Stochastic and Optimal Distributed Control for Energy Optimization and Spatially Invariant Systems

Improving energy efficiency and grid responsiveness of buildings requires sensing, computing and communication to enable stochastic decision-making and distributed operations. Optimal control synthesis plays a significant role in dealing with the complexity and uncertainty associated with the energy systems. The dissertation studies general area of complex networked systems that consist of interconnected components and usually operate in uncertain environments. Specifically, the contents of this dissertation include tools using stochastic and optimal distributed control to overcome these challenges and improve the sustainability of electric energy systems. The first tool is developed as a unifying stochastic control approach for improving energy efficiency while meeting probabilistic constraints. This algorithm is applied to demonstrate energy efficiency improvement in buildings and improving operational efficiency of virtualized web servers, respectively. Although all the optimization in this technique is in the form of convex optimization, it heavily relies on semidefinite programming (SP). A generic SP solver can handle only up to hundreds of variables. This being said, for a large scale system, the existing off-the-shelf algorithms may not be an appropriate tool for optimal control. Therefore, in the sequel I will exploit optimization in a distributed way. The second tool is itself a concrete study which is optimal distributed control for spatially invariant systems. Spatially invariance means the dynamics of the system do not vary as we translate along some spatial axis. The optimal H2 [H-2] decentralized control problem is solved by computing an orthogonal projection on a class of Youla parameters with a decentralized structure. Optimal H∞ [H-infinity] performance is posed as a distance minimization in a general L∞ [L-infinity] space from a vector function to a subspace with a mixed L∞ and H∞ space structure. In this framework, the dual and pre-dual formulations lead to finite dimensional convex optimizations which approximate the optimal solution within desired accuracy. Furthermore, a mixed L2 [L-2] /H∞ synthesis problem for spatially invariant systems as trade-offs between transient performance and robustness. Finally, we pursue to deal with a more general networked system, i.e. the Non-Markovian decentralized stochastic control problem, using stochastic maximum principle via Malliavin Calculus

Proceedings of the First Karlsruhe Service Summit Workshop - Advances in Service Research, Karlsruhe, Germany, February 2015 (KIT Scientific Reports ; 7692)

Since April 2008 KSRI fosters interdisciplinary research in order to support and advance the progress in the service domain. KSRI brings together academia and industry while serving as a European research hub with respect to service science. For KSS2015 Research Workshop, we invited submissions of theoretical and empirical research dealing with the relevant topics in the context of services including energy, mobility, health care, social collaboration, and web technologies

Definition of smolder experiments for Spacelab

The feasibility of conducting experiments in space on smoldering combustion was studied to conceptually design specific smoldering experiments to be conducted in the Shuttle/Spacelab System. Design information for identified experiment critical components is provided. The analytical and experimental basis for conducting research on smoldering phenomena in space was established. Physical descriptions of the various competing processes pertaining to smoldering combustion were identified. The need for space research was defined based on limitations of existing knowledge and limitations of ground-based reduced-gravity experimental facilities

Using haptic feedback in human swarm interaction

A swarm of robots is a large group of individual agents that autonomously coordinate via local control laws. Their emergent behavior allows simple robots to accomplish complex tasks. Since missions may have complex objectives that change dynamically due to environmental and mission changes, human control and influence over the swarm is needed. The field of Human Swarm Interaction (HSI) is young, with few user studies, and even fewer papers focusing on giving non-visual feedback to the operator. The authors will herein present a background of haptics in robotics and swarms and two studies that explore various conditions under which haptic feedback may be useful in HSI. The overall goal of the studies is to explore the effectiveness of haptic feedback in the presence of other visual stimuli about the swarm system. The findings show that giving feedback about nearby obstacles using a haptic device can improve performance, and that a combination of feedback from obstacle forces via the visual and haptic channels provide the best performance

Coordination of Multirobot Systems Under Temporal Constraints

Multirobot systems have great potential to change our lives by increasing efficiency or decreasing costs in many applications, ranging from warehouse logistics to construction. They can also replace humans in dangerous scenarios, for example in a nuclear disaster cleanup mission. However, teleoperating robots in these scenarios would severely limit their capabilities due to communication and reaction delays. Furthermore, ensuring that the overall behavior of the system is safe and correct for a large number of robots is challenging without a principled solution approach. Ideally, multirobot systems should be able to plan and execute autonomously. Moreover, these systems should be robust to certain external factors, such as failing robots and synchronization errors and be able to scale to large numbers, as the effectiveness of particular tasks might depend directly on these criteria. This thesis introduces methods to achieve safe and correct autonomous behavior for multirobot systems. Firstly, we introduce a novel logic family, called counting logics, to describe the high-level behavior of multirobot systems. Counting logics capture constraints that arise naturally in many applications where the identity of the robot is not important for the task to be completed. We further introduce a notion of robust satisfaction to analyze the effects of synchronization errors on the overall behavior and provide complexity analysis for a fragment of this logic. Secondly, we propose an optimization-based algorithm to generate a collection of robot paths to satisfy the specifications given in counting logics. We assume that the robots are perfectly synchronized and use a mixed-integer linear programming formulation to take advantage of the recent advances in this field. We show that this approach is complete under the perfect synchronization assumption. Furthermore, we propose alternative encodings that render more efficient solutions under certain conditions. We also provide numerical results that showcase the scalability of our approach, showing that it scales to hundreds of robots. Thirdly, we relax the perfect synchronization assumption and show how to generate paths that are robust to bounded synchronization errors, without requiring run-time communication. However, the complexity of such an approach is shown to depend on the error bound, which might be limiting. To overcome this issue, we propose a hierarchical method whose complexity does not depend on this bound. We show that, under mild conditions, solutions generated by the hierarchical method can be executed safely, even if such a bound is not known. Finally, we propose a distributed algorithm to execute multirobot paths while avoiding collisions and deadlocks that might occur due to synchronization errors. We recast this problem as a conflict resolution problem and characterize conditions under which existing solutions to the well-known drinking philosophers problem can be used to design control policies that prevents collisions and deadlocks. We further provide improvements to this naive approach to increase the amount of concurrency in the system. We demonstrate the effectiveness of our approach by comparing it to the naive approach and to the state-of-the-art.PHDElectrical Engineering: SystemsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/162921/1/ysahin_1.pd

