MAC-Oriented Programmable Terahertz PHY via Graphene-based Yagi-Uda Antennas

Graphene is enabling a plethora of applications in a wide range of fields due to its unique electrical, mechanical, and optical properties. In the realm of wireless communications, graphene shows great promise for the implementation of miniaturized and tunable antennas in the terahertz band. These unique advantages open the door to new reconfigurable antenna structures which, in turn, enable novel communication protocols at different levels of the stack. This paper explores both aspects by, first, presenting a terahertz Yagi-Uda-like antenna concept that achieves reconfiguration both in frequency and beam direction simultaneously. Then, a programmable antenna controller design is proposed to expose the reconfigurability to the PHY and MAC layers, and several examples of its applicability are given. The performance and cost of the proposed scheme is evaluated through full-wave simulations and comparative analysis, demonstrating reconfigurability at nanosecond granularity with overheads below 0.02 mm$^{2}$ and 0.2 mW.Comment: Accepted for presentation in IEEE WCNC '1

Performance Monitoring of Control Systems using Likelihood Methods

Evaluating deterioration in performance of control systems using closed loop operating data is addressed. A framework is proposed in which acceptable performance is expressed as constraints on the closed loop transfer function impulse response coefficients. Using likelihood methods, a hypothesis test is outlined to determine if control deterioration has occurred. The method is applied to a simulation example as well as data from an operational distillation column, and the results are compared to those obtained using minimum variance estimation approaches

Formulating the cognitive design problem of air traffic management

Evolutionary approaches to cognitive design in the air traffic management (ATM) system can be attributed with a history of delayed developments. This issue is well illustrated in the case of the flight progress strip where attempts to design a computer-based system to replace the paper strip have consistently been met with rejection. An alternative approach to cognitive design of air traffic management is needed and this paper proposes an approach centred on the formulation of cognitive design problems. The paper gives an account of how a cognitive design problem was formulated for a simulated ATM task performed by controller subjects in the laboratory. The problem is formulated in terms of two complimentary models. First, a model of the ATM domain describes the cognitive task environment of managing the simulated air traffic. Second, a model of the ATM worksystem describes the abstracted cognitive behaviours of the controllers and their tools in performing the traffic management task. Taken together, the models provide a statement of worksystem performance, and express the cognitive design problem for the simulated system. The use of the problem formulation in supporting cognitive design, including the design of computer-based flight strips, is discussed

Stochastic Stability of Event-triggered Anytime Control

We investigate control of a non-linear process when communication and processing capabilities are limited. The sensor communicates with a controller node through an erasure channel which introduces i.i.d. packet dropouts. Processor availability for control is random and, at times, insufficient to calculate plant inputs. To make efficient use of communication and processing resources, the sensor only transmits when the plant state lies outside a bounded target set. Control calculations are triggered by the received data. If a plant state measurement is successfully received and while the processor is available for control, the algorithm recursively calculates a sequence of tentative plant inputs, which are stored in a buffer for potential future use. This safeguards for time-steps when the processor is unavailable for control. We derive sufficient conditions on system parameters for stochastic stability of the closed loop and illustrate performance gains through numerical studies.Comment: IEEE Transactions on Automatic Control, under revie

Robustness-Driven Resilience Evaluation of Self-Adaptive Software Systems

An increasingly important requirement for certain classes of software-intensive systems is the ability to self-adapt their structure and behavior at run-time when reacting to changes that may occur to the system, its environment, or its goals. A major challenge related to self-adaptive software systems is the ability to provide assurances of their resilience when facing changes. Since in these systems, the components that act as controllers of a target system incorporate highly complex software, there is the need to analyze the impact that controller failures might have on the services delivered by the system. In this paper, we present a novel approach for evaluating the resilience of self-adaptive software systems by applying robustness testing techniques to the controller to uncover failures that can affect system resilience. The approach for evaluating resilience, which is based on probabilistic model checking, quantifies the probability of satisfaction of system properties when the target system is subject to controller failures. The feasibility of the proposed approach is evaluated in the context of an industrial middleware system used to monitor and manage highly populated networks of devices, which was implemented using the Rainbow framework for architecture-based self-adaptation

Gait learning for soft microrobots controlled by light fields

Soft microrobots based on photoresponsive materials and controlled by light fields can generate a variety of different gaits. This inherent flexibility can be exploited to maximize their locomotion performance in a given environment and used to adapt them to changing conditions. Albeit, because of the lack of accurate locomotion models, and given the intrinsic variability among microrobots, analytical control design is not possible. Common data-driven approaches, on the other hand, require running prohibitive numbers of experiments and lead to very sample-specific results. Here we propose a probabilistic learning approach for light-controlled soft microrobots based on Bayesian Optimization (BO) and Gaussian Processes (GPs). The proposed approach results in a learning scheme that is data-efficient, enabling gait optimization with a limited experimental budget, and robust against differences among microrobot samples. These features are obtained by designing the learning scheme through the comparison of different GP priors and BO settings on a semi-synthetic data set. The developed learning scheme is validated in microrobot experiments, resulting in a 115% improvement in a microrobot's locomotion performance with an experimental budget of only 20 tests. These encouraging results lead the way toward self-adaptive microrobotic systems based on light-controlled soft microrobots and probabilistic learning control.Comment: 8 pages, 7 figures, to appear in the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 201