LQG Control and Sensing Co-Design

We investigate a Linear-Quadratic-Gaussian (LQG) control and sensing co-design problem, where one jointly designs sensing and control policies. We focus on the realistic case where the sensing design is selected among a finite set of available sensors, where each sensor is associated with a different cost (e.g., power consumption). We consider two dual problem instances: sensing-constrained LQG control, where one maximizes control performance subject to a sensor cost budget, and minimum-sensing LQG control, where one minimizes sensor cost subject to performance constraints. We prove no polynomial time algorithm guarantees across all problem instances a constant approximation factor from the optimal. Nonetheless, we present the first polynomial time algorithms with per-instance suboptimality guarantees. To this end, we leverage a separation principle, that partially decouples the design of sensing and control. Then, we frame LQG co-design as the optimization of approximately supermodular set functions; we develop novel algorithms to solve the problems; and we prove original results on the performance of the algorithms, and establish connections between their suboptimality and control-theoretic quantities. We conclude the paper by discussing two applications, namely, sensing-constrained formation control and resource-constrained robot navigation.Comment: Accepted to IEEE TAC. Includes contributions to submodular function optimization literature, and extends conference paper arXiv:1709.0882

Co-design and robots: A case study of a robot dog for aging people

© Springer International Publishing AG 2016. The day-to-day experiences of aging citizens differ significantly from young, technologically savvy engineers. Yet, well-meaning engineers continue to design technologies for aging citizens, informed by skewed stereotypes of aging without deep engagements from these users. This paper describes a co-design project based on the principles of Participatory Design that sought to provide aging people with the capacity to co-design technologies that suit their needs. The project combined the design intuitions of both participants and designers, on equal footing, to produce a companion robot in the form of a networked robotic dog. Besides evaluating a productive approach that empowers aging people in the process of co-designing and evaluating technologies for themselves, this paper presents a viable solution that is playful and meaningful to these elderly people; capable of enhancing their independence, social agency and well-being

Co-designing smart home technology with people with dementia or Parkinson's disease

Involving users is crucial to designing technology successfully, especially for vulnerable users in health and social care, yet detailed descriptions and critical reflections on the co-design process, techniques and methods are rare. This paper introduces the PERCEPT (PERrsona-CEntred Participatory Technology) approach for the co-design process and we analyse and discuss the lessons learned for each step in this process. We applied PERCEPT in a project to develop a smart home toolset that will allow a person living with early stage dementia or Parkinson's to plan, monitor and self-manage his or her life and well-being more effectively. We present a set of personas which were co-created with people and applied throughout the project in the co-design process. The approach presented in this paper will enable researchers and designers to better engage with target user groups in co-design and point to considerations to be made at each step for vulnerable users

Co-Design Practice

Can a collaborative approach to analysis and production of space promote knowledge transfer that enhance social and spatial capital for local communities? Over the last three years we have initiated, raised funds, managed and delivered a number of successful collaborative design- and research projects across Dalston, East London. As award winning and internationally practicing architects and urban designers, we embed relevant topics into the centre of the studio-based design teaching at UEL to create a ‘field of opportunity’ for overlaps between professional disciplines, institutions and local authorities, for mutual benefit. As a response to challenging urban contexts of conflict, deprivation and climate change, our designstudio approach to research aims to explore and develop alternative forms of collaborative design practice and co-design methodology