & 90 \\
& DSA & 1470 & 33339 \\
& FPSA & 0 273 & 5 \\ 
& NFPA & 0 319 & 5 \\ \hline  
\end{tabular}}
\end{center}
\caption{Runtime and Iteration Counts for Problem 2 with EK}
\label{Expresults2} 
\end{table}

\subsubsection{HGK: Henyey-Greenstein Kernel}

The Henyey-Greenstein Kernel \cite{HGK,JapanFPSA} is most commonly used in light transport in clouds 
It relies on the anisotropy factor $g$, such that
\begin{equation}
\sigma^{HGK}_{s,l} = \sigma_s g^l 
\end{equation}
As $g$ goes from zero to unity, the scattering shifts from isotropic to highly anisotropic 
\begin{figure}[H]
\begin{center}
  \includegraphics[scale=0 1,angle=0]{HGK jpg}
  \caption{Henyey-Greenstein Kernels}
  \label{HGK}
\end{center}
\end{figure}
\begin{figure}[H]
    \centering
    \subfloat[Problem 1]{{\includegraphics[width=7cm]{g099_iso jpg} }}
    \qquad
    \subfloat[Problem 2]{{\includegraphics[width=7cm]{g099_beam jpg} }}
    \caption{Results for HGK Problems with $g = 0 99$}
    \label{HGK_plots}
\end{figure}


The HGK does not have a valid FP limit \cite{patelFBR} 
The three kernels tested are shown in \cref{HGK} 
GMRES, DSA, FPSA, and NFPA all converged to the same solution for problems 1 and 2 
\Cref{HGK_plots} shows the solutions for HGK with $g = 0 99$ 
The results of each solver are shown in \cref{HGKresults1,HGKresults2}  
\begin{table}[h]
\begin{center}
\scalebox{0 8}{
\begin{tabular}{c || c || c || c} \hline 
Parameter & Solver & Runtime (s) & Iterations \\ \hline \hline
\multirow{4}{*}{$g=0 9$} & GMRES & 9 88 & 76 \\
& DSA & 24 5 & 554 \\
& FPSA & 1 50 & 32 \\ 
& NFPA & 1 39 & 27 \\ \hline 
\multirow{4}{*}{$g=0 95$} & GMRES & 12 2 & 131 \\
& DSA & 47 7 & 1083 \\
& FPSA & 1 75 & 38 \\ 
& NFPA & 1 83 & 35 \\ \hline 
\multirow{4}{*}{$g=0 99$} & GMRES & 40 0 & 27 \\
& DSA & 243 & 5530  \\
& FPSA & 3 38 & 74 \\ 
& NFPA & 3 93 & 73 \\ \hline
\end{tabular}}
\end{center}
\caption{Runtime and Iteration Counts for Problem 1 with HGK}
\label{HGKresults1} 
\end{table}
\begin{table}[h]
\begin{center}
\scalebox{0 8}{
\begin{tabular}{c || c || c || c} \hline 
Parameter & Solver & Runtime (s) & Iterations \\ \hline \hline
\multirow{4}{*}{$g=0 9$} & GMRES & 24 3 & 135 \\
& DSA & 14 8 & 336  \\
& FPSA & 1 15 & 23 \\ 
& NFPA & 1 35 & 24 \\ \hline 
\multirow{4}{*}{$g=0 95$} & GMRES & 31 3 & 107 \\
& DSA & 29 7 & 675 \\
& FPSA & 1 56 & 32 \\ 
& NFPA & 1 90 & 33 \\ \hline 
\multirow{4}{*}{$g=0 99$} & GMRES & 41 4 & 126 \\
& DSA & 146 & 3345 \\
& FPSA & 3 31 & 67 \\ 
& NFPA & 3 99 & 67 \\ \hline  
\end{tabular}}
\end{center}
\caption{Runtime and Iteration Counts for Problem 2 with HGK}
\label{HGKresults2} 
\end{table}

Here we see that NFPA and FPSA do not perform as well compared to their results for the SRK and EK 
Contrary to what happened in those cases, both solvers require more time and iterations as the problem becomes more anisotropic 
This is somewhat expected, due to HGK not having a valid Fokker-Planck limit 
However, both NFPA and FPSA continue to greatly outperform GMRES and DSA 
Moreover, NFPA outperforms FPSA in iteration count for problem 1 


