Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport Tasks

abstract: Swarms of low-cost, autonomous robots can potentially be used to collectively perform tasks over large domains and long time scales. The design of decentralized, scalable swarm control strategies will enable the development of robotic systems that can execute such tasks with a high degree of parallelism and redundancy, enabling effective operation even in the presence of unknown environmental factors and individual robot failures. Social insect colonies provide a rich source of inspiration for these types of control approaches, since they can perform complex collective tasks under a range of conditions. To validate swarm robotic control strategies, experimental testbeds with large numbers of robots are required; however, existing low-cost robots are specialized and can lack the necessary sensing, navigation, control, and manipulation capabilities. To address these challenges, this thesis presents a formal approach to designing biologically-inspired swarm control strategies for spatially-confined coverage and payload transport tasks, as well as a novel low-cost, customizable robotic platform for testing swarm control approaches. Stochastic control strategies are developed that provably allocate a swarm of robots around the boundaries of multiple regions of interest or payloads to be transported. These strategies account for spatially-dependent effects on the robots' physical distribution and are largely robust to environmental variations. In addition, a control approach based on reinforcement learning is presented for collective payload towing that accommodates robots with heterogeneous maximum speeds. For both types of collective transport tasks, rigorous approaches are developed to identify and translate observed group retrieval behaviors in Novomessor cockerelli ants to swarm robotic control strategies. These strategies can replicate features of ant transport and inherit its properties of robustness to different environments and to varying team compositions. The approaches incorporate dynamical models of the swarm that are amenable to analysis and control techniques, and therefore provide theoretical guarantees on the system's performance. Implementation of these strategies on robotic swarms offers a way for biologists to test hypotheses about the individual-level mechanisms that drive collective behaviors. Finally, this thesis describes Pheeno, a new swarm robotic platform with a three degree-of-freedom manipulator arm, and describes its use in validating a variety of swarm control strategies.Dissertation/ThesisDoctoral Dissertation Mechanical Engineering 201

A theoretical and computational study of the mechanics of biomembranes at multiple scales

