6,561 research outputs found

    Integrating expert-based objectivist and nonexpert-based subjectivist paradigms in landscape assessment

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    This thesis explores the integration of objective and subjective measures of landscape aesthetics, particularly focusing on crowdsourced geo-information. It addresses the increasing importance of considering public perceptions in national landscape governance, in line with the European Landscape Convention's emphasis on public involvement. Despite this, national landscape assessments often remain expert-centric and top-down, facing challenges in resource constraints and limited public engagement. The thesis leverages Web 2.0 technologies and crowdsourced geographic information, examining correlations between expert-based metrics of landscape quality and public perceptions. The Scenic-Or-Not initiative for Great Britain, GIS-based Wildness spatial layers, and LANDMAP dataset for Wales serve as key datasets for analysis. The research investigates the relationships between objective measures of landscape wildness quality and subjective measures of aesthetics. Multiscale geographically weighted regression (MGWR) reveals significant correlations, with different wildness components exhibiting varying degrees of association. The study suggests the feasibility of incorporating wildness and scenicness measures into formal landscape aesthetic assessments. Comparing expert and public perceptions, the research identifies preferences for water-related landforms and variations in upland and lowland typologies. The study emphasizes the agreement between experts and non-experts on extreme scenic perceptions but notes discrepancies in mid-spectrum landscapes. To overcome limitations in systematic landscape evaluations, an integrative approach is proposed. Utilizing XGBoost models, the research predicts spatial patterns of landscape aesthetics across Great Britain, based on the Scenic-Or-Not initiatives, Wildness spatial layers, and LANDMAP data. The models achieve comparable accuracy to traditional statistical models, offering insights for Landscape Character Assessment practices and policy decisions. While acknowledging data limitations and biases in crowdsourcing, the thesis discusses the necessity of an aggregation strategy to manage computational challenges. Methodological considerations include addressing the modifiable areal unit problem (MAUP) associated with aggregating point-based observations. The thesis comprises three studies published or submitted for publication, each contributing to the understanding of the relationship between objective and subjective measures of landscape aesthetics. The concluding chapter discusses the limitations of data and methods, providing a comprehensive overview of the research

    Understanding the Chemistry of Acetohydroxamic Acid (AHA) in the Presence of Fe(III) in the Context of an Advanced PUREX Process

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    Since the 1950s, the majority of operating commercial nuclear fuel reprocessing plants, including those in the UK, France, Russia and Japan, have used the well-proven hydrometallurgical PUREX (plutonium uranium extraction) process, or a variant PUREXbased process to chemically separate uranium (U) and plutonium (Pu) from used nuclear fuel. However, enhancements to PUREX are needed for future fuel cycles to improve its proliferation resistance, its capability to handle higher burnup fuels and to minimize its waste arisings. A key objective within the development of an Advanced PUREX process is the effective control of the actinides U, neptunium (Np) and Pu within a single cycle flowsheet. Simple hydroxamic acids such as acetohydroxamic acid (AHA) have the ability to strip Pu(IV) and Np(IV) from tri-butyl phosphate into nitric acid and have thus been identified as suitable reagents for this purpose. Utilising this in an Advanced PUREX process will ultimately allow for the generation of a co-processed Pu/Np product and a high purity U product, addressing some of the shortcomings of traditional PUREX. There are however a few key knowledge gaps that must be addressed before AHA can be implemented in such a process. Firstly, it is known that simple hydroxamic acids hydrolyse to hydroxylamine (NH2OH) and the parent carboxylic acid in acidic media, the former product being known to react autocatalytically / explosively with nitric acid which is ubiquitous in reprocessing flowsheets. Whether the reaction mechanism or product distribution changes when the AHA is complexed to a metal ion is unclear. Additionally, observations that Pu(IV) is reduced to Pu(III) during complex hydrolysis have opened up the possibility of their use as replacements for U(IV)/N2H4 or NH2OH in advanced PUREX processes, but whether the reducing agent is the hydroxamate itself, or NH2OH, is still in question. To answer these questions, Fe(III) has been used as a non-active analogue to Pu(IV) and Np(IV), as it exhibits analogous complexation with AHA and whilst thermodynamically possible, redox chemistry mechanistically analogous to that of Pu(IV) is thought to be kinetically hindered at high hydrogen ion concentrations to the point where it can be ignored on the timescales of AHA hydrolysis. However, initial studies by Raman spectroscopy showed identical AHA hydrolysis products in the absence and presence of initial Fe(III), but with differing final yields. Further quantification techniques were then explored including a titrimetric method for hydroxylamine, UV-Vis spectroscopy for nitrous acid and Fe(II), and ion chromatography (IC) for multiple species, all of which suggested redox chemistry akin to Pu(IV). A library of data to describe these systems has been gathered utilising a single column ion chromatography system to measure a number of key ions over time in nitric acid solutions of varying temperatures and initial Fe(III) and AHA concentrations. These key species include the acetate ion (CH3COO- ) and protonated hydroxylamine (NH3OH+) from the hydrolysis of AHA, and the reduced form of the metal ion, Fe(II), which has been not previously been seen during hydrolysis of the Fe(III)-AHA complex. Our analysis therefore shows that the current definition of Fe(III) as a non-oxidizing metal ion with regards to AHA needs revising. Using CH3COOingrowth as a direct measure of AHA loss and assuming redox chemistry of Fe(III) mechanistically analogous to Pu(IV), these studies have additionally been combined with kinetic modelling in the software platform gPROMS (General PROcess Modelling System), and have thus provided key insights into the nature of the reducing agent in these systems