\section{Discussion}\label{sec4}

This paper introduced the Nonlinear Fokker-Planck Acceleration technique for steady-state, monoenergetic transport in homogeneous slab geometry 
To our knowledge, this is the first nonlinear HOLO method that accelerates \textit{all $L$ moments} of the angular flux 
Upon convergence, the LO and HO models are consistent; in other words, the (lower-order) modified Fokker-Planck equation \textit{preserves the same angular moments} of the flux obtained with the (higher-order) transport equation 

NFPA was tested on a homogeneous medium with an isotropic internal source with vacuum boundaries, and in a homogeneous medium with no internal source and an incoming beam boundary 
For both problems, three different scattering kernels were used 
The runtime and iterations of NFPA and FPSA were shown to be similar 
They both vastly outperformed DSA and GMRES for all cases by orders of magnitude 
However, NFPA has the feature of preserving the angular moments of the flux in both the HO and LO equations, which offers the advantage of integrating the LO model into multiphysics models  

In the future, we intend to test NFPA capabilities for a variety of multiphysics problems and analyze its performance 
To apply NFPA to more realistic problems, it needs to be extended to include time and energy dependence  
Additionally, the method needs to be adapted to address geometries with higher-order spatial dimensions 
Finally, for the NFPA method to become mathematically ``complete", a full convergence examination using Fourier analysis must be performed 
However, this is beyond the scope of this paper and must be left for future work 

\section*{Acknowledgements}

The authors acknowledge support under award number NRC-HQ-84-15-G-0024 from the Nuclear Regulatory Commission 
The statements, findings, conclusions, and recommendations are those of the authors and do not necessarily reflect the view of the U S  Nuclear Regulatory Commission 

J ~K  Patel would like to thank Dr ~James Warsa for his wonderful transport class at UNM, as well as his synthetic acceleration codes 
The authors would also like to thank Dr ~Anil Prinja for discussions involving Fokker-Planck acceleration 







ground_truth: γh.

prompt_front: Now, answer the following question based on the text below, only give me the answer and do not output any other words.

Question: How do the runtimes and iteration counts of NFPA and FPSA compare to GMRES and DSA in the numerical experiments?

Read the following text and answer briefly.

Context 4: Brooksley Elizabeth Born (born August 27, 1940) is an American attorney and former public official who, from August 26, 1996, to June 1, 1999, was chair of the Commodity Futures Trading Commission (CFTC), the federal agency which oversees the U S  futures and commodity options markets  During her tenure on the CFTC, Born lobbied Congress and the President to give the CFTC oversight of off-exchange markets for derivatives, in addition to its role with respect to exchange-traded derivatives, but her warnings were ignored or dismissed, and her calls for reform resisted by other regulators <ref name="nytimes">Goodman, Peter S  The Reckoning - Taking Hard New Look at a Greenspan Legacy, The New York Times, October 9, 2008 </ref> Born resigned as chairperson on June 1, 1999, shortly after Congress passed legislation prohibiting her agency from regulating derivatives 

In 2009, Born received the John F  Kennedy Profiles in Courage Award, along with Sheila Bair of the Federal Deposit Insurance Corporation, in recognition of the "political courage she demonstrated in sounding early warnings about conditions that contributed" to the 2007-08 financial crisis 

Early life and education
Born graduated from Abraham Lincoln High School (San Francisco, California) at the age of 16  She then attended Stanford University, where she majored in English and was graduated with the class of 1961   She initially wanted to become a doctor, but a guidance counsellor at Stanford advised her against medicine, so she majored in English literature instead 

She then attended Stanford Law School, one of only seven women in her class   She was the first female student ever to be named president of the Stanford Law Review  She received the "Outstanding Senior" award and graduated as valedictorian of the class of 1964 

Legal career
Immediately after law school Born was selected as a law clerk to judge Henry Edgerton of the U S  Court of Appeals for the District of Columbia Circuit  It was during this time that she met her first husband, Jacob C  Landau, who was a journalist covering the Federal courts at the time  Following her clerkship, she became an associate at the Washington, D C -based international law firm of Arnold & Porter  Born was attracted to Arnold & Porter because it was one of the few major law firms to have a woman partner at that time, Carolyn Agger, who was the head of the tax practice  Born took a two-year leave of absence from Arnold & Porter to accompany her first husband to Boston, where he had received a fellowship  During that time she worked as a research assistant to law professor Alan Dershowitz 

