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.

Analysis of soils and sediments for organic pollutants

20 samples of soil or sediment (7 of which were predominantly sand) from various locations were received for analysis of their content of organic pollutants. These analyses were performed using a capillary column gas chromatograph equipped with an electron impact (E.I.) mass spectrometer as detector and using computerised data storage. In addition to the target compounds, the full scan data were examined to determine the composition of natural organic products and a series of diagnostic fragment ions was used to search for additional anthropogenic products. Organic-rich environmental samples are notoriously difficult to analyse for pollutant organics owing to the presence of high concentrations of many natural organic compounds. A single procedure for extraction and clean-up was adopted. It was designed for chlorinated aliphatic and aromatic hydrocarbons and other pesticides containing acidic functional groups and was based on published methods for the determination of organic pollutants in soils and sediments. 4 soils and 2 sands showed levels of one or two groups of PCBs slightly in excess of the detection limit, one sample showed a similar level of 2,4-D and 3 samples contained dieldrin at or just above the detection limit.