7,114 research outputs found
ChainQueen: A Real-Time Differentiable Physical Simulator for Soft Robotics
Physical simulators have been widely used in robot planning and control.
Among them, differentiable simulators are particularly favored, as they can be
incorporated into gradient-based optimization algorithms that are efficient in
solving inverse problems such as optimal control and motion planning.
Simulating deformable objects is, however, more challenging compared to rigid
body dynamics. The underlying physical laws of deformable objects are more
complex, and the resulting systems have orders of magnitude more degrees of
freedom and therefore they are significantly more computationally expensive to
simulate. Computing gradients with respect to physical design or controller
parameters is typically even more computationally challenging. In this paper,
we propose a real-time, differentiable hybrid Lagrangian-Eulerian physical
simulator for deformable objects, ChainQueen, based on the Moving Least Squares
Material Point Method (MLS-MPM). MLS-MPM can simulate deformable objects
including contact and can be seamlessly incorporated into inference, control
and co-design systems. We demonstrate that our simulator achieves high
precision in both forward simulation and backward gradient computation. We have
successfully employed it in a diverse set of control tasks for soft robots,
including problems with nearly 3,000 decision variables.Comment: In submission to ICRA 2019. Supplemental Video:
https://www.youtube.com/watch?v=4IWD4iGIsB4 Project Page:
https://github.com/yuanming-hu/ChainQuee
Applications of fuzzy logic to control and decision making
Long range space missions will require high operational efficiency as well as autonomy to enhance the effectivity of performance. Fuzzy logic technology has been shown to be powerful and robust in interpreting imprecise measurements and generating appropriate control decisions for many space operations. Several applications are underway, studying the fuzzy logic approach to solving control and decision making problems. Fuzzy logic algorithms for relative motion and attitude control have been developed and demonstrated for proximity operations. Based on this experience, motion control algorithms that include obstacle avoidance were developed for a Mars Rover prototype for maneuvering during the sample collection process. A concept of an intelligent sensor system that can identify objects and track them continuously and learn from its environment is under development to support traffic management and proximity operations around the Space Station Freedom. For safe and reliable operation of Lunar/Mars based crew quarters, high speed controllers with ability to combine imprecise measurements from several sensors is required. A fuzzy logic approach that uses high speed fuzzy hardware chips is being studied
Self-Evolving Integrated Vertical Heterogeneous Networks
6G and beyond networks tend towards fully intelligent and adaptive design in
order to provide better operational agility in maintaining universal wireless
access and supporting a wide range of services and use cases while dealing with
network complexity efficiently. Such enhanced network agility will require
developing a self-evolving capability in designing both the network
architecture and resource management to intelligently utilize resources, reduce
operational costs, and achieve the coveted quality of service (QoS). To enable
this capability, the necessity of considering an integrated vertical
heterogeneous network (VHetNet) architecture appears to be inevitable due to
its high inherent agility. Moreover, employing an intelligent framework is
another crucial requirement for self-evolving networks to deal with real-time
network optimization problems. Hence, in this work, to provide a better insight
on network architecture design in support of self-evolving networks, we
highlight the merits of integrated VHetNet architecture while proposing an
intelligent framework for self-evolving integrated vertical heterogeneous
networks (SEI-VHetNets). The impact of the challenges associated with
SEI-VHetNet architecture, on network management is also studied considering a
generalized network model. Furthermore, the current literature on network
management of integrated VHetNets along with the recent advancements in
artificial intelligence (AI)/machine learning (ML) solutions are discussed.
Accordingly, the core challenges of integrating AI/ML in SEI-VHetNets are
identified. Finally, the potential future research directions for advancing the
autonomous and self-evolving capabilities of SEI-VHetNets are discussed.Comment: 25 pages, 5 figures, 2 table
Revolutionizing Future Connectivity: A Contemporary Survey on AI-empowered Satellite-based Non-Terrestrial Networks in 6G
Non-Terrestrial Networks (NTN) are expected to be a critical component of 6th
Generation (6G) networks, providing ubiquitous, continuous, and scalable
services. Satellites emerge as the primary enabler for NTN, leveraging their
extensive coverage, stable orbits, scalability, and adherence to international
regulations. However, satellite-based NTN presents unique challenges, including
long propagation delay, high Doppler shift, frequent handovers, spectrum
sharing complexities, and intricate beam and resource allocation, among others.
The integration of NTNs into existing terrestrial networks in 6G introduces a
range of novel challenges, including task offloading, network routing, network
slicing, and many more. To tackle all these obstacles, this paper proposes
Artificial Intelligence (AI) as a promising solution, harnessing its ability to
capture intricate correlations among diverse network parameters. We begin by
providing a comprehensive background on NTN and AI, highlighting the potential
of AI techniques in addressing various NTN challenges. Next, we present an
overview of existing works, emphasizing AI as an enabling tool for
satellite-based NTN, and explore potential research directions. Furthermore, we
discuss ongoing research efforts that aim to enable AI in satellite-based NTN
through software-defined implementations, while also discussing the associated
challenges. Finally, we conclude by providing insights and recommendations for
enabling AI-driven satellite-based NTN in future 6G networks.Comment: 40 pages, 19 Figure, 10 Tables, Surve
A Vision and Framework for the High Altitude Platform Station (HAPS) Networks of the Future
A High Altitude Platform Station (HAPS) is a network node that operates in
the stratosphere at an of altitude around 20 km and is instrumental for
providing communication services. Precipitated by technological innovations in
the areas of autonomous avionics, array antennas, solar panel efficiency
levels, and battery energy densities, and fueled by flourishing industry
ecosystems, the HAPS has emerged as an indispensable component of
next-generations of wireless networks. In this article, we provide a vision and
framework for the HAPS networks of the future supported by a comprehensive and
state-of-the-art literature review. We highlight the unrealized potential of
HAPS systems and elaborate on their unique ability to serve metropolitan areas.
The latest advancements and promising technologies in the HAPS energy and
payload systems are discussed. The integration of the emerging Reconfigurable
Smart Surface (RSS) technology in the communications payload of HAPS systems
for providing a cost-effective deployment is proposed. A detailed overview of
the radio resource management in HAPS systems is presented along with
synergistic physical layer techniques, including Faster-Than-Nyquist (FTN)
signaling. Numerous aspects of handoff management in HAPS systems are
described. The notable contributions of Artificial Intelligence (AI) in HAPS,
including machine learning in the design, topology management, handoff, and
resource allocation aspects are emphasized. The extensive overview of the
literature we provide is crucial for substantiating our vision that depicts the
expected deployment opportunities and challenges in the next 10 years
(next-generation networks), as well as in the subsequent 10 years
(next-next-generation networks).Comment: To appear in IEEE Communications Surveys & Tutorial
- …