Born's early career at Arnold & Porter focused on international trade law, in which she represented a number of Swiss industries and the government of Switzerland  She developed a practice representing clients in numerous complex litigation and arbitration cases involving financial market transactions  Among her high-profile cases was the matter of the Hunt Brothers attempt to corner the market in silver in the 1970s  She made partner at Arnold & Porter, after moving to a three-day schedule to help raise her second child, and eventually rose to be the head of the firm's derivatives practice 

Born was among the first female attorneys to systematically address inequities regarding how the laws treated women  Born and another female lawyer, Marna Tucker, taught what is considered to have been the first "Women and the Law" course at Catholic University’s Columbus School of Law  The class exclusively concerned prejudicial treatment of women under the laws of the United States, past and present   Born and Tucker were surprised to discover that there was no textbook on the issue at the time   Born is also one of the co-founders of the National Women's Law Center  Born also helped rewrite the American Bar Association rules to make it possible for more women and minorities to sit on federal bench 

During her long legal career, and into her retirement, Born did much pro bono and other types of volunteer work  She was active in the American Bar Association, the largest professional organization of lawyers in the United States   Initially Born was named a member of the governing council of the ABA's Individual Rights Section, eventually becoming chairperson   Born and Tucker founded the ABA Women's Caucus, the first organization of female lawyers in the ABA   She held several other senior positions in the ABA, including being named the first woman member of the ABA's Standing Committee on the Federal Judiciary   As a member of the Judiciary Committee, Born provided testimony and opinion on persons nominated for federal judgeships  In 1980 she was named chair of the committee   As chair of the committee, Born was invited to address the U S  Congress regarding the nomination of Judge Sandra Day O'Connor to the U S  Supreme Court 

In 1993, Born's name was floated as a possible candidate for Attorney General of the United States, but Janet Reno was nominated 

In July 2009, Nancy Pelosi appointed Brooksley Born as a commissioner to the Financial Crisis Inquiry Commission (FCIC) 

Born and the OTC derivatives market
Born was appointed to the CFTC on April 15, 1994, by President Bill Clinton  Due to litigation against Bankers Trust Company by Procter and Gamble and other corporate clients, Born and her team at the CFTC sought comments on the regulation of over-the-counter derivatives, a first step in the process of writing CFTC regulations to supplement the existing regulations of the Federal Reserve System,  the Options Clearing Corporation, and the National Association of Insurance Commissioners  Born was particularly concerned about swaps, financial instruments that are traded over the counter between banks, insurance companies or other funds or companies, and thus have no transparency except to the two counterparties and the counterparties' regulators, if any   CFTC regulation was strenuously opposed by Federal Reserve chairman Alan Greenspan, and by Treasury Secretaries Robert Rubin and Lawrence Summers



ground_truth: NFPA and FPSA greatly outperform GMRES and DSA.

prompt_front: Now, answer the following question based on the text below, only give me the answer and do not output any other words.

Question: What does the new Iraqi Body Count organization do?

Read the following text and answer briefly.