Lipid membranes are thin objects that form the main separation structure in cells. They have remarkable mechanical properties; while behaving as a solid shell against bending, they exhibit in-plane fluidity. These two aspects of their mechanics are not only interesting from a physical viewpoint, but also fundamental for their biological function. Indeed, the equilibrium shapes of different organelles in the cell rely on the bending elasticity of lipid membranes. On the other hand, the in-plane fluidity of the membrane is essential in functions such as cell motility, mechano-adaptation, or for the lateral diffusion of proteins and other membrane inclusions. The bending rigidity of membranes can be motivated from microscopic models that account for the stress distribution across the membrane thickness. In particular, the microscopic stress across the membrane is routinely computed from molecular dynamics simulations to investigate how different microscopic features, such as the addition of anesthetics or cholesterol, affect their effective mechanical response. The microscopic stress bridges the gap between the statistical mechanics of a set of point particles, the atoms in a molecular dynamics simulation, and continuum mechanics models. However, we lack an unambiguous definition of the microscopic stress, and different definitions of the microscopic stress suggest different connections between molecular and continuum models. In the first Part of this Thesis, we show that many of the existing definitions of the microscopic stress do not satisfy the most basic balance laws of continuum mechanics, and thus are not physically meaningful. This striking issue has motivated us to propose a new definition of the microscopic stress that complies with these fundamental balance laws. Furthermore, we provide a freely available implementation of our stress definition that can be computed from molecular dynamics simulations (mdstress.org). Our definition of the stress along with our implementation provides a foundation for a meaningful analysis of molecular dynamics simulations from a continuum viewpoint. In addition to lipid membranes, we show the application of our methodology to other important systems, such as defective crystals or fibrous proteins. In the second part of the Thesis, we focus on the continuum modeling of lipid membranes. Because these membranes are continuously brought out-of-equilibrium by biological activity, it is important to go beyond curvature elasticity and describe the internal mechanisms associated with bilayer fluidity. We develop a three-dimensional and non-linear theory and a simulation methodology for the mechanics of lipid membranes, which have been lacking in the field. We base our approach on a general framework for the mechanics of dissipative systems, Onsager's variational principle, and on a careful formulation of the kinematics and balance principles for fluid surfaces. For the simulation of our models, we follow a finite element approach that, however, requires of unconventional dicretization methods due to the non-linear coupling between shape changes and tangent flows on fluid surfaces. Our formulation provides the basis for further investigations of the out-of-equilibrium chemo-mechanics of lipid membranes and other fluid surfaces, such as the cell cortex.Las membranas lipídicas son estructuras delgadas que forman la separación fundamental de las células. Tienen propiedades físicas notables: mientras que se comportan como láminas delgadas sólidas frente a curvatura, presentan fluidez interfacial. Estos dos aspectos de su mecánica son interesantes desde un punto de vista físico e ingenieril, pero además son fundamentales para su función biológica. Las formas de equilibrio de diferentes organelos celulares dependen de la elasticidad frente a curvatura de la membrana lipídica. Por otro lado, la fluidez interfacial es esencial en funciones como la movilidad celular, la adaptación mecánica a deformaciones, o para la difusión lateral de proteínas. La elasticidad frente a curvatura de las membranas lipídicas puede motivarse a través de modelos microscópicos que tienen en cuenta la distribución de esfuerzos a lo largo del espesor de la membrana. En particular, el tensor de esfuerzos microscópico se calcula habitualmente en simulaciones de dinámica molecular a lo largo del espesor de la membrana para investigar cómo diferentes características microscópicas, como la adición de anestésicos o colesterol, afecta la respuesta mecánica efectiva. El tensor de esfuerzos microscópico tiende un puente entre la mecánica estadística de un conjunto de partículas puntuales, los átomos de una simulación de dinámica molecular, y modelos de mecánica de medios continuos. Sin embargo, no disponemos de una definición única del tensor de esfuerzos microscópico, y diferentes definiciones dan lugar a diferentes interpretaciones de la conexión entre modelos moleculares y continuos. En la primera parte de la tesis, mostramos que muchas de las definiciones del tensor de esfuerzos microscópico no satisfacen las leyes más básicas de la mecánica de medios continuos, y por tanto no son físicamente relevantes. Este problema nos ha motivado a proponer una nueva definición del tensor de esfuerzos microscópicos que cumpla las leyes fundamentales de la mecánica de medios continuos por construcción. Además, hemos desarrollado (y puesto a disposición del público libremente) una implementación numérica de nuestra definición del tensor de esfuerzos microscópico que puede calcularse mediante simulaciones de dinámica molecular (mdstress.org). Nuestra definición del tensor de esfuerzos, así como nuestra implementación del mismo, proporcionan una base sólida para el análisis de simulaciones de dinámica molecular desde un punto de vista continuo. Además de membranas lipídicas, mostramos la aplicación de nuestro método en otros sistemas relevantes, como cristales con defectos o proteínas fibrosas. En la segunda parte de esta tesis nos hemos focalizado en el modelado continuo de membranas lipídicas. Ya que estas membranas están constantemente sufriendo actividad biológica que las lleva fuera de equilibrio, es importante tener en cuenta no sólo la elasticidad de curvatura, sino también los grados de libertad internos asociados a la fluidez de la membrana. Para ello, desarrollamos un nuevo marco teórico y computacional general, tridimensional y no-lineal, para la mecánica de membranas lipídicas. Nuestro enfoque se basa en un marco general para la mecánica de sistemas disipativos, el principio variacional de Onsager, y en una formulación cuidadosa de la cinemática y las ecuaciones de balance para superficies fluídas. Para la simulación de nuestros modelos, seguimos una aproximación basada en elementos finitos que, sin embargo, requiere de métodos no convencionales debido al acoplamiento no-lineal entre cambios de forma y los campos de velocidad tangentes en superficies fluídas. Nuestra formulación proporciona la base para futuras investigaciones de la quimiomecánica fuera de equilibrio de membranas lipídicas y otras superficies fluídas, como el cortex celula

Strategies of development and maintenance in supervision, control, synchronization, data acquisition and processing in light sources

