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.

Quantum Interference and Entanglement of Surface Plasmons

Surface plasma waves arise from the collective oscillations of billions of electrons at the surface of a metal in unison. The simplest way to quantize these waves is by direct analogy to electromagnetic fields in free space, with the surface plasmon, the quantum of the surface plasma wave, playing the same role as the photon. It follows that surface plasmons should exhibit all of the same quantum phenomena that photons do, including quantum interference and entanglement.

Unlike photons, however, surface plasmons suffer strong losses that arise from the scattering of free electrons from other electrons, phonons, and surfaces. Under some circumstances, these interactions might also cause “pure dephasing,” which entails a loss of coherence without absorption. Quantum descriptions of plasmons usually do not account for these effects explicitly, and sometimes ignore them altogether. In light of this extra microscopic complexity, it is necessary for experiments to test quantum models of surface plasmons.

In this thesis, I describe two such tests that my collaborators and I performed. The first was a plasmonic version of the Hong-Ou-Mandel experiment, in which we observed two-particle quantum interference between plasmons with a visibility of 93 ± 1%. This measurement confirms that surface plasmons faithfully reproduce this effect with the same visibility and mutual coherence time, to within measurement error, as in the photonic case.

The second experiment demonstrated path entanglement between surface plasmons with a visibility of 95 ± 2%, confirming that a path-entangled state can indeed survive without measurable decoherence. This measurement suggests that elastic scattering mechanisms of the type that might cause pure dephasing must have been weak enough not to significantly perturb the state of the metal under the experimental conditions we investigated.

These two experiments add quantum interference and path entanglement to a growing list of quantum phenomena that surface plasmons appear to exhibit just as clearly as photons, confirming the predictions of the simplest quantum models.

Phytoplankton periodicity: its motivation, mechanisms and manipulation

This review summarizes some recent work to find a generalized explanation of phytoplankton periodicity in lakes. Much of the observational and experimental evidence is drawn from work centred on the large enclosures (Lund Tubes) installed in Blelham Tarn, English Lake District. Observations on the phytoplankton in the tubes are related to the periodic changes that occur in natural lakes and it is suggested that such changes have common patterns, that they are due to common causes, that they are affected by similar processes and that they are therefore predictable and, potentially, manipulable.

Entanglement negativity in the harmonic chain out of equilibrium

We study the entanglement in a chain of harmonic oscillators driven out of equilibrium by preparing the two sides of the system at different temperatures, and subsequently joining them together. The steady state is constructed explicitly and the logarithmic negativity is calculated between two adjacent segments of the chain. We find that, for low temperatures, the steady-state entanglement is a sum of contributions pertaining to left-and right-moving excitations emitted from the two reservoirs. In turn, the steady-state entanglement is a simple average of the Gibbs-state values and thus its scaling can be obtained from conformal field theory. A similar averaging behaviour is observed during the entire time evolution. As a particular case, we also discuss a local quench where both sides of the chain are initialized in their respective ground states.

An Observed Entanglement of Lagenorhynchus obliquidens in the High Seas Driftnet Area in the North Pacific

In August, 1991, an entanglement event was observed in the High Seas Driftnet area in the North Pacific. This description of an entanglement of Lagenorhynchus obliquidens is the first such documented report of dolphins entangling while bowriding. One of the entangled dolphins was rescued from the driftnet.

Fear and manipulation in George Orwells Nineteen Eighty-Four and Alan Moores V for Vendetta

O objetivo desta dissertação é analisar a questão da política do medo e das várias formas de manipulação da realidade encontradas nas narrativa de 1984 (1949), de George Orwell, assim como na narrativa gráfica de V de Vingança tanto na sua versão em quadrinhos, de Alan Moore (1982-88), quanto na sua adaptação cinematográfica, escrita pelos Wachowskis (2005). Em particular, tenta demonstrar similaridades nas técnicas usadas, assim como na análise dos personagens, procurando embasar certos questionamentos com a ajuda de filósofos políticos, estudos de psicologia, culturais, e distópicos. Ao final, este trabalho tenta identificar a importância da influência dos autores estudados, assim como outros autores distópicos, na criação e desenvolvimento de uma nova geração social de mentalidade inconformista

Multiple grasp-specific representations of tool dynamics mediate skillful manipulation.

Skillful tool use requires knowledge of the dynamic properties of tools in order to specify the mapping between applied force and tool motion. Importantly, this mapping depends on the orientation of the tool in the hand. Here we investigate the representation of dynamics during skillful manipulation of a tool that can be grasped at different orientations. We ask whether the motor system uses a single general representation of dynamics for all grasp contexts or whether it uses multiple grasp-specific representations. Using a novel robotic interface, subjects rotated a virtual tool whose orientation relative to the hand could be varied. Subjects could immediately anticipate the force direction for each orientation of the tool based on its visual geometry, and, with experience, they learned to parameterize the force magnitude. Surprisingly, this parameterization of force magnitude showed limited generalization when the orientation of the tool changed. Had subjects parameterized a single general representation, full generalization would be expected. Thus, our results suggest that object dynamics are captured by multiple representations, each of which encodes the mapping associated with a specific grasp context. We suggest that the concept of grasp-specific representations may provide a unifying framework for interpreting previous results related to dynamics learning.

A pilot study to determine the movements of buoy line used in the crab pot fishery to assess bottlenose dolphin entanglement

A pilot study on the characteristics of crab pot buoy line movements to assess bottlenose dolphin entanglement was conducted from 19 September to 30 September 2005 in the Charleston Harbor, Charleston, South Carolina. The objectives of this study were to determine: 1) the movements of the buoy line in the water at various tidal stages, current strengths, lengths of line, and water depth, 2) if lead-core rope was a better alternative to nylon rope, 3) and if the manner of deployment of the gear affected the suspension of the line in the water and on the bottom. Diamond braided nylon (#10) rope of varying length (20 ft. – 80 ft.) were used during 31 trials and stiffened (polypropylene lead-core) rope was used in four trials. Observations of the buoy line movements were captured with an Atlantis underwater camera attached to a Digital DPC-1000 video recorder. Results from this study showed that: 1) the method used for deployment was important in keeping the buoy line from arcing or coiling, 2) little to no arcing occurred in water current velocities of >0.20 m/s, 3) rope lengths of ≥50 ft. deployed in <10 ft. of water produced waving in the water column and arcing on the bottom, 4) slack tide was a period of increased risk of entanglement for bottlenose dolphins, and 5) poly lead-core rope was not a good alternative to nylon rope unless in deep water with strong water current velocities. This pilot study produced questions that can be used for future studies on the characteristics of buoy line movements in the crab pot fishery as it relates to bottlenose dolphin entanglements.