Context 3: Ann's Mega Dub: 12/19/10 - 12/26/10
Got o have a penis to be an expert
Thursday on NPR's Fresh Air, Terry Gross wanted to talk film and music  Since women don't know a thing about either and aren't interested in either, Terry had to find men who were 'experts 'This is C I 's " Iraq snapshot Friday, December 24, 2010  Chaos and violence continue, Nouri's incomplete Cabinet continues to receive criticism, a father offers an 'excuse' for killing his own daughter, and more Marci Stone (US Headlines Examiner) reports, "Friday afternoon, Santa is currently in Baghdad, Iraq and on his next stop is Moscow, Russia, according to the 2010 NORAD Santa Tracker  The North American Aerospace Defense Command (NORAD) has been tracking Santa as he makes his annual journey throughout the world " Gerald Skoning (Palm Beach Post) quotes Santa saying, "We send our special wishes for peace and goodwill to all  That includes the people of Iraq, Afghanistan, Iran and North Korea " Please note that this is Santa's seventh trip to Iraq since the start of the Iraq War and, as usual, his journey was known in advance  No waiting until he hit the ground to announce he was going to Iraq -- the way George The Bully Boy Bush had to and the way US President Barack Obama still has to  In the lead up to Santa's yearly visit, many 'authorities' in Iraq began insisting that Christmas couldn't be celebrated publicly, that even Santa was banned  Gabriel Gatehouse (BBC News) quotes Shemmi Hanna stating, "I wasn't hurt but I wish that I had been killed  I wish I had become a martyr for this church, but God kept me alive for my daughters " Shemmi Hanna was in Our Lady of Salvation Church in Baghdad when it was assaulted October 31st and she lost her husband, her son, her daughter-in-law and her infant grandson in the attack  The October 31st attack marks the latest wave of violence targeting Iraqi Christians  The violence has led many to flee to northern Iraq (KRG) or to other countries  Zvi Bar'el (Haaretz) notes, "This week the Iraqi legislature discussed the Christians' situation and passed a resolution in principle to help families who fled  However, the parliament does not know where the Christians are, how many are still in Iraq, in their homes, and how many have found asylum in Iraqi Kurdistan " John Leland (New York Times) reports:The congregants on Friday night were fewer than 100, in a sanctuary built for four or five times as many  But they were determined  This year, even more than in the past, Iraqi's dwindling Christian minority had reasons to stay home for Christmas  "Yes, we are threatened, but we will not stop praying," the Rev  Meyassr al-Qaspotros told the Christmas Eve crowd at the Sacred Church of Jesus, a Chaldean Catholic church  "We do not want to leave the country because we will leave an empty space " Raheem Salman (Los Angeles Times) reports, "Rimon Metti's family will go to Christian services on Christmas Day, but his relatives will be praying for their own survival and wondering whether this is their last holiday season in Baghdad  If they had any grounds for optimism about the future of their faith in Iraq, it vanished this year amid repeated attacks on fellow believers " Shahsank Bengali (McClatchy Newspapers) adds, "Nearly two months after a shocking assault by Islamist militants, Our Lady of Salvation Catholic Church will commemorate Christmas quietly, with daytime mass and prayers for the dead, under security fit more for a prison than a house of worship  It is the same at Christian churches across Baghdad and northern Iraq, where what's left of one of the world's oldest Christian communities prepares to mark perhaps the most somber Christmas since the start of the Iraq war "Meanwhile Taylor Luck (Jordan Times) reports on Iraqi refugees in Jordan:Although the calendar will say December 25, for Theresa, Saturday will not be Christmas  There will be no cinnamon klecha cooling on the dining room table, no outdoor ceramic nativity scene, no readings of hymns with relatives  The 63-year-old Iraqi woman has even refused to put up Christmas lights in the crowded two-room Amman hotel apartment she has called home since fleeing Baghdad last month "There is no holiday spirit  All we have is fear," she said This holiday will instead mark another year without news from her 46-year-old son, who was kidnapped outside Baghdad in late 2006 From Turkey, Sebnem Arsu (New York Times -- link has text and video) notes the increase in Iraq refugees to the country since October 31st and quotes Father Emlek stating, "I've never seen as many people coming here as I have in the last few weeks  They also go to Lebanon, Jordan and Syria but it seems that Turkey is the most popular despite the fact that they do not speak the language " Jeff Karoub (AP) reports on the small number of Iraqi refugees who have made it to the US and how some of them "struggle with insomnia, depression and anxiety "One group in Iraq who can openly celebrate Christmas are US service members who elect to  Barbara Surk (AP) reports that tomorrow Chief Warrant Officer Archie Morgan will celebrate his fourth Christmas in Iraq and Captain Diana Crane is celebrating her second Christmas in Iraq: "Crane was among several dozen troops attending a Christmas Eve mass in a chapel in Camp Victory, an American military base just outside Baghdad " Marc Hansen (Des Moines