Characterizing, managing and monitoring the networks for the ATLAS data acquisition system

Particle physics studies the constituents of matter and the interactions between them. Many of the elementary particles do not exist under normal circumstances in nature. However, they can be created and detected during energetic collisions of other particles, as is done in particle accelerators. The Large Hadron Collider (LHC) being built at CERN will be the world's largest circular particle accelerator, colliding protons at energies of 14 TeV. Only a very small fraction of the interactions will give raise to interesting phenomena. The collisions produced inside the accelerator are studied using particle detectors. ATLAS is one of the detectors built around the LHC accelerator ring. During its operation, it will generate a data stream of 64 Terabytes/s. A Trigger and Data Acquisition System (TDAQ) is connected to ATLAS -- its function is to acquire digitized data from the detector and apply trigger algorithms to identify the interesting events. Achieving this requires the power of over 2000 computers plus an interconnecting network capable of sustaining a throughput of over 150 Gbit/s with minimal loss and delay. The implementation of this network required a detailed study of the available switching technologies to a high degree of precision in order to choose the appropriate components. We developed an FPGA-based platform (the GETB) for testing network devices. The GETB system proved to be flexible enough to be used as the ba sis of three different network-related projects. An analysis of the traffic pattern that is generated by the ATLAS data-taking applications was also possible thanks to the GETB. Then, while the network was being assembled, parts of the ATLAS detector started commissioning -- this task relied on a functional network. Thus it was imperative to be able to continuously identify existing and usable infrastructure and manage its operations. In addition, monitoring was required to detect any overload conditions with an indication where the excess demand was being generated. We developed tools to ease the maintenance of the network and to automatically produce inventory reports. We created a system that discovers the network topology and this permitted us to verify the installation and to track its progress. A real-time traffic visualization system has been built, allowing us to see at a glance which network segments are heavily utilized. Later, as the network achieves production status, it will be necessary to extend the monitoring to identify individual applications' use of the available bandwidth. We studied a traffic monitoring technology that will allow us to have a better understanding on how the network is used. This technology, based on packet sampling, gives the possibility of having a complete view of the network: not only its total capacity utilization, but also how this capacity is divided among users and software applicati ons. This thesis describes the establishment of a set of tools designed to characterize, monitor and manage complex, large-scale, high-performance networks. We describe in detail how these tools were designed, calibrated, deployed and exploited. The work that led to the development of this thesis spans over more than four years and closely follows the development phases of the ATLAS network: its design, its installation and finally, its current and future operation

Distributed optimal and predictive control methods for networks of dynamic systems

Several recent approaches to distributed control design over networks of interconnected dynamic systems rely on certain assumptions, such as identical subsystem dynamics, absence of dynamical couplings, linear dynamics and undirected interaction schemes. In this thesis, we investigate systematic methods for relaxing a number of simplifying factors leading to a unifying approach for solving general distributed-control stabilization problems of networks of dynamic agents. We show that the gain-margin property of LQR control holds for complex multiplicative input perturbations and a generic symmetric positive definite input weighting matrix. Proving also that the potentially non-simple structure of the Laplacian matrix can be neglected for stability analysis and control design, we extend two well-known distributed LQR-based control methods originally established for undirected networks of identical linear systems, to the directed case. We then propose a distributed feedback method for tackling large-scale regulation problems of a general class of interconnected non-identical dynamic agents with undirected and directed topology. In particular, we assume that local agents share a minimal set of structural properties, such as input dimension, state dimension and controllability indices. Our approach relies on the solution of certain model matching type problems using local linear state-feedback and input matrix transformations which map the agent dynamics to a target system, selected to minimize the joint control effort of the local feedback-control schemes. By adapting well-established distributed LQR control design methodologies to our framework, the stabilization problem of a network of non-identical dynamical agents is solved. We thereafter consider a networked scheme synthesized by multiple agents with nonlinear dynamics. Assuming that agents are feedback linearizable in a neighborhood near their equilibrium points, we propose a nonlinear model matching control design for stabilizing networks of multiple heterogeneous nonlinear agents. Motivated by the structure of a large-scale LQR optimal problem, we propose a stabilizing distributed state-feedback controller for networks of identical dynamically coupled linear agents. First, a fully centralized controller is designed which is subsequently substituted by a distributed state-feedback gain with sparse structure. The control scheme is obtained byoptimizing an LQR performance index with a tuning parameter utilized to emphasize/deemphasize relative state difference between coupled systems. Sufficient conditions for stability of the proposed scheme are derived based on the inertia of a convex combination of two Hurwitz matrices. An extended simulation study involving distributed load frequency control design of a multi-area power network, illustrates the applicability of the proposed method. Finally, we propose a fully distributed consensus-based model matching scheme adapted to a model predictive control setting for tackling a structured receding horizon regulation problem