Programa Oficial de Doutoramento en Tecnoloxías da Información e as Comunicacións. 5032V01[Resumo] Os aceleradores de partículas e fontes de luz sincrotrón, evolucionan constantemente para estar na vangarda da tecnoloxía, levando os límites cada vez mais lonxe para explorar novos dominios e universos. Os sistemas de control son unha parte crucial desas instalacións científicas e buscan logra-la flexibilidade de manobra para poder facer experimentos moi variados, con configuracións diferentes que engloban moitos tipos de detectores, procedementos, mostras a estudar e contornas. As propostas de experimento son cada vez máis ambiciosas e van sempre un paso por diante do establecido. Precísanse detectores cada volta máis rápidos e eficientes, con máis ancho de banda e con máis resolución. Tamén é importante a operación simultánea de varios detectores tanto escalares como mono ou bidimensionáis, con mecanismos de sincronización de precisión que integren as singularidades de cada un. Este traballo estuda as solucións existentes no campo dos sistemas de control e adquisición de datos nos aceleradores de partículas e fontes de luz e raios X, ó tempo que explora novos requisitos e retos no que respecta á sincronización e velocidade de adquisición de datos para novos experimentos, a optimización do deseño, soporte, xestión de servizos e custos de operación. Tamén se estudan diferentes solucións adaptadas a cada contorna.[Resumen] Los aceleradores de partículas y fuentes de luz sincrotrón, evolucionan constantemente para estar en la vanguardia de la tecnología, y poder explorar nuevos dominios. Los sistemas de control son una parte fundamental de esas instalaciones científicas y buscan lograr la máxima flexibilidad para poder llevar a cabo experimentos más variados, con configuraciones diferentes que engloban varios tipos de detectores, procedimientos, muestras a estudiar y entornos. Los experimentos se proponen cada vez más ambiciosos y en ocasiones más allá de los límites establecidos. Se necesitan detectores cada vez más rápidos y eficientes, con más resolución y ancho de banda, que puedan sincronizarse simultáneamente con otros detectores tanto escalares como mono y bidimensionales, integrando las singularidades de cada uno y homogeneizando la adquisición de datos. Este trabajo estudia los sistemas de control y adquisición de datos de aceleradores de partículas y fuentes de luz y rayos X, y explora nuevos requisitos y retos en lo que respecta a la sincronización y velocidad de adquisición de datos, optimización y costo-eficiencia en el diseño, operación soporte, mantenimiento y gestión de servicios. También se estudian diferentes soluciones adaptadas a cada entorno.[Abstract] Particle accelerators and photon sources are constantly evolving, attaining the cutting-edge technologies to push the limits forward and explore new domains. The control systems are a crucial part of these installations and are required to provide flexible solutions to the new challenging experiments, with different kinds of detectors, setups, sample environments and procedures. Experiment proposals are more and more ambitious at each call and go often a step beyond the capabilities of the instrumentation. Detectors shall be faster, with higher efficiency, more resolution, more bandwidth and able to synchronize with other detectors of all kinds; scalars, one or two-dimensional, taking into account their singularities and homogenizing the data acquisition. This work examines the control and data acquisition systems for particle accelerators and X- ray / light sources and explores new requirements and challenges regarding synchronization and data acquisition bandwidth, optimization and cost-efficiency in the design / operation / support. It also studies different solutions depending on the environment

Theory and simulations of ionic liquids in nanoconfinement.

Room-temperature ionic liquids (RTILs) have exciting properties such as nonvolatility, large electrochemical windows, and remarkable variety, drawing much interest in energy storage, gating, electrocatalysis, tunable lubrication, and other applications. Confined RTILs appear in various situations, for instance, in pores of nanostructured electrodes of supercapacitors and batteries, as such electrodes increase the contact area with RTILs and enhance the total capacitance and stored energy, between crossed cylinders in surface force balance experiments, between a tip and a sample in atomic force microscopy, and between sliding surfaces in tribology experiments, where RTILs act as lubricants. The properties and functioning of RTILs in confinement, especially nanoconfinement, result in fascinating structural and dynamic phenomena, including layering, overscreening and crowding, nanoscale capillary freezing, quantized and electrotunable friction, and superionic state. This review offers a comprehensive analysis of the fundamental physical phenomena controlling the properties of such systems and the current state-of-the-art theoretical and simulation approaches developed for their description. We discuss these approaches sequentially by increasing atomistic complexity, paying particular attention to new physical phenomena emerging in nanoscale confinement. This review covers theoretical models, most of which are based on mapping the problems on pertinent statistical mechanics models with exact analytical solutions, allowing systematic analysis and new physical insights to develop more easily. We also describe a classical density functional theory, which offers a reliable and computationally inexpensive tool to account for some microscopic details and correlations that simplified models often fail to consider. Molecular simulations play a vital role in studying confined ionic liquids, enabling deep microscopic insights otherwise unavailable to researchers. We describe the basics of various simulation approaches and discuss their challenges and applicability to specific problems, focusing on RTIL structure in cylindrical and slit confinement and how it relates to friction and capacitive and dynamic properties of confined ions

