Unconstrained receding-horizon control of nonlinear systems

It is well known that unconstrained infinite-horizon optimal control may be used to construct a stabilizing controller for a nonlinear system. We show that similar stabilization results may be achieved using unconstrained finite horizon optimal control. The key idea is to approximate the tail of the infinite horizon cost-to-go using, as terminal cost, an appropriate control Lyapunov function. Roughly speaking, the terminal control Lyapunov function (CLF) should provide an (incremental) upper bound on the cost. In this fashion, important stability characteristics may be retained without the use of terminal constraints such as those employed by a number of other researchers. The absence of constraints allows a significant speedup in computation. Furthermore, it is shown that in order to guarantee stability, it suffices to satisfy an improvement property, thereby relaxing the requirement that truly optimal trajectories be found. We provide a complete analysis of the stability and region of attraction/operation properties of receding horizon control strategies that utilize finite horizon approximations in the proposed class. It is shown that the guaranteed region of operation contains that of the CLF controller and may be made as large as desired by increasing the optimization horizon (restricted, of course, to the infinite horizon domain). Moreover, it is easily seen that both CLF and infinite-horizon optimal control approaches are limiting cases of our receding horizon strategy. The key results are illustrated using a familiar example, the inverted pendulum, where significant improvements in guaranteed region of operation and cost are noted

Adaptive Parallel Iterative Deepening Search

Many of the artificial intelligence techniques developed to date rely on heuristic search through large spaces. Unfortunately, the size of these spaces and the corresponding computational effort reduce the applicability of otherwise novel and effective algorithms. A number of parallel and distributed approaches to search have considerably improved the performance of the search process. Our goal is to develop an architecture that automatically selects parallel search strategies for optimal performance on a variety of search problems. In this paper we describe one such architecture realized in the Eureka system, which combines the benefits of many different approaches to parallel heuristic search. Through empirical and theoretical analyses we observe that features of the problem space directly affect the choice of optimal parallel search strategy. We then employ machine learning techniques to select the optimal parallel search strategy for a given problem space. When a new search task is input to the system, Eureka uses features describing the search space and the chosen architecture to automatically select the appropriate search strategy. Eureka has been tested on a MIMD parallel processor, a distributed network of workstations, and a single workstation using multithreading. Results generated from fifteen puzzle problems, robot arm motion problems, artificial search spaces, and planning problems indicate that Eureka outperforms any of the tested strategies used exclusively for all problem instances and is able to greatly reduce the search time for these applications

A Survey of Anticipatory Mobile Networking: Context-Based Classification, Prediction Methodologies, and Optimization Techniques

A growing trend for information technology is to not just react to changes, but anticipate them as much as possible. This paradigm made modern solutions, such as recommendation systems, a ubiquitous presence in today's digital transactions. Anticipatory networking extends the idea to communication technologies by studying patterns and periodicity in human behavior and network dynamics to optimize network performance. This survey collects and analyzes recent papers leveraging context information to forecast the evolution of network conditions and, in turn, to improve network performance. In particular, we identify the main prediction and optimization tools adopted in this body of work and link them with objectives and constraints of the typical applications and scenarios. Finally, we consider open challenges and research directions to make anticipatory networking part of next generation networks

Active inference, eye movements and oculomotor delays.

This paper considers the problem of sensorimotor delays in the optimal control of (smooth) eye movements under uncertainty. Specifically, we consider delays in the visuo-oculomotor loop and their implications for active inference. Active inference uses a generalisation of Kalman filtering to provide Bayes optimal estimates of hidden states and action in generalised coordinates of motion. Representing hidden states in generalised coordinates provides a simple way of compensating for both sensory and oculomotor delays. The efficacy of this scheme is illustrated using neuronal simulations of pursuit initiation responses, with and without compensation. We then consider an extension of the generative model to simulate smooth pursuit eye movements-in which the visuo-oculomotor system believes both the target and its centre of gaze are attracted to a (hidden) point moving in the visual field. Finally, the generative model is equipped with a hierarchical structure, so that it can recognise and remember unseen (occluded) trajectories and emit anticipatory responses. These simulations speak to a straightforward and neurobiologically plausible solution to the generic problem of integrating information from different sources with different temporal delays and the particular difficulties encountered when a system-like the oculomotor system-tries to control its environment with delayed signals