Reigster) speaks with six service members from Iowa who are stationed in Iraq  Sgt 1st Class Dennis Crosser tells Hansen, "I certainly understand from reading the paper what's going on in Afghanistan and the attention definitely needs to be on the troops there  But everyone serving here in Operation New Dawn appreciates a little bit of attention as we finish this up "Today Jiang Yu, China's Foreign Minister, issued the following statement, "We welcome and congratulate Iraq on forming a new government  We hope that the Iraqi Government unite all its people, stabilize the security situation, accelerate economic reconstruction and make new progress in building its country " James Cogan (WSWS) reports:US State Department official Philip Crowley declared on Wednesday that Washington had not "dictated the terms of the government"  In reality, constant American pressure was applied to Maliki, Allawi, Kurdish leaders and other prominent Iraqi politicians throughout the entire nine-month process to form a cabinet  The US intervention included numerous personal phone calls and visits to Baghdad by both President Barack Obama and Vice President Joe Biden The key objective of the Obama administration has been to ensure that the next Iraqi government will "request" a long-term military partnership with the US when the current Status of Forces Agreement (SOFA) expires at the end of 2011  The SOFA is the legal basis upon which some 50,000 American troops remain in Iraq, operating from large strategic air bases such as Balad and Tallil and Al Asad  US imperialism spent billions of dollars establishing these advanced bases as part of its wider strategic plans and has no intention of abandoning them Cogan's only the second person to include the SOFA in his report  Some are impressed with the 'feat' of taking nearly ten months to form a government, stringing the country along for ten months while no decisions could go through  The editorial board of the Washington Post, for example, was full of praise yesterday  Today they're joined by Iran's Ambassador to Iraq, Hassan Danaiifar  The Tehran Times reports that Danaiifar was full of praise today hailing the "positive and final step which ended the 10-month political limbo in Iraq " However, Danaiifar was less pie-in-the-sky than the Post editorial board because he can foresee future problems as evidenced by his statement, "We may witness the emergence of some problems after one and half of a year -- for example, some ministers may be impeached " Of course, there are already many clouds on the horizon, even if Iranian diplomats and Post editorial boards can't suss them out  For example, Ben Bendig (Epoch Times) noted the objection of Iraq's female politicians to Nouri al-Maliki's decision to nominate only one woman (so far) to his Cabinet: "Some 50 female lawmakers went to the country's top leadership, the United Nations and the Arab League to voice their concern and desire for increased representation " BNO notes that protest and also that a group of Iraqi MPs are alleging that Iraqiya bought seats in the Cabinet via money exchanged in Jordan  UPI adds, "Maliki, a Shiite who has a long history of working with Tehran, has named himself acting minister of defense, interior and national security, three most powerful and sensitive posts in the government he is stitching together  Although Maliki appears to be bending over backward to accommodate rivals among Iraq's Shiite majority as well as minority Sunnis and Kurds in his administration in a spirit of reconciliation, he is unlikely to relinquish those ministries that dominate the security sector " DPA reports, "Sheikh Abdel-Mahdi al-Karbalaei, a confident of influential Shiite spiritual leader Ayatollah Ali al-Sistani, said that the new cabinet is 'below the standards' Iraqi citizens had hoped for and suggested it could prove to be weaker than the previous government " Ranj Alaaldin (Guardian) also spots clouds on the horizon:Lasting peace and stability depends on resolving outstanding disputes with the Kurds on oil, revenue-sharing, security and the disputed territories (Kirkuk in particular)  The Kurds, rather than exploiting their kingmaker position to take a stronger proportion of ministries in Baghdad (they are taking just one major portfolio – the foreign ministry), are instead banking on guarantees from Maliki to implement their list of 19 demands that includes resolving the above disputes in their favour They may have been naive, though  With their historical and federalist partners, the Islamic supreme council of Iraq in decline, the Kurds may be isolated in the new government – a government dominated by the nationalistic and centrist characteristics of the INM, the Sadrists and indeed State of Law Maliki may, therefore, turn out to be unable to grant concessions even if he wanted to and could use Osama Nujayfi, the new ultra-nationalist speaker of parliament and Kurdish foe, to absorb the Kurdish criticism and insulate himself from any attacks AP reports that Iraqi police sought out a 19-year-old woman because of rumors that she was working with al Qaida in Mesopotamia only to be greeted with the news that her father allegedly killed her and the father showed the police where he buried the woman       last month  The story begs for more than it offers  The most obvious observation is: what does it say that a woman's allegedly