Robust Controller for Delays and Packet Dropout Avoidance in Solar-Power Wireless Network

Solar Wireless Networked Control Systems (SWNCS) are a style of distributed control systems where sensors, actuators, and controllers are interconnected via a wireless communication network. This system setup has the benefit of low cost, flexibility, low weight, no wiring and simplicity of system diagnoses and maintenance. However, it also unavoidably calls some wireless network time delays and packet dropout into the design procedure. Solar lighting system offers a clean environment, therefore able to continue for a long period. SWNCS also offers multi Service infrastructure solution for both developed and undeveloped countries. The system provides wireless controller lighting, wireless communications network (WI-FI/WIMAX), CCTV surveillance, and wireless sensor for weather measurement which are all powered by solar energy

Systems Structure and Control

The title of the book System, Structure and Control encompasses broad field of theory and applications of many different control approaches applied on different classes of dynamic systems. Output and state feedback control include among others robust control, optimal control or intelligent control methods such as fuzzy or neural network approach, dynamic systems are e.g. linear or nonlinear with or without time delay, fixed or uncertain, onedimensional or multidimensional. The applications cover all branches of human activities including any kind of industry, economics, biology, social sciences etc

Cooperative control of autonomous connected vehicles from a Networked Control perspective: Theory and experimental validation

Formation control of autonomous connected vehicles is one of the typical problems addressed in the general context of networked control systems. By leveraging this paradigm, a platoon composed by multiple connected and automated vehicles is represented as one-dimensional network of dynamical agents, in which each agent only uses its neighboring information to locally control its motion, while it aims to achieve certain global coordination with all other agents. Within this theoretical framework, control algorithms are traditionally designed based on an implicit assumption of unlimited bandwidth and perfect communication environments. However, in practice, wireless communication networks, enabling the cooperative driving applications, introduce unavoidable communication impairments such as transmission delay and packet losses that strongly affect the performances of cooperative driving. Moreover, in addition to this problem, wireless communication networks can suffer different security threats. The challenge in the control field is hence to design cooperative control algorithms that are robust to communication impairments and resilient to cyber attacks. The work aim is to tackle and solve these challenges by proposing different properly designed control strategies. They are validated both in analytical, numerical and experimental ways. Obtained results confirm the effectiveness of the strategies in coping with communication impairments and security vulnerabilities

New Approaches in Automation and Robotics

The book New Approaches in Automation and Robotics offers in 22 chapters a collection of recent developments in automation, robotics as well as control theory. It is dedicated to researchers in science and industry, students, and practicing engineers, who wish to update and enhance their knowledge on modern methods and innovative applications. The authors and editor of this book wish to motivate people, especially under-graduate students, to get involved with the interesting field of robotics and mechatronics. We hope that the ideas and concepts presented in this book are useful for your own work and could contribute to problem solving in similar applications as well. It is clear, however, that the wide area of automation and robotics can only be highlighted at several spots but not completely covered by a single book

Measurements, Models, Systems and Design

531 s.

Causal decomposition of complex systems and prediction of chaos using machine learning

