Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments

Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight sensing and computing. Although the planning methodologies vary from platform to platform, many algorithms adopt a hierarchical planning architecture where a slow, low-fidelity global planner guides a fast, high-fidelity local planner. However, in unknown environments, this approach can lead to erratic or unstable behavior due to the interaction between the global planner, whose solution is changing constantly, and the local planner; a consequence of not capturing higher-order dynamics in the global plan. This work proposes a planning framework in which multi-fidelity models are used to reduce the discrepancy between the local and global planner. Our approach uses high-, medium-, and low-fidelity models to compose a path that captures higher-order dynamics while remaining computationally tractable. In addition, we address the interaction between a fast planner and a slower mapper by considering the sensor data not yet fused into the map during the collision check. This novel mapping and planning framework for agile flights is validated in simulation and hardware experiments, showing replanning times of 5-40 ms in cluttered environments.Comment: ICRA 201

Transient dynamics of a superconducting nonlinear oscillator

We investigate the transient dynamics of a lumped-element oscillator based on a dc superconducting quantum interference device (SQUID). The SQUID is shunted with a capacitor forming a nonlinear oscillator with resonance frequency in the range of several GHz. The resonance frequency is varied by tuning the Josephson inductance of the SQUID with on-chip flux lines. We report measurements of decaying oscillations in the time domain following a brief excitation with a microwave pulse. The nonlinearity of the SQUID oscillator is probed by observing the ringdown response for different excitation amplitudes while the SQUID potential is varied by adjusting the flux bias. Simulations are performed on a model circuit by numerically solving the corresponding Langevin equations incorporating the SQUID potential at the experimental temperature and using parameters obtained from separate measurements characterizing the SQUID oscillator. Simulations are in good agreement with the experimental observations of the ringdowns as a function of applied magnetic flux and pulse amplitude. We observe a crossover between the occurrence of ringdowns close to resonance and adiabatic following at larger detuning from the resonance. We also discuss the occurrence of phase jumps at large amplitude drive. Finally, we briefly outline prospects for a readout scheme for superconducting flux qubits based on the discrimination between ringdown signals for different levels of magnetic flux coupled to the SQUID.Comment: 15 pages, 9 figure

A model for the submarine depthkeeping team

The most difficult task the depthkeeping team must face occurs during periscope-depth operations during which they may be required to maintain a submarine several hundred feet long within a foot of ordered depth and within one-half degree of ordered pitch. The difficulty is compounded by the facts that wave generated forces are extremely high, depth and pitch signals are very noisy and submarine speed is such that overall dynamics are slow. A mathematical simulation of the depthkeeping team based on the optimal control models is described. A solution of the optimal team control problem with an output control restriction (limited display to each controller) is presented

Predicting missing quality of life data that were later recovered : an empirical comparison of approaches

Peer reviewedPostprin

Polarization sensitive spectroscopy of charged Quantum Dots

We present an experimental and theoretical study of the polarized photoluminescence spectrum of single semiconductor quantum dots in various charge states. We compare our high resolution polarization sensitive spectral measurements with a new many-carrier theoretical model, which was developed for this purpose. The model considers both the isotropic and anisotropic exchange interactions between all participating electron-hole pairs. With this addition, we calculate both the energies and polarizations of all optical transitions between collective, quantum dot confined charge carrier states. We succeed in identifying most of the measured spectral lines. In particular, the lines resulting from singly-, doubly- and triply- negatively charged excitons and biexcitons. We demonstrate that lines emanating from evenly charged states are linearly polarized. Their polarization direction does not necessarily coincide with the traditional crystallographic direction. It depends on the shells of the single carriers, which participate in the recombination process.Comment: 11 pages, 9 figures. Revised versio

Study of several factors affecting crew escape trajectories from the Space Shuttle Orbiter at low-subsonic speeds

Factors affecting the bailout characteristics from the space shuttle orbiter at low-subsonic speeds were investigated. In the 12-foot low-speed tunnel and the 4 by 7-meter tunnel with 0.03-scale models. The effect of crew-model exit velocity, body position, and body weight were studied with egress from the main side hatch with the orbiter upright and from the upper cabin hatch with the orbiter inverted. Crew model drag and flow field measurements around the orbiter were estimated. The high-angle-of-attack trim characteristics of the orbiter was determined by force tests in an attempt to improve bailout conditions. A computer simulation was made to evaluate the maneuver necessary to attain the high-angle-of-attack trim