killed by her father and no one says a word for over a month? After that, it should probably be noted that there are many men in Iraq killing women who, no doubt, would love to also be able to pin the blame on al Qaida  In other violence, Reuters notes a house bombing in Haswa which claimed the life of Mohammed al-Karrafi, "his wife, two sons and a nephew" -- as well as injuring four more people, and a Samarra roadside bombing which claimed the lives of 2 police officers  DPA notes it was two homes bombed in Haswa and that the Samarra roadside bombing also injured four Iraqi soldiers  Jomana Karadsheh (CNN) reports, "Another policeman was wounded in Baghdad Friday night when a roadside bomb detonated by a police patrol, an Interior Ministry official told CNN "And we'll close with this from Peace Mom Cindy Sheehan's latest Al Jazeera column:The recent repeal of the US military policy of "Don't ask, don't tell" is far from being the human rights advancement some are touting it to be  I find it intellectually dishonest, in fact, illogical on any level to associate human rights with any military, let alone one that is currently dehumanising two populations as well as numerous other victims of it's clandestine "security" policies Placing this major contention aside, the enactment of the bill might be an institutional step forward in the fight for "equality"; however institutions rarely reflect reality Do we really think that the US congress vote to repeal the act and Obama signing the bill is going to stop the current systemic harassment of gays in the military?While I am a staunch advocate for equality of marriage and same-sex partnership, I cannot - as a peace activist - rejoice in the fact that now homosexuals can openly serve next to heterosexuals in one of the least socially responsible organisations that currently exists on earth: The US military It is an organisation tainted with a history of intolerance towards anyone who isn't a Caucasian male from the Mid-West  Even then I'm sure plenty fitting that description have faced the terror and torment enshrined into an institution that transforms the pride and enthusiasm of youth into a narrow zeal for dominating power relations And we'll close with this from Francis A  Boyle's "2011: Prospects for Humanity?" (Global Research):Historically, this latest eruption of American militarism at the start of the 21st Century is akin to that of America opening the 20th Century by means of the U S -instigated Spanish-American War in 1898  Then the Republican administration of President William McKinley stole their colonial empire from Spain in Cuba, Puerto Rico, Guam, and the Philippines; inflicted a near genocidal war against the Filipino people; while at the same time illegally annexing the Kingdom of Hawaii and subjecting the Native Hawaiian people (who call themselves the Kanaka Maoli) to near genocidal conditions  Additionally, McKinley's military and colonial expansion into the Pacific was also designed to secure America's economic exploitation of China pursuant to the euphemistic rubric of the "open door" policy  But over the next four decades America's aggressive presence, policies, and practices in the "Pacific" would ineluctably pave the way for Japan's attack at Pearl Harbor on Dec  7, 194l, and thus America's precipitation into the ongoing Second World War  Today a century later the serial imperial aggressions launched and menaced by the Republican Bush Jr  administration and now the Democratic Obama administration are threatening to set off World War III  By shamelessly exploiting the terrible tragedy of 11 September 2001, the Bush Jr  administration set forth to steal a hydrocarbon empire from the Muslim states and peoples living in Central Asia and the Persian Gulf under the bogus pretexts of (1) fighting a war against international terrorism; and/or (2) eliminating weapons of mass destruction; and/or (3) the promotion of democracy; and/or (4) self-styled "humanitarian intervention " Only this time the geopolitical stakes are infinitely greater than they were a century ago: control and domination of two-thirds of the world's hydrocarbon resources and thus the very fundament and energizer of the global economic system – oil and gas  The Bush Jr / Obama administrations have already targeted the remaining hydrocarbon reserves of Africa, Latin America, and Southeast Asia for further conquest or domination, together with the strategic choke-points at sea and on land required for their transportation  In this regard, the Bush Jr  administration announced the establishment of the U S  Pentagon's Africa Command (AFRICOM) in order to better control, dominate, and exploit both the natural resources and the variegated peoples of the continent of Africa, the very cradle of our human species  This current bout of U S  imperialism is what Hans Morgenthau denominated "unlimited imperialism" in his seminal work Politics Among Nations (4th ed  1968, at 52-53): The outstanding historic examples of unlimited imperialism are the expansionist policies of Alexander the Great, Rome, the Arabs in the seventh and eighth centuries, Napoleon I, and Hitler  They all have in common an urge toward expansion which knows no rational limits, feeds on its own successes and, if not stopped by a superior force, will go on to the confines of the political world  This urge will not be satisfied