We live in a complex system. Therefore, it is essential to possess techniques to analyze and comprehend its intricate dynamics in order to improve decision making. The objective of this dissertation is to contribute to the research that enhances our ability to make these complex systems less intransparent to us. Firstly, we illustrate the impact on practical applications when nonlinearity - an often disregarded factor in causal inference - is taken into account. Therefore, we investigate the causal relationships within these systems, particularly shedding light on the distinction between linear and nonlinear drivers of causality. After developing the necessary methods, we apply them to a real-world use case and demonstrate that making slight adjustments to certain financial market frameworks can result in considerable advantages because of the resolution of the correlation-causation fallacy. Subsequently, once the linear and nonlinear causal connections are understood, we can derive governing equations from the underlying causality structure to enhance the interpretability of models and predictions. By fine-tuning the parameters of these equations through the phenomenon of synchronization of chaos, we can ensure that they optimally represent the data. Nevertheless, not all complex systems can be accurately described by governing equations. Therefore, the implementation of machine learning techniques like reservoir computing in predicting chaotic systems offers significant data-driven advantages. While their architecture is relatively simple, ensuring full interpretability and hardware realizations still relies on increased efficiency and reduced data requirements. This dissertation presents some of the necessary modifications to the traditional reservoir computing architecture to bring physical reservoir computing closer to realization.Wir leben in einem komplexen System. Daher ist es unerlässlich, über Techniken zur Analyse und zum Verständnis seiner verschleierten Dynamik zu verfügen, um die Entscheidungsfindung zu verbessern. Ziel dieser Dissertation ist es, einen Beitrag zur Forschung zu leisten, die unsere Möglichkeiten erweitert, diese komplexen Systeme für uns weniger intransparent zu machen. Zunächst wird aufgezeigt, welche Auswirkungen es auf praktische Anwendungen hat, wenn Nichtlinearität - ein oft vernachlässigter Faktor bei kausaler Inferenz - berücksichtigt wird. Daher untersuchen wir die kausalen Beziehungen innerhalb dieser Systeme und beleuchten insbesondere die Unterscheidung zwischen linearen und nichtlinearen Kausalitätsfaktoren. Nachdem wir die erforderlichen Methoden entwickelt haben, wenden wir sie auf einen realen Anwendungsfall an und zeigen, dass leichte Anpassungen bestimmter Finanzmarktmodelle durch die Auflösung des Korrelations-Kausalitäts-Fehlschlusses zu erheblichen Vorteilen führen können. Sobald die linearen und nichtlinearen Kausalzusammenhänge bekannt sind, können wir aus der zugrunde liegenden Kausalitätsstruktur die Differentialgleichungen ableiten, um die Interpretierbarkeit von Modellierungen und Vorhersagen zu verbessern. Durch die Feinjustierung der Parameter dieser Gleichungen durch das Phänomen der Synchronisierung von Chaos können wir sicherstellen, dass sie die Daten optimal darstellen. Allerdings lassen sich nicht alle komplexen Systeme durch Differentialgleichungen adäquat beschreiben. Daher bietet die Anwendung von Techniken des maschinellen Lernens wie Reservoir Computing bei der Vorhersage chaotischer Systeme erhebliche datenbasierte Vorteile. Obwohl ihre Architektur relativ einfach ist, ist die Gewährleistung einer vollständigen Interpretierbarkeit und Hardware-Realisierung immer noch von einer erhöhten Effizienz und reduzierten Datenanforderungen abhängig. In dieser Dissertation werden einige der notwendigen Änderungen an der traditionellen Architektur vorgestellt, um physikalisches Reservoir Computing näher an die Realisierung zu bringen

Teleoperation of passivity-based model reference robust control over the internet

This dissertation offers a survey of a known theoretical approach and novel experimental results in establishing a live communication medium through the internet to host a virtual communication environment for use in Passivity-Based Model Reference Robust Control systems with delays. The controller which is used as a carrier to support a robust communication between input-to-state stability is designed as a control strategy that passively compensates for position errors that arise during contact tasks and strives to achieve delay-independent stability for controlling of aircrafts or other mobile objects. Furthermore the controller is used for nonlinear systems, coordination of multiple agents, bilateral teleoperation, and collision avoidance thus maintaining a communication link with an upper bound of constant delay is crucial for robustness and stability of the overall system. For utilizing such framework an elucidation can be formulated by preparing site survey for analyzing not only the geographical distances separating the nodes in which the teleoperation will occur but also the communication parameters that define the virtual topography that the data will travel through. This survey will first define the feasibility of the overall operation since the teleoperation will be used to sustain a delay based controller over the internet thus obtaining a hypothetical upper bound for the delay via site survey is crucial not only for the communication system but also the delay is required for the design of the passivity-based model reference robust control. Following delay calculation and measurement via site survey, bandwidth tests for unidirectional and bidirectional communication is inspected to ensure that the speed is viable to maintain a real-time connection. Furthermore from obtaining the results it becomes crucial to measure the consistency of the delay throughout a sampled period to guarantee that the upper bound is not breached at any point within the communication to jeopardize the robustness of the controller. Following delay analysis a geographical and topological overview of the communication is also briefly examined via a trace-route to understand the underlying nodes and their contribution to the delay and round-trip consistency. To accommodate the communication channel for the controller the input and output data from both nodes need to be encapsulated within a transmission control protocol via a multithreaded design of a robust program within the C language. The program will construct a multithreaded client-server relationship in which the control data is transmitted. For added stability and higher level of security the channel is then encapsulated via an internet protocol security by utilizing a protocol suite for protecting the communication by authentication and encrypting each packet of the session using negotiation of cryptographic keys during each session

Energy efficient wireless sensor network protocols for monitoring and prognostics of large scale systems

In this work, energy-efficient protocols for wireless sensor networks (WSN) with applications to prognostics are investigated. Both analytical methods and verification are shown for the proposed methods via either hardware experiments or simulation. This work is presented in five papers. Energy-efficiency methods for WSN include distributed algorithms for i) optimal routing, ii) adaptive scheduling, iii) adaptive transmission power and data-rate control --Abstract, page iv