Physical Simulation of Inarticulate Robots

In this note we study the structure and the behavior of inarticulate robots. We introduce a robot that moves by successive revolvings. The robot's structure is analyzed, simulated and discussed in detail

Physical simulation for monocular 3D model based tracking

The problem of model-based object tracking in three dimensions is addressed. Most previous work on tracking assumes simple motion models, and consequently tracking typically fails in a variety of situations. Our insight is that incorporating physics models of object behaviour improves tracking performance in these cases. In particular it allows us to handle tracking in the face of rigid body interactions where there is also occlusion and fast object motion. We show how to incorporate rigid body physics simulation into a particle filter. We present two methods for this based on pose and force noise. The improvements are tested on four videos of a robot pushing an object, and results indicate that our approach performs considerably better than a plain particle filter tracker, with the force noise method producing the best results over the range of test videos

Attacking quantum key distribution with single-photon two-qubit quantum logic

The Fuchs-Peres-Brandt (FPB) probe realizes the most powerful individual attack on Bennett-Brassard 1984 quantum key distribution (BB84 QKD) by means of a single controlled-NOT (CNOT) gate. This paper describes a complete physical simulation of the FPB-probe attack on polarization-based BB84 QKD using a deterministic CNOT constructed from single-photon two-qubit quantum logic. Adding polarization-preserving quantum nondemolition measurements of photon number to this configuration converts the physical simulation into a true deterministic realization of the FPB attack.Comment: 8 pages, 9 figures; references added, 1 new figure, appendix expanded; accepted for publication in Phys. Rev.

Physical Simulation of Si-Based Resistive Random-Access Memory Devices

We present a newly-developed three-dimensional (3D) physical simulator suitable for the study of resistive random-access memory (RRAM) devices. We explore the switching behavior of Si-rich silica (SiOx) RRAM structures, whose operation has been successfully demonstrated experimentally at ambient conditions [1]. The simulator couples self-consistently a simulation of oxygen ion and electron transport to a self-heating model and the `atomistic' simulator GARAND. The electro-thermal simulation model provides many advantages compared to the classical phenomenological models based on the resistor breaker network. The simulator is validated with respect to experimental data and captures successfully the memristive behavior of the simulated SiOx RRAMs, by reconstructing the conductive filament formation and destruction phenomena in the 3D space. The simulation framework is useful for exploring the little-known physics of SiOx RRAMs, and providing efficient designs, in terms of performance, variability and reliability, for both memory devices and circuits

AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles

Developing and testing algorithms for autonomous vehicles in real world is an expensive and time consuming process. Also, in order to utilize recent advances in machine intelligence and deep learning we need to collect a large amount of annotated training data in a variety of conditions and environments. We present a new simulator built on Unreal Engine that offers physically and visually realistic simulations for both of these goals. Our simulator includes a physics engine that can operate at a high frequency for real-time hardware-in-the-loop (HITL) simulations with support for popular protocols (e.g. MavLink). The simulator is designed from the ground up to be extensible to accommodate new types of vehicles, hardware platforms and software protocols. In addition, the modular design enables various components to be easily usable independently in other projects. We demonstrate the simulator by first implementing a quadrotor as an autonomous vehicle and then experimentally comparing the software components with real-world flights.Comment: Accepted for Field and Service Robotics conference 2017 (FSR 2017

Topology-based Physical Simulation

International audienceThis paper presents a framework to design mechanical models relying on a topological basis. Whereas naive topological models such as adjacency graphs provide low topological control, the use of efficient topological models such as generalized maps guarantees the quasi-manifold property of the manipulated object: Topological inquiries or changes can be handled robustly and allow the model designer to focus on mechanical aspects. Even if the topology structure is more detailed and consumes more memory, we show that an efficient implementation does not impact computation time and still enables real-time simulation and interaction. We analyze how a simple mass/spring model can be embedded within this framework

Asynchronous Interactive Physical Simulation

This document introduces a multi-agent framework for real-time physical simulation. Unlike classical physical simulators, no shared discrete time-line is imposed to simulated objects. Each simulated object is an autonomous agent that can maintain its simulation state, and possibly modify its behavior by checking its environment. Decision schemes are proposed that enable objects to locally adapt their computation time, in order to maintain approximate global synchronization. Results and measures are presented, especially regarding time management and simulation synchronization in regard of classical simulation methods. Examples are shown, outlining some of the practical advantages such a framework provides

Complete physical simulation of the entangling-probe attack on the BB84 protocol

We have used deterministic single-photon two qubit (SPTQ) quantum logic to implement the most powerful individual-photon attack against the Bennett-Brassard 1984 (BB84) quantum key distribution protocol. Our measurement results, including physical source and gate errors, are in good agreement with theoretical predictions for the Renyi information obtained by Eve as a function of the errors she imparts to Alice and Bob's sifted key bits. The current experiment is a physical simulation of a true attack, because Eve has access to Bob's physical receiver module. This experiment illustrates the utility of an efficient deterministic quantum logic for performing realistic physical simulations of quantum information processing functions.Comment: 4 pages, 5 figure