so long as there remains anywhere a possible object of domination--a politically organized group of men which by its very independence challenges the conqueror's lust for power  It is, as we shall see, exactly the lack of moderation, the aspiration to conquer all that lends itself to conquest, characteristic of unlimited imperialism, which in the past has been the undoing of the imperialistic policies of this kind…  On 10 November 1979 I visited with Hans Morgenthau at his home in Manhattan  It proved to be our last conversation before he died on 19 July 1980  Given his weakened physical but not mental condition and his serious heart problem, at the end of our necessarily abbreviated one-hour meeting I purposefully asked him what he thought about the future of international relations  iraqbbc newsgabriel gatehousethe new york timesjohn lelandhaaretzzvi bar'elthe jordan timestaylor luckthe associated pressjeff karoubthe los angeles timesraheem salmancnnjomana karadsheh
Terry thinks she's a man
Yesterday on NPR's Fresh Air the hour went to a male TV critic  It's always a man with Terry  Always  And somebody tell her that a snotty, snooty TV critic really doesn't make for good programming This is C I 's "Iraq snapshot:" Thursday, December 23, 2010  Chaos and violence continue, Iraqi women make clear their displeasure over the Cabinet make up, Daniel Ellsberg and Veterans for Peace get some recognition, and more  Last Thursday a protest held outside the White House  One of the organizers was Veterans for Peace and Pentagon Papers whistle blower Daniel Ellsberg participated and spoke  Juana Bordas (Washington Post) advocates for both of them to be named persons of the year: Veterans for Peace and Daniel Ellsberg should be this year's person of the year because of their courage and bravery to stand up for all of us who believe that "war is not the answer " Moreover in a time of economic recession, the war machine is bankrupting our country  As John Amidon, a Marine Corps veteran from Albany asked at the White House protest, "How is the war economy working for you?"While unemployment rates hover near 10 percent, there is no doubt that the U S  economy and quality of life is faltering  Worldwide we are 14th in education, 37th in the World Health Organization's ranking on medical systems, and 23rd in the U N  Environmental Sustainability Index on being most livable and greenest benefits  There is one place we take the undeniable world lead  The US military spending accounts for a whopping 46 5 percent of world military spending--the next ten countries combined come in at only 20 7 percent  Linda Pershing (Truthout) reports, "Responding to a call from the leaders of Stop These Wars(1) - a new coalition of Veterans for Peace and other activists - participants came together in a large-scale performance of civil resistance  A group of veterans under the leadership of Veterans for Peace members Tarak Kauff, Will Covert and Elaine Brower, mother of a Marine who has served three tours of duty in Iraq, sponsored the event with the explicit purpose of putting their bodies on the line  Many participants were Vietnam War veterans; others ranged from Iraq and Afghanistan war veterans in their 20s and 30s to World War II vets in their 80s and older  They were predominately white; men outnumbered women by at least three to one  After a short rally in Lafayette Park, they formed a single-file procession, walking across Pennsylvania Avenue to the solemn beat of a drum  As they reached the police barricade (erected to prevent them from chaining themselves to the gate, a plan they announced on their web site), the activists stood shoulder to shoulder, their bodies forming a human link across the 'picture postcard' tableau in front of the White House " Maria Chutchian (Arlington Advocate) quotes, participant Nate Goldshlag (Vietnam veteran) stating, ""There was a silent, single file march around Lafayette Park to a drum beat  Then we went in front of the White House,  There were barricades set up in front of white house fence  So when we got there, we jumped over barricades and were able to get right next to the White House fence " Participant Linda LeTendre (Daily Gazette) reports: At the end of the rally, before the silent, solemn procession to the White House fence, in honor of those killed in Iraq and Afghan wars of lies and deceptions, the VFP played taps and folded an American flag that had been left behind at a recent funeral for the veteran of one of those wars  Two attendees in full dress uniform held and folded the flag  I had the image of all of the people who stood along the roads and bridges when the bodies of the two local men, Benjamin Osborn and David Miller, were returned to the Capital District  I thought if all of those people were here now or spoke out against war these two fine young men might still be with us I was blessed enough to be held in custody with one of those in uniform; a wonderful young man who had to move from his hometown in Georgia because no one understood why as a veteran he was against these wars  Even his family did not understand  (He remains in my prayers )Our plan was to attach ourselves to the White House fence until President Obama came out and talked to us or until we were arrested and dragged away  I don't have to tell you how it ended Mr  Ellsberg was one of 139 people arrested at that