Formal methods for control synthesis in partially observed environments : application to autonomous robotic manipulation

Modern robots are increasingly expected to function in uncertain and dynamically challenging environments, often in proximity with humans. In addition, wide scale adoption of robots requires on-the-fly adaptability of software for diverse application. These requirements strongly suggest the need to adopt formal representations of high level goals and safety specifications, especially as temporal logic formulas. This approach allows for the use of formal verification techniques for controller synthesis that can give guarantees for safety and performance. Robots operating in unstructured environments also face limited sensing capability. Correctly inferring a robot's progress toward high level goal can be challenging.

This thesis develops new algorithms for synthesizing discrete controllers in partially known environments under specifications represented as linear temporal logic (LTL) formulas. It is inspired by recent developments in finite abstraction techniques for hybrid systems and motion planning problems. The robot and its environment is assumed to have a finite abstraction as a Partially Observable Markov Decision Process (POMDP), which is a powerful model class capable of representing a wide variety of problems. However, synthesizing controllers that satisfy LTL goals over POMDPs is a challenging problem which has received only limited attention.

This thesis proposes tractable, approximate algorithms for the control synthesis problem using Finite State Controllers (FSCs). The use of FSCs to control finite POMDPs allows for the closed system to be analyzed as finite global Markov chain. The thesis explicitly shows how transient and steady state behavior of the global Markov chains can be related to two different criteria with respect to satisfaction of LTL formulas. First, the maximization of the probability of LTL satisfaction is related to an optimization problem over a parametrization of the FSC. Analytic computation of gradients are derived which allows the use of first order optimization techniques.

The second criterion encourages rapid and frequent visits to a restricted set of states over infinite executions. It is formulated as a constrained optimization problem with a discounted long term reward objective by the novel utilization of a fundamental equation for Markov chains - the Poisson equation. A new constrained policy iteration technique is proposed to solve the resulting dynamic program, which also provides a way to escape local maxima.

The algorithms proposed in the thesis are applied to the task planning and execution challenges faced during the DARPA Autonomous Robotic Manipulation - Software challenge.

Parallel optical negabinary arithmetic based on logic operations

On the basis of signed-digit negabinary representation, parallel two-step addition and one-step subtraction can be performed for arbitrary-length negabinary operands.; The arithmetic is realized by signed logic operations and optically implemented by spatial encoding and decoding techniques. The proposed algorithm and optical system are simple, reliable, and practicable, and they have the property of parallel processing of two-dimensional data. This leads to an efficient design for the optical arithmetic and logic unit. (C) 1997 Optical Society of America.

Compact parallel optical modified-signed-digit arithmetic-logic array processor with electron-trapping device

A compact two-step modified-signed-digit arithmetic-logic array processor is proposed. When the reference digits are programmed, both addition and subtraction can be performed by the same binary logic operations regardless of the sign of the input digits. The optical implementation and experimental demonstration with an electron-trapping device are shown. Each digit is encoded by a single pixel, and no polarization is included. Any combinational logic can be easily performed without optoelectronic and electro-optic conversions of the intermediate results. The system is compact, general purpose, simple to align, and has a high signal-to-noise ratio. (C) 1999 Optical Society of America.

Logic-operated mathematical morphology and its optical implementation

A more powerful tool for binary image processing, i.e., logic-operated mathematical morphology (LOMM), is proposed. With LOMM the image and the structuring element (SE) are treated as binary logical variables, and the MULTIPLY between the image and the SE in correlation is replaced with 16 logical operations. A total of 12 LOMM operations are obtained. The optical implementation of LOMM is described. The application of LOMM and its experimental results are also presented. (C) 1999 Optical Society of America.

