Model predictive control with dynamic move blocking

Model Predictive Control (MPC) has proven to be a powerful tool for the control of systems with constraints. Nonetheless, in many applications, a major challenge arises, that is finding the optimal solution within a single sampling instant to apply a receding-horizon policy. In such cases, many suboptimal solutions have been proposed, among which the possibility of "blocking" some moves a-priori. In this paper, we propose a dynamic approach to move blocking, to exploit the solution already available at the previous iteration, and we show not only that such an approach preserves asymptotic stability, but also that the decrease of performance with respect to the ideal solution can be theoretically bounded.Comment: 7 page

Advances in Condition Monitoring, Optimization and Control for Complex Industrial Processes

The book documents 25 papers collected from the Special Issue “Advances in Condition Monitoring, Optimization and Control for Complex Industrial Processes”, highlighting recent research trends in complex industrial processes. The book aims to stimulate the research field and be of benefit to readers from both academic institutes and industrial sectors

Architectures and GPU-Based Parallelization for Online Bayesian Computational Statistics and Dynamic Modeling

Recent work demonstrates that coupling Bayesian computational statistics methods with dynamic models can facilitate the analysis of complex systems associated with diverse time series, including those involving social and behavioural dynamics. Particle Markov Chain Monte Carlo (PMCMC) methods constitute a particularly powerful class of Bayesian methods combining aspects of batch Markov Chain Monte Carlo (MCMC) and the sequential Monte Carlo method of Particle Filtering (PF). PMCMC can flexibly combine theory-capturing dynamic models with diverse empirical data. Online machine learning is a subcategory of machine learning algorithms characterized by sequential, incremental execution as new data arrives, which can give updated results and predictions with growing sequences of available incoming data. While many machine learning and statistical methods are adapted to online algorithms, PMCMC is one example of the many methods whose compatibility with and adaption to online learning remains unclear. In this thesis, I proposed a data-streaming solution supporting PF and PMCMC methods with dynamic epidemiological models and demonstrated several successful applications. By constructing an automated, easy-to-use streaming system, analytic applications and simulation models gain access to arriving real-time data to shorten the time gap between data and resulting model-supported insight. The well-defined architecture design emerging from the thesis would substantially expand traditional simulation models' potential by allowing such models to be offered as continually updated services. Contingent on sufficiently fast execution time, simulation models within this framework can consume the incoming empirical data in real-time and generate informative predictions on an ongoing basis as new data points arrive. In a second line of work, I investigated the platform's flexibility and capability by extending this system to support the use of a powerful class of PMCMC algorithms with dynamic models while ameliorating such algorithms' traditionally stiff performance limitations. Specifically, this work designed and implemented a GPU-enabled parallel version of a PMCMC method with dynamic simulation models. The resulting codebase readily has enabled researchers to adapt their models to the state-of-art statistical inference methods, and ensure that the computation-heavy PMCMC method can perform significant sampling between the successive arrival of each new data point. Investigating this method's impact with several realistic PMCMC application examples showed that GPU-based acceleration allows for up to 160x speedup compared to a corresponding CPU-based version not exploiting parallelism. The GPU accelerated PMCMC and the streaming processing system can complement each other, jointly providing researchers with a powerful toolset to greatly accelerate learning and securing additional insight from the high-velocity data increasingly prevalent within social and behavioural spheres. The design philosophy applied supported a platform with broad generalizability and potential for ready future extensions. The thesis discusses common barriers and difficulties in designing and implementing such systems and offers solutions to solve or mitigate them

Team MIT Urban Challenge Technical Report

This technical report describes Team MITs approach to theDARPA Urban Challenge. We have developed a novel strategy forusing many inexpensive sensors, mounted on the vehicle periphery,and calibrated with a new cross-­modal calibrationtechnique. Lidar, camera, and radar data streams are processedusing an innovative, locally smooth state representation thatprovides robust perception for real­ time autonomous control. Aresilient planning and control architecture has been developedfor driving in traffic, comprised of an innovative combination ofwell­proven algorithms for mission planning, situationalplanning, situational interpretation, and trajectory control. These innovations are being incorporated in two new roboticvehicles equipped for autonomous driving in urban environments,with extensive testing on a DARPA site visit course. Experimentalresults demonstrate all basic navigation and some basic trafficbehaviors, including unoccupied autonomous driving, lanefollowing using pure-­pursuit control and our local frameperception strategy, obstacle avoidance using kino-­dynamic RRTpath planning, U-­turns, and precedence evaluation amongst othercars at intersections using our situational interpreter. We areworking to extend these approaches to advanced navigation andtraffic scenarios

