Barrier Functions in Cascaded Controller: Safe Quadrotor Control

Safe control for inherently unstable systems such as quadrotors is crucial. Imposing multiple dynamic constraints simultaneously on the states for safety regulation can be a challenging problem. In this paper, we propose a quadratic programming (QP) based approach on a cascaded control architecture for quadrotors to enforce safety. Safety regions are constructed using control barrier functions (CBF) while explicitly considering the nonlinear underactuated dynamics of the quadrotor. The safety regions constructed using CBFs establish a non-conservative forward invariant safe region for quadrotor navigation. Barriers imposed across the cascaded architecture allows independent safety regulation in quadrotor's altitude and lateral domains. Despite barriers appearing in a cascaded fashion, we show preservation of safety for quadrotor motion in SE(3). We demonstrate the feasibility of our method on a quadrotor in simulation with static and dynamic constraints enforced on position and velocity spaces simultaneously.Comment: Submitted to ACC 2020, 8 pages, 7 figure

Exploiting the Synergy Between Gossiping and Structured Overlays

In this position paper we argue for exploiting the synergy between gossip-based algorithms and structured overlay networks (SON). These two strands of research have both aimed at building fault-tolerant, dynamic, self-managing, and large-scale distributed systems. Despite the common goals, the two areas have, however, been relatively isolated. We focus on three problem domains where there is an untapped potential of using gossiping combined with SONs. We argue for applying gossip-based membership for ring-based SONs---such as Chord and Bamboo---to make them handle partition mergers and loopy networks. We argue that small world SONs---such as Accordion and Mercury---are specifically well-suited for gossip-based membership management. The benefits would be better graph-theoretic properties. Finally, we argue that gossip-based algorithms could use the overlay constructed by SONs. For example, many unreliable broadcast algorithms for SONs could be augmented with anti-entropy protocols. Similarly, gossip-based aggregation could be used in SONs for network size estimation and load-balancing purposes

TimeSOAP: Tracking high-dimensional fluctuations in complex molecular systems via time variations of SOAP spectra

Many molecular systems and physical phenomena are controlled by local fluctuations and microscopic dynamical rearrangements of the constitutive interacting units that are often difficult to detect. This is the case, for example, of phase transitions, phase equilibria, nucleation events, and defect propagation, to mention a few. A detailed comprehension of local atomic environments and of their dynamic rearrangements is essential to understand such phenomena and also to draw structure-property relationships useful to unveil how to control complex molecular systems. Considerable progress in the development of advanced structural descriptors [e.g., Smooth Overlap of Atomic Position (SOAP), etc.] has certainly enhanced the representation of atomic-scale simulations data. However, despite such efforts, local dynamic environment rearrangements still remain difficult to elucidate. Here, exploiting the structurally rich description of atomic environments of SOAP and building on the concept of time-dependent local variations, we developed a SOAP-based descriptor, TimeSOAP (τSOAP), which essentially tracks time variations in local SOAP environments surrounding each molecule (i.e., each SOAP center) along ensemble trajectories. We demonstrate how analysis of the time-series τSOAP data and of their time derivatives allows us to detect dynamic domains and track instantaneous changes of local atomic arrangements (i.e., local fluctuations) in a variety of molecular systems. The approach is simple and general, and we expect that it will help shed light on a variety of complex dynamical phenomena

Hysteresis and noise in ferromagnetic materials with parallel domain walls

We investigate dynamic hysteresis and Barkhausen noise in ferromagnetic materials with a huge number of parallel and rigid Bloch domain walls. Considering a disordered ferromagnetic system with strong in-plane uniaxial anisotropy and in-plane magnetization driven by an external magnetic field, we calculate the equations of motion for a set of coupled domain walls, considering the effects of the long-range dipolar interactions and disorder. We derive analytically an expression for the magnetic susceptivity, related to the effective demagnetizing factor, and show that it has a logarithmic dependence on the number of domains. Next, we simulate the equations of motion and study the effect of the external field frequency and the disorder on the hysteresis and noise properties. The dynamic hysteresis is very well explained by means of the loss separation theory.Comment: 13 pages, 11 figure

Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers

Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address multi-domain hybrid models of quadruped robots with high degrees of freedom, and 2) to systematically design nonlinear controllers that asymptotically stabilize periodic orbits of these sophisticated models. A family of parameterized virtual constraint controllers is proposed for continuous-time domains of quadruped locomotion to regulate holonomic and nonholonomic outputs. The properties of the Poincare return map for the full-order and closed-loop hybrid system are studied to investigate the asymptotic stabilization problem of dynamic gaits. An iterative optimization algorithm involving linear and bilinear matrix inequalities is then employed to choose stabilizing virtual constraint parameters. The paper numerically evaluates the analytical results on a simulation model of an advanced 3D quadruped robot, called GR Vision 60, with 36 state variables and 12 control inputs. An optimal amble gait of the robot is designed utilizing the FROST toolkit. The power of the analytical framework is finally illustrated through designing a set of stabilizing virtual constraint controllers with 180 controller parameters.Comment: American Control Conference 201

Domain wall dynamics in an optical Kerr cavity

An anisotropic (dichroic) optical cavity containing a self-focusing Kerr medium is shown to display a bifurcation between static --Ising-- and moving --Bloch-- domain walls, the so-called nonequilibrium Ising-Bloch transition (NIB). Bloch walls can show regular or irregular temporal behaviour, in particular, bursting and spiking. These phenomena are interpreted in terms of the spatio-temporal dynamics of the extended patterns connected by the wall, which display complex dynamical behaviour as well. Domain wall interaction, including the formation of bound states is also addressed.Comment: 15 pages Tex file with 11 postscript figures. Resubmitted to Phys. Rev.

Conservation and specialization in PAS domain dynamics

The PAS (Per-ARNT-Sim) superfamily is presented as a well-suited study case to demonstrate how comparison of functional motions among distant homologous proteins with conserved fold characteristics may give insight into their functional specialization. Based on the importance of structural flexibility of the receptive structures in anticipating the signal-induced conformational changes of these sensory systems, the dynamics of these structures were analysed. Molecular dynamics was proved to be an effective method to obtain a reliable picture of the dynamics of the crystal structures of HERG, phy3, PYP and FixL, provided that an extensive conformational space sampling is performed. Other reliable sources of dynamic information were the ensembles of NMR structures of hPASK, HIF-2α and PYP. Essential dynamics analysis was successfully employed to extract the relevant information from the sampled conformational spaces. Comparison of motion patterns in the essential subspaces, based on the structural alignment, allowed identification of the specialized region in each domain. This appears to be evolved in the superfamily by following a specific trend, that also suggests the presence of a limited number of general solutions adopted by the PAS domains to sense external signals. These findings may give insight into unknown mechanisms of PAS domains and guide further experimental studies. © The Author 2005. Published by Oxford University Press. All rights reserved