2 resultados para temporal visualization techniques
em CaltechTHESIS
Resumo:
This thesis presents recent research into analytic topics in the classical theory of General Relativity. It is a thesis in two parts. The first part features investigations into the spectrum of perturbed, rotating black holes. These include the study of near horizon perturbations, leading to a new generic frequency mode for black hole ringdown; an treatment of high frequency waves using WKB methods for Kerr black holes; and the discovery of a bifurcation of the quasinormal mode spectrum of rapidly rotating black holes. These results represent new discoveries in the field of black hole perturbation theory, and rely on additional approximations to the linearized field equations around the background black hole. The second part of this thesis presents a recently developed method for the visualization of curved spacetimes, using field lines called the tendex and vortex lines of the spacetime. The works presented here both introduce these visualization techniques, and explore them in simple situations. These include the visualization of asymptotic gravitational radiation; weak gravity situations with and without radiation; stationary black hole spacetimes; and some preliminary study into numerically simulated black hole mergers. The second part of thesis culminates in the investigation of perturbed black holes using these field line methods, which have uncovered new insights into the dynamics of curved spacetime around black holes.
Resumo:
This thesis is motivated by safety-critical applications involving autonomous air, ground, and space vehicles carrying out complex tasks in uncertain and adversarial environments. We use temporal logic as a language to formally specify complex tasks and system properties. Temporal logic specifications generalize the classical notions of stability and reachability that are studied in the control and hybrid systems communities. Given a system model and a formal task specification, the goal is to automatically synthesize a control policy for the system that ensures that the system satisfies the specification. This thesis presents novel control policy synthesis algorithms for optimal and robust control of dynamical systems with temporal logic specifications. Furthermore, it introduces algorithms that are efficient and extend to high-dimensional dynamical systems.
The first contribution of this thesis is the generalization of a classical linear temporal logic (LTL) control synthesis approach to optimal and robust control. We show how we can extend automata-based synthesis techniques for discrete abstractions of dynamical systems to create optimal and robust controllers that are guaranteed to satisfy an LTL specification. Such optimal and robust controllers can be computed at little extra computational cost compared to computing a feasible controller.
The second contribution of this thesis addresses the scalability of control synthesis with LTL specifications. A major limitation of the standard automaton-based approach for control with LTL specifications is that the automaton might be doubly-exponential in the size of the LTL specification. We introduce a fragment of LTL for which one can compute feasible control policies in time polynomial in the size of the system and specification. Additionally, we show how to compute optimal control policies for a variety of cost functions, and identify interesting cases when this can be done in polynomial time. These techniques are particularly relevant for online control, as one can guarantee that a feasible solution can be found quickly, and then iteratively improve on the quality as time permits.
The final contribution of this thesis is a set of algorithms for computing feasible trajectories for high-dimensional, nonlinear systems with LTL specifications. These algorithms avoid a potentially computationally-expensive process of computing a discrete abstraction, and instead compute directly on the system's continuous state space. The first method uses an automaton representing the specification to directly encode a series of constrained-reachability subproblems, which can be solved in a modular fashion by using standard techniques. The second method encodes an LTL formula as mixed-integer linear programming constraints on the dynamical system. We demonstrate these approaches with numerical experiments on temporal logic motion planning problems with high-dimensional (10+ states) continuous systems.