Modelling and numerical analysis of energy-dissipating systems with nonlocal free energy

The broad objective of this thesis is to design finite-volume schemes for a family of energy-dissipating systems. All the systems studied in this thesis share a common property: they are driven by an energy that decreases as the system evolves. Such decrease is produced by a dissipation mechanism, which ensures that the system eventually reaches a steady state where the energy is minimised. The numerical schemes presented here are designed to discretely preserve the dissipation of the energy, leading to more accurate and cost-effective simulations. Most of the material in this thesis is based on the publications [16, 54, 65, 66, 243]. The research content is structured in three parts. First, Part II presents well-balanced first-, second- and high-order finite-volume schemes for a general class of hydrodynamic systems with linear and nonlinear damping. These well-balanced schemes preserve stationary states at machine precision, while discretely preserving the dissipation of the discrete free energy for first- and second-order accuracy. Second, Part III focuses on finite-volume schemes for the Cahn-Hilliard equation that unconditionally and discretely satisfy the boundedness of the phase eld and the free-energy dissipation. In addition, our Cahn-Hilliard scheme is employed as an image inpainting filter before passing damaged images into a classification neural network, leading to a significant improvement of damaged-image prediction. Third, Part IV introduces nite-volume schemes to solve stochastic gradient-flow equations. Such equations are of crucial importance within the framework of fluctuating hydrodynamics and dynamic density functional theory. The main advantages of these schemes are the preservation of non-negative densities in the presence of noise and the accurate reproduction of the statistical properties of the physical systems. All these fi nite-volume schemes are complemented with prototypical examples from relevant applications, which highlight the bene fit of our algorithms to elucidate some of the unknown analytical results.Open Acces

PIC methods in astrophysics: Simulations of relativistic jets and kinetic physics in astrophysical systems

The Particle-In-Cell (PIC) method has been developed by Oscar Buneman, Charles Birdsall, Roger W. Hockney, and John Dawson in the 1950s and, with the advances of computing power, has been further developed for several fields such as astrophysical, magnetospheric as well as solar plasmas and recently also for atmospheric and laser-plasma physics. Currently more than 15 semi-public PIC codes are available which we discuss in this review. Its applications have grown extensively with increasing computing power available on high performance computing facilities around the world. These systems allow the study of various topics of astrophysical plasmas, such as magnetic reconnection, pulsars and black hole magnetosphere, non-relativistic and relativistic shocks, relativistic jets, and laser-plasma physics. We review a plethora of astrophysical phenomena such as relativistic jets, instabilities, magnetic reconnection, pulsars, as well as PIC simulations of laser-plasma physics (until 2021) emphasizing the physics involved in the simulations. Finally, we give an outlook of the future simulations of jets associated to neutron stars, black holes and their merging and discuss the future of PIC simulations in the light of petascale and exascale computing.Comment: 117 pages, 44 figures, Invited review article for Living Reviews in Computational Astrophysics, comments are welcomed, Living Reviews in Computational Astrophysics, submitted, 2020, the revised version resubmitted in December 2020, the second revised revision resubmitted in April, 2021, publishe

MS FT-2-2 7 Orthogonal polynomials and quadrature: Theory, computation, and applications

Quadrature rules find many applications in science and engineering. Their analysis is a classical area of applied mathematics and continues to attract considerable attention. This seminar brings together speakers with expertise in a large variety of quadrature rules. It is the aim of the seminar to provide an overview of recent developments in the analysis of quadrature rules. The computation of error estimates and novel applications also are described