Custom optimization algorithms for efficient hardware implementation

The focus is on real-time optimal decision making with application in advanced control systems. These computationally intensive schemes, which involve the repeated solution of (convex) optimization problems within a sampling interval, require more efficient computational methods than currently available for extending their application to highly dynamical systems and setups with resource-constrained embedded computing platforms. A range of techniques are proposed to exploit synergies between digital hardware, numerical analysis and algorithm design. These techniques build on top of parameterisable hardware code generation tools that generate VHDL code describing custom computing architectures for interior-point methods and a range of first-order constrained optimization methods. Since memory limitations are often important in embedded implementations we develop a custom storage scheme for KKT matrices arising in interior-point methods for control, which reduces memory requirements significantly and prevents I/O bandwidth limitations from affecting the performance in our implementations. To take advantage of the trend towards parallel computing architectures and to exploit the special characteristics of our custom architectures we propose several high-level parallel optimal control schemes that can reduce computation time. A novel optimization formulation was devised for reducing the computational effort in solving certain problems independent of the computing platform used. In order to be able to solve optimization problems in fixed-point arithmetic, which is significantly more resource-efficient than floating-point, tailored linear algebra algorithms were developed for solving the linear systems that form the computational bottleneck in many optimization methods. These methods come with guarantees for reliable operation. We also provide finite-precision error analysis for fixed-point implementations of first-order methods that can be used to minimize the use of resources while meeting accuracy specifications. The suggested techniques are demonstrated on several practical examples, including a hardware-in-the-loop setup for optimization-based control of a large airliner.Open Acces

A Framework for Integrating Transportation Into Smart Cities

In recent years, economic, environmental, and political forces have quickly given rise to “Smart Cities” -- an array of strategies that can transform transportation in cities. Using a multi-method approach to research and develop a framework for smart cities, this study provides a framework that can be employed to: Understand what a smart city is and how to replicate smart city successes; The role of pilot projects, metrics, and evaluations to test, implement, and replicate strategies; and Understand the role of shared micromobility, big data, and other key issues impacting communities. This research provides recommendations for policy and professional practice as it relates to integrating transportation into smart cities

A speculative execution approach to provide semantically aware contention management for concurrent systems

PhD ThesisMost modern platforms offer ample potention for parallel execution of concurrent programs yet concurrency control is required to exploit parallelism while maintaining program correctness. Pessimistic con- currency control featuring blocking synchronization and mutual ex- clusion, has given way to transactional memory, which allows the composition of concurrent code in a manner more intuitive for the application programmer. An important component in any transactional memory technique however is the policy for resolving conflicts on shared data, commonly referred to as the contention management policy. In this thesis, a Universal Construction is described which provides contention management for software transactional memory. The technique differs from existing approaches given that multiple execution paths are explored speculatively and in parallel. In the resolution of conflicts by state space exploration, we demonstrate that both concur- rent conflicts and semantic conflicts can be solved, promoting multi- threaded program progression. We de ne a model of computation called Many Systems, which defines the execution of concurrent threads as a state space management problem. An implementation is then presented based on concepts from the model, and we extend the implementation to incorporate nested transactions. Results are provided which compare the performance of our approach with an established contention management policy, under varying degrees of concurrent and semantic conflicts. Finally, we provide performance results from a number of search strategies, when nested transactions are introduced

Multi-Robot Systems: Challenges, Trends and Applications

This book is a printed edition of the Special Issue entitled “Multi-Robot Systems: Challenges, Trends, and Applications” that was published in Applied Sciences. This Special Issue collected seventeen high-quality papers that discuss the main challenges of multi-robot systems, present the trends to address these issues, and report various relevant applications. Some of the topics addressed by these papers are robot swarms, mission planning, robot teaming, machine learning, immersive technologies, search and rescue, and social robotics