Code conversion from signed-digit to complement representation based on look-ahead optical logic operations

We present, for the first time to our knowledge, a generalized lookahead logic algorithm for number conversion from signed-digit to complement representation. By properly encoding the signed-digits, all the operations are performed by binary logic, and unified logical expressions can be obtained for conversion from modified-signed-digit (MSD) to 2's complement, trinary signed-digit (TSD) to 3's complement, and quarternary signed-digit (QSD) to 4's complement. For optical implementation, a parallel logical array module using an electron-trapping device is employed and experimental results are shown. This optical module is suitable for implementing complex logic functions in the form of the sum of the product. The algorithm and architecture are compatible with a general-purpose optoelectronic computing system. (C) 2001 Society of Photo-Optical Instrumentation Engineers.

Could the library be dismantled/role of unique holdings in modern times

I have been asked by administration, how much of our collection could go into storage. They optimistically hoping for a room or two for faculty/staff offices, as some buildings need renovation or need to be closed due to safety issues. Clearly, much of the population believes that all/most library materials are available on-line – free. I will present the results of our survey’s of material held and available on-line and space “freed” thanks to archiving. How little space is freed.

Incremental Control Synthesis for Robotics in the Presence of Temporal Logic Specifications

This thesis presents methods for incrementally constructing controllers in the presence of uncertainty and nonlinear dynamics. The basic setting is motion planning subject to temporal logic specifications. Broadly, two categories of problems are treated. The first is reactive formal synthesis when so-called discrete abstractions are available. The fragment of linear-time temporal logic (LTL) known as GR(1) is used to express assumptions about an adversarial environment and requirements of the controller. Two problems of changes to a specification are posed that concern the two major aspects of GR(1): safety and liveness. Algorithms providing incremental updates to strategies are presented as solutions. In support of these, an annotation of strategies is developed that facilitates repeated modifications. A variety of properties are proven about it, including necessity of existence and sufficiency for a strategy to be winning. The second category of problems considered is non-reactive (open-loop) synthesis in the absence of a discrete abstraction. Instead, the presented stochastic optimization methods directly construct a control input sequence that achieves low cost and satisfies a LTL formula. Several relaxations are considered as heuristics to address the rarity of sampling trajectories that satisfy an LTL formula and demonstrated to improve convergence rates for Dubins car and single-integrators subject to a recurrence task.

Distributed Optimal Control of Cyber-Physical Systems: Controller Synthesis, Architecture Design and System Identification

The centralized paradigm of a single controller and a single plant upon which modern control theory is built is no longer applicable to modern cyber-physical systems of interest, such as the power-grid, software defined networks or automated highways systems, as these are all large-scale and spatially distributed. Both the scale and the distributed nature of these systems has motivated the decentralization of control schemes into local sub-controllers that measure, exchange and act on locally available subsets of the globally available system information. This decentralization of control logic leads to different decision makers acting on asymmetric information sets, introduces the need for coordination between them, and perhaps not surprisingly makes the resulting optimal control problem much harder to solve. In fact, shortly after such questions were posed, it was realized that seemingly simple decentralized optimal control problems are computationally intractable to solve, with the Wistenhausen counterexample being a famous instance of this phenomenon. Spurred on by this perhaps discouraging result, a concerted 40 year effort to identify tractable classes of distributed optimal control problems culminated in the notion of quadratic invariance, which loosely states that if sub-controllers can exchange information with each other at least as quickly as the effect of their control actions propagates through the plant, then the resulting distributed optimal control problem admits a convex formulation.

The identification of quadratic invariance as an appropriate means of "convexifying" distributed optimal control problems led to a renewed enthusiasm in the controller synthesis community, resulting in a rich set of results over the past decade. The contributions of this thesis can be seen as being a part of this broader family of results, with a particular focus on closing the gap between theory and practice by relaxing or removing assumptions made in the traditional distributed optimal control framework. Our contributions are to the foundational theory of distributed optimal control, and fall under three broad categories, namely controller synthesis, architecture design and system identification.