ON ITERATIVE LEARNING CONTROL FOR SOLVING NEW CONTROL PROBLEMS

Ph.DDOCTOR OF PHILOSOPH

Prediction-based techniques for the optimization of mobile networks

Mención Internacional en el título de doctorMobile cellular networks are complex system whose behavior is characterized by the superposition of several random phenomena, most of which, related to human activities, such as mobility, communications and network usage. However, when observed in their totality, the many individual components merge into more deterministic patterns and trends start to be identifiable and predictable. In this thesis we analyze a recent branch of network optimization that is commonly referred to as anticipatory networking and that entails the combination of prediction solutions and network optimization schemes. The main intuition behind anticipatory networking is that knowing in advance what is going on in the network can help understanding potentially severe problems and mitigate their impact by applying solution when they are still in their initial states. Conversely, network forecast might also indicate a future improvement in the overall network condition (i.e. load reduction or better signal quality reported from users). In such a case, resources can be assigned more sparingly requiring users to rely on buffered information while waiting for the better condition when it will be more convenient to grant more resources. In the beginning of this thesis we will survey the current anticipatory networking panorama and the many prediction and optimization solutions proposed so far. In the main body of the work, we will propose our novel solutions to the problem, the tools and methodologies we designed to evaluate them and to perform a real world evaluation of our schemes. By the end of this work it will be clear that not only is anticipatory networking a very promising theoretical framework, but also that it is feasible and it can deliver substantial benefit to current and next generation mobile networks. In fact, with both our theoretical and practical results we show evidences that more than one third of the resources can be saved and even larger gain can be achieved for data rate enhancements.Programa Oficial de Doctorado en Ingeniería TelemáticaPresidente: Albert Banchs Roca.- Presidente: Pablo Serrano Yañez-Mingot.- Secretario: Jorge Ortín Gracia.- Vocal: Guevara Noubi

A conceptual system design and managerial complexity competency model

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.Complex adaptive systems are usually difficult to design and control. There are several particular methods for coping with complexity, but there is no general approach to build complex adaptive systems. The challenges of designing complex adaptive systems in a highly dynamic world drive the need for anticipatory capacity within engineering organizations, with a goal of enabling the design of systems that can cope with an unpredictable environment. This thesis explores this question of enhancing anticipatory capacity through the study of a complex adaptive system design methodology and complexity management competencies. A general introduction to challenges and issues in complex adaptive systems design is given, since a good understanding of the industrial context is considered necessary in order to avoid oversimplification of the problem, neglecting certain important factors and being unaware of important influences and relationships. In addition, a general introduction to complex thinking is given, since designing complex adaptive systems requires a non-classical thought, while practical notions of complexity theory and design are put forward. Building on these, the research proposes a Complex Systems Life-Cycle Understanding and Design (CXLUD) methodology to aid system architects and engineers in the design and control of complex adaptive systems. Starting from a creative anticipation construct - a loosening mechanism to allow for more options to be considered, the methodology proposes a conceptual framework and a series of stages to follow to find proper mechanisms that will promote elements to desired solutions by actively interacting among themselves. To illustrate the methodology, a financial systemic risks infrastructure systems architecture development case study is presented. The final part of this thesis develops a conceptual model to analyse managerial complexity competency model from a qualitative phenomenological study perspective. The model developed in this research is called Understanding-Perception-Action (UPA) managerial complexity competency model. The results of this competency model can be used to help ease project manager’s transition into complex adaptive projects, as well as serve as a foundation to launch qualitative and quantitative research into this area of project complexity management

Trajectory Deformations from Physical Human-Robot Interaction

Robots are finding new applications where physical interaction with a human is necessary: manufacturing, healthcare, and social tasks. Accordingly, the field of physical human-robot interaction (pHRI) has leveraged impedance control approaches, which support compliant interactions between human and robot. However, a limitation of traditional impedance control is that---despite provisions for the human to modify the robot's current trajectory---the human cannot affect the robot's future desired trajectory through pHRI. In this paper, we present an algorithm for physically interactive trajectory deformations which, when combined with impedance control, allows the human to modulate both the actual and desired trajectories of the robot. Unlike related works, our method explicitly deforms the future desired trajectory based on forces applied during pHRI, but does not require constant human guidance. We present our approach and verify that this method is compatible with traditional impedance control. Next, we use constrained optimization to derive the deformation shape. Finally, we describe an algorithm for real time implementation, and perform simulations to test the arbitration parameters. Experimental results demonstrate reduction in the human's effort and improvement in the movement quality when compared to pHRI with impedance control alone