action  We've noted the protest in pretty much every snapshot since last Thursday  If something else comes out that's worth noting on the protest, we'll include it  We will not include people who don't have their facts and it's really sad when they link to, for example, Guardian articles and the links don't even back them up  It's real sad, for example, when they're trashing Hillary (big strong men that they are) and ripping her apart and yet Barack? "Obama's inaccurate statements"??? What the hell is that? You're inferring he lied, say so  Don't be such a little chicken s**t  It's especially embarrasing when you're grandstanding on 'truth ' Especially when you're the little s**t that clogged up the public e-mail account here in the summer of 2008 whining that you were holding Barack to a standard, then admitting that you weren't, then whining that if you did people would be mean to you  Oh, that's sooooooo sad  Someone might say something bad about you  The horror  You must suffer more than all the people in Iraq and Afghanistan combined  While the action took place in DC, actions also took place in other cities  We've already noted NYC's action this week, Doug Kaufmann (Party for Socialism & Liberation) reports on the Los Angeles action: Despite heavy rain, over 100 people gathered in Los Angeles on the corner of Hollywood and Highland to demand an end to the U S  wars on Afghanistan and Iraq  People came from as far as Riverside to protest, braving what Southern California media outlets have dubbed the "storm of the decade " The demonstration, initiated and led by the ANSWER Coalition, broke the routine of holiday shopping and garnered support from activists and even passers by, who joined in chanting "Money for jobs and education -- not for war and occupation!" and "Occupation is a crime -- Iraq, Afghanistan, Palestine!" Protesters held banners reading, "U S /NATO Out of Afghanistan!" and "Yes to jobs, housing and education -- no to war, racism and occupation!"Speakers at the demonstration included representatives of Korean Americans for Peace, ANSWER Coalition, KmB Pro-People Youth, Veterans for Peace, Party for Socialism and Liberation and National Lawyers Guild  Tuesday, Nouri al-Maliki managed to put away the political stalemate thanks to a lot of Scotch -- tape to hold the deal together and booze to keep your eyes so crossed you don't question how someone can claim to have formed a Cabinet when they've left over ten positions to be filled at a later date  One group speaking out is women  Bushra Juhi and Qassmi Abdul-Zahra (AP) report, "Iraq's female lawmakers are furious that only one member of the country's new Cabinet is a woman and are demanding better representation in a government that otherwise has been praised by the international community for bringing together the country's religious sects and political parties " As noted Tuesday, though represenation in Parliament is addressed in Iraq's Constitution, there is nothing to address women serving in the Cabinet  Aseel Kami (Reuters) notes one of the most damning aspects of Nouri's chosen men -- a man is heaing the Ministry of Women's Affairs  Iraqiya's spokesperson Maysoon Damluji states, "There are really good women who could do wel       they cannot be neglected and marginalized " Al-Amal's Hanaa Edwar states, "They call it a national (power) sharing government  So where is the sharing? Do they want to take us back to the era of the harem? Do they want to take us back to the dark ages, when women were used only for pleasure " Deborah Amos (NPR's All Things Considered) reports that a struggle is going on between secular impulses and fundamentalist ones  Gallery owner Qasim Sabti states, "We know it's fighting between the religious foolish man and the civilization man  We know we are fighting like Gandhi, and this is a new language in Iraqi life  We have no guns  We do not believe in this kind of fighting " Deborah Amos is the author of Eclipse of the Sunnis: Power, Exile, and Upheaval in the Middle East  Meanwhile Nizar Latif (The National) reports that distrust is a common reaction to the new government in Baghdad and quotes high school teacher Hussein Abed Mohammad stating, "Promises were made that trustworthy, competent people would be ministers this time around, but it looks as if everything has just been divided out according to sectarian itnerests  No attention has been paid to forming a functioning government, it is just a political settlement of vested interests  I'm sure al Maliki will have the same problems in his next four years as he had in the last four years " Days away from the ten months mark, Nouri managed to finally end the stalemate  Some try to make sense of it and that must have been some office party that the editorial board of the Washington Post is still coming down from judging by "A good year in Iraq " First up, meet the new Iraqi Body Count -- an organization that provides cover for the war and allows supporters of the illegal war to point to it and insist/slur "Things aren't so bad!" Sure enough, the editorial board of the Post does just that noting the laughable "civilian deaths" count at iCasualities  As we noted -- long, long before we walked away from that crap ass website, they're not doing a civilian count 



ground_truth: It provides cover for the war and allows supporters of the illegal war to point to it.