We begin by providing two novel controller synthesis algorithms. The first is a solution to the distributed H-infinity optimal control problem subject to delay constraints, and provides the only known exact characterization of delay-constrained distributed controllers satisfying an H-infinity norm bound. The second is an explicit dynamic programming solution to a two player LQR state-feedback problem with varying delays. Accommodating varying delays represents an important first step in combining distributed optimal control theory with the area of Networked Control Systems that considers lossy channels in the feedback loop. Our next set of results are concerned with controller architecture design. When designing controllers for large-scale systems, the architectural aspects of the controller such as the placement of actuators, sensors, and the communication links between them can no longer be taken as given -- indeed the task of designing this architecture is now as important as the design of the control laws themselves. To address this task, we formulate the Regularization for Design (RFD) framework, which is a unifying computationally tractable approach, based on the model matching framework and atomic norm regularization, for the simultaneous co-design of a structured optimal controller and the architecture needed to implement it. Our final result is a contribution to distributed system identification. Traditional system identification techniques such as subspace identification are not computationally scalable, and destroy rather than leverage any a priori information about the system's interconnection structure. We argue that in the context of system identification, an essential building block of any scalable algorithm is the ability to estimate local dynamics within a large interconnected system. To that end we propose a promising heuristic for identifying the dynamics of a subsystem that is still connected to a large system. We exploit the fact that the transfer function of the local dynamics is low-order, but full-rank, while the transfer function of the global dynamics is high-order, but low-rank, to formulate this separation task as a nuclear norm minimization problem. Finally, we conclude with a brief discussion of future research directions, with a particular emphasis on how to incorporate the results of this thesis, and those of optimal control theory in general, into a broader theory of dynamics, control and optimization in layered architectures.

A interpretação filosófica da mecânica quântica de Werner Heisenberg: ontologia matemática e a crise nos fundamentos da lógica clássica

Qual a Filosofia da Natureza que podemos inferir da Física Contemporânea? Para Werner Karl Heisenberg, prêmio Nobel de Física de 1932, a ontologia da Ciência Moderna, estruturada no materialismo, no mecanicismo e no determinismo já não pode servir de fundamento para a nova Física. Esta requer uma nova base ontológica, onde o antirrealismo, seguido de um formalismo puro, aparece como o princípio basilar de uma nova Filosofia Natural. Este trabalho visa investigar o pensamento filosófico, a ontologia antirrealista, formalista, a abordagem da tradição filosófica e da história da ciência de Werner Heisenberg e sua contribuição para a interpretação da mecânica quântica.

Nous sommes tousjours au dela : a negação narrative do sujeito modern em Sur des vers de Virgile (ensaios III, cap.V) de Michel de Motaigne

Investigando a apresentação das ideias em Sobre versos de Virgílio, a tese demonstra como sua estruturação ambígua, onde tudo é constantemente negado por seus contrários, leva a um contínuo estado de confusão e perplexidade, tornando impossível a determinação lógica dos conceitos e conduzindo a um progressivo esvaziamento do texto enquanto signo direto do pensamento do autor. Por outro lado, partindo de uma perspectiva hermenêutica influenciada pela anatomia, a análise mostra que o uso sistemático e criativo das instâncias narrativas (autor, narrador, signatário), juntamente com a reunificação textual de diferentes Montaignes (presentes nos diversos estágio editoriais do ensaio), acaba por dissolver a própria noção de identidade a si do autor, tendo por consequência imediata sua disseminação em vários sujeitos diversos e contraditórios e, por fim, colocando em xeque a clássica percepção dos Ensaios com o nascimento da subjetividade moderna.

