477,295 research outputs found
Towards Physical Hybrid Systems
Some hybrid systems models are unsafe for mathematically correct but
physically unrealistic reasons. For example, mathematical models can classify a
system as being unsafe on a set that is too small to have physical importance.
In particular, differences in measure zero sets in models of cyber-physical
systems (CPS) have significant mathematical impact on the mathematical safety
of these models even though differences on measure zero sets have no tangible
physical effect in a real system. We develop the concept of "physical hybrid
systems" (PHS) to help reunite mathematical models with physical reality. We
modify a hybrid systems logic (differential temporal dynamic logic) by adding a
first-class operator to elide distinctions on measure zero sets of time within
CPS models. This approach facilitates modeling since it admits the verification
of a wider class of models, including some physically realistic models that
would otherwise be classified as mathematically unsafe. We also develop a proof
calculus to help with the verification of PHS.Comment: CADE 201
Route Swarm: Wireless Network Optimization through Mobility
In this paper, we demonstrate a novel hybrid architecture for coordinating
networked robots in sensing and information routing applications. The proposed
INformation and Sensing driven PhysIcally REconfigurable robotic network
(INSPIRE), consists of a Physical Control Plane (PCP) which commands agent
position, and an Information Control Plane (ICP) which regulates information
flow towards communication/sensing objectives. We describe an instantiation
where a mobile robotic network is dynamically reconfigured to ensure high
quality routes between static wireless nodes, which act as source/destination
pairs for information flow. The ICP commands the robots towards evenly
distributed inter-flow allocations, with intra-flow configurations that
maximize route quality. The PCP then guides the robots via potential-based
control to reconfigure according to ICP commands. This formulation, deemed
Route Swarm, decouples information flow and physical control, generating a
feedback between routing and sensing needs and robotic configuration. We
demonstrate our propositions through simulation under a realistic wireless
network regime.Comment: 9 pages, 4 figures, submitted to the IEEE International Conference on
Intelligent Robots and Systems (IROS) 201
A Semantic Account of Rigorous Simulation
Hybrid systems are a powerful formalism for modeling cyber-physical systems. Reachability analysis is a general method for checking safety properties, especially in the presence of uncertainty and non-determinism. Rigorous simulation is a convenient tool for reachability analysis of hybrid systems. However, to serve as proof tool, a rigorous simulator must be correct wrt a clearly defined notion of reachability,which captures what is intuitively eachable in finite time. As a step towards addressing this challenge, this paper presents a rigorous simulator in the form of an operational semantics and a specification in the form of a denotational semantics. We show that, under certain conditions about the representation of enclosures, the rigorous simulator is correct. We also show that finding a representation satisfying these assumptions is non-trivial
Multimode circuit optomechanics near the quantum limit
The coupling of distinct systems underlies nearly all physical phenomena and
their applications. A basic instance is that of interacting harmonic
oscillators, which gives rise to, for example, the phonon eigenmodes in a
crystal lattice. Particularly important are the interactions in hybrid quantum
systems consisting of different kinds of degrees of freedom. These assemblies
can combine the benefits of each in future quantum technologies. Here, we
investigate a hybrid optomechanical system having three degrees of freedom,
consisting of a microwave cavity and two micromechanical beams with closely
spaced frequencies around 32 MHz and no direct interaction. We record the first
evidence of tripartite optomechanical mixing, implying that the eigenmodes are
combinations of one photonic and two phononic modes. We identify an asymmetric
dark mode having a long lifetime. Simultaneously, we operate the nearly
macroscopic mechanical modes close to the motional quantum ground state, down
to 1.8 thermal quanta, achieved by back-action cooling. These results
constitute an important advance towards engineering entangled motional states.Comment: 6+7 page
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