Safety-Critical Control under Multiple State and Input Constraints and Application to Fixed-Wing UAV

This study presents a framework to guarantee safety for a class of second-order nonlinear systems under multiple state and input constraints. To facilitate real-world applications, a safety-critical controller must consider multiple constraints simultaneously, while being able to impose general forms of constraints designed for various tasks (e.g., obstacle avoidance). With this in mind, we first devise a zeroing control barrier function (ZCBF) using a newly proposed nominal evading maneuver. By designing the nominal evading maneuver to 1) be continuously differentiable, 2) satisfy input constraints, and 3) be capable of handling other state constraints, we deduce an ultimate invariant set, a subset of the safe set that can be rendered forward invariant with admissible control inputs. Thanks to the development of the ultimate invariant set, we then propose a safety-critical controller, which is a computationally tractable one-step model predictive controller (MPC) with guaranteed recursive feasibility. We validate the proposed framework in simulation, where a fixed-wing UAV tracks a circular trajectory while satisfying multiple safety constraints including collision avoidance, bounds on flight speed and flight path angle, and input constraints.Comment: Accepted for the 2023 62nd IEEE Conference on Decision and Control (CDC

Pathfinding Future PIM Architectures by Demystifying a Commercial PIM Technology

Processing-in-memory (PIM) has been explored for decades by computer architects, yet it has never seen the light of day in real-world products due to their high design overheads and lack of a killer application. With the advent of critical memory-intensive workloads, several commercial PIM technologies have been introduced to the market ranging from domain-specific PIM architectures to more general-purpose PIM architectures. In this work, we deepdive into UPMEM's commercial PIM technology, a general-purpose PIM-enabled parallel architecture that is highly programmable. Our first key contribution is the development of a flexible simulation framework for PIM. The simulator we developed (aka PIMulator) enables the compilation of UPMEM-PIM source codes into its compiled machine-level instructions, which are subsequently consumed by our cycle-level performance simulator. Using PIMulator, we demystify UPMEM's PIM design through a detailed characterization study. Building on top of our characterization, we conduct a series of case studies to pathfind important architectural features that we deem will be critical for future PIM architectures to suppor

Task complexity interacts with state-space uncertainty in the arbitration between model-based and model-free learning

It has previously been shown that the relative reliability of model-based and model-free reinforcement-learning (RL) systems plays a role in the allocation of behavioral control between them. However, the role of task complexity in the arbitration between these two strategies remains largely unknown. Here, using a combination of novel task design, computational modelling, and model-based fMRI analysis, we examined the role of task complexity alongside state-space uncertainty in the arbitration process. Participants tended to increase model-based RL control in response to increasing task complexity. However, they resorted to model-free RL when both uncertainty and task complexity were high, suggesting that these two variables interact during the arbitration process. Computational fMRI revealed that task complexity interacts with neural representations of the reliability of the two systems in the inferior prefrontal cortex

HeLiPR: Heterogeneous LiDAR Dataset for inter-LiDAR Place Recognition under Spatial and Temporal Variations

Place recognition is crucial for robotic localization and loop closure in simultaneous localization and mapping (SLAM). Recently, LiDARs have gained popularity due to their robust sensing capability and measurement consistency, even in the illumination-variant environment, offering an advantage over traditional imaging sensors. Spinning LiDARs are widely accepted among many types, while non-repetitive scanning patterns have recently been utilized in robotic applications. Beyond the range measurements, some LiDARs offer additional measurements, such as reflectivity, Near Infrared (NIR), and velocity (e.g., FMCW LiDARs). Despite these advancements, a noticeable dearth of datasets comprehensively reflects the broad spectrum of LiDAR configurations optimized for place recognition. To tackle this issue, our paper proposes the HeLiPR dataset, curated especially for place recognition with heterogeneous LiDAR systems, embodying spatial-temporal variations. To the best of our knowledge, the HeLiPR dataset is the first heterogeneous LiDAR dataset designed to support inter-LiDAR place recognition with both non-repetitive and spinning LiDARs, accommodating different field of view (FOV) and varying numbers of rays. Encompassing the distinct LiDAR configurations, it captures varied environments ranging from urban cityscapes to high-dynamic freeways over a month, designed to enhance the adaptability and robustness of place recognition across diverse scenarios. Notably, the HeLiPR dataset also includes trajectories that parallel sequences from MulRan, underscoring its utility for research in heterogeneous LiDAR place recognition and long-term studies. The dataset is accessible at https: //sites.google.com/view/heliprdataset.Comment: 9 pages, 9 figures, 5 table

A Cache Diagnostics Method

Coordinated Science Laboratory was formerly known as Control Systems LaboratoryDefense Advanced Research Projects Agency (DARPA) / N00039-87-C-0122IBM Corporation / 1249006Semiconductor Research Corporation (SRC) / 87-DP-10

Water-stable MOFs and Hydrophobically Encapsulated MOFs for CO2 Capture from Ambient Air and Wet Flue Gas

The extra CO2 that has already been released into the atmosphere has to be removed in order to create a world that is carbon neutral. Technologies have been created to remove carbon dioxide from wet flue gas or even directly from ambient air, however these technologies are not widely deployed yet. New generations of creative CO2 capture sorbents have been produced as a consequence of recent improvements in material assembly and surface chemistry. We summarize recent progress on water-stable and encapsulated metal-organic frameworks (MOFs) for CO2 capture under a wide range of environmental and operating conditions. In particular, newly developed water-stable MOFs and hydrophobic coating technologies are discussed with insights into their materials discovery and the synergistic effects between different components of these hybrid sorbent systems. The future perspectives and directions of water-stable and encapsulated MOFs are also given for Direct Air Capture of CO2 and CO2 capture from wet flue gas