Produção discursiva sobre questões ambientais no currículo de Licenciatura em Geografia

Nas últimas décadas a preocupação com as questões ambientais tem se tornado mais presentes em diversos contextos sociais. As transformações de origem antrópica operadas no ambiente se intensificaram com os adventos tecnológicos característicos da modernidade que, em função da conjuntura política, econômica e social do capitalismo, consolidou uma lógica de dominação que, ao contrário do que enunciava, aprofundou e tornou mais complexo formas excludentes, discriminatórias e destrutivas de se relacionar com o outro e com o externo. Frente a isso, como movimento para diminuir ou sanar tais questões referentes a relação violenta do homem com o ambiente, a educação ambiental emerge apoiada em diferentes campos do conhecimento, manifestando-se de diversas formas. O presente estudo visa abordar essa temática analisando aspectos curriculares do curso de Licenciatura em Geografia com Ênfase em Meio Ambiente da Faculdade de Educação da Baixada Fluminense que se constitui propondo-se a formar de docentes de geografia que sejam também educadores ambientais. O ementário do curso foi analisado de modo a observar de que maneira as questões ambientais manifestam-se nos textos. Para isso, nos pautamos, sobretudo, na teoria do discurso, de Ernesto Laclau, e nas discussões e concepções sobre políticas curriculares construídas por Stephen Ball, Elizabeth Macedo e Alice Lopes. Buscamos compreender de que forma as significações ou associações presentes nas ementas contribuem para a formação de educadores ambientais, e sob qual perspectiva de educação ambiental isso ocorre. Analisamos o documento indicado cumprindo uma exigência de delimitação, uma vez que estamos cientes (e esse é um princípio importante da nossa abordagem) que a construção discursiva não se limita ao que é dito/escrito, mas se dá na interação social, arrolada pelas/nas disputas hegemônicas por significação e enunciação.

Aqui se jaz, aqui se paga : o mercado da morte e do morrer em tempos de imortalidade

Esta tese busca compreender o que os rituais funerários contemporâneos revelam sobre as maneiras com as quais as pessoas têm lidado com a morte e o morrer na atualidade. Desse eixo central se ramificam reflexões sobre a relação dos homens com o tempo, com o envelhecimento e com a finitude. Evidenciando que os modos atuais de lidar com a morte e o morrer envolvem flagrantes processos de mercantilização, patologização, medicalização e espetacularização. O crescente uso de serviços funerários de tanatoestética apontam não somente técnicas de maquiagem dos mortos, mas também estratégias de maquiagem da morte. O investimento financeiro, antes direcionado às preocupações transcendentes com o futuro da alma do morto, se reverte em intervenções físicas no corpo morto, de maneira que ele não emita sinal algum da morte que o tomou e proteja os sobreviventes do contato com a finitude. Essa dissimulação é sinalizada pela redução progressiva do espaço que a sociedade contemporânea tem destinado ao luto e ao sofrimento, categorias com cada vez mais frequência equiparadas a condições patológicas. Utilizando metodologia qualitativa, com pesquisa de campo realizada tanto no Brasil como em Portugal, durante período de doutorado sanduíche no exterior, observou-se um acentuado estreitamento entre as realidades morte e consumo. Indicando uma transposição da lógica comercial de mercado às práticas funerárias tradicionais. Assim, funções simbólicas dos rituais fúnebres vem sendo modificadas e regidas pela lógica do consumo, apresentado na atualidade como alternativa unidimensional para a imperativa vivência initerrupta do prazer e da felicidade. Constatou-se que - apesar da crescente popularização de discussões sobre o tema morte no meio acadêmico, na área da saúde e na mídia - não há aceno de ruptura no seu enquadramento como tabu. Apenas é permitido socialmente que ela ocupe locais determinados: o lugar de espetáculo, de produto, da técnica, da banalização ou mesmo do humor publicitário. As observações e as reflexões realizadas em todo o processo de construção desta tese nos inclinam a considerar que continua vedado o aprofundamento de questões ligadas à expressão de sentimentos de dor e de pesar diante das perdas. Assim como se acentuam os processos de patologização do luto e de distanciamento das demandas existênciais promovidas pela consciência da própria finitude e da passagem do tempo; do tempo de vida de cada um