    The interplay between Natural Killer cells and Pancreatic Stellate cells in Pancreatic Ductal Adenocarcinoma

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    Pancreatic ductal adenocarcinoma (PDAC) is a disease with dismal prognosis. With five-year survival rates of less than 11%, PDAC is set to become the second leading cause of cancer related deaths by 2040. The role of pancreatic stellate cells in pancreatic ductal adenocarcinoma has been well established. However, to date, little remains know about the interaction between these crucial stromal cells and the innate lymphocytes, natural killer (NK) cells, in PDAC. Herein we demonstrate that naĂŻve NK cells possess the functional efficacy to target and kill both quiescent (qPSC) and activated (aPSC) pancreatic stellate cells. Furthermore, qPSC, but not aPSC education of NK cells resulted in decreased NK cell-mediated cancer cell cytotoxicity. NK-PSC direct co-culture was found to modulate both PSC and NK phenotype, as well as functional changes within NK cells, an effect not observed with TranswellTM separation. Multiplex Luminex ELISA further revealed upregulation of IFN-Îł and related chemokines in NK cells co-cultured with PSC (activated/quiescent), suggesting that this pathway may be involved in phenotypic modulation. Through global proteomic analysis we demonstrate NK cell-induced differential protein changes in aPSC versus qPSC. Furthermore, we demonstrate changes in intracellular NK pathways as a result of direct contact with PSCs, indicating a dynamic, bidirectional interaction between these two key players. Using multiplex immunohistochemical analysis, we demonstrate that NK cell proximity to CAFs, and not total NK cell infiltrate is correlated with overall survival in PDAC. Consequently, we suggest that the spatial biology of NK/CAFs may play a prognostic role in PDAC and may potentially be used as a tool for patient stratification Taken together, our results demonstrate a significant bidirectional relationship between NK cells and PSC/CAFs in the context of PDAC, providing novel insight into this crucial cell-cell interaction

    Analysing Changes in the Acoustic Features of the Human Voice to Detect Depression amongst Biological Females in Higher Education

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    Depression significantly affects a large percentage of the population, with young adult females being one of the most at-risk demographics. Concurrently, there is a growing demand on healthcare, and with sufficient resources often unavailable to diagnose depression, new diagnostic methods are needed that are both cost-effective and accurate. The presence of depression is seen to significantly affect certain acoustic features of the human voice. Acoustic features have been found to exhibit subtle changes beyond the perception of the human auditory system when an individual has depression. With advances in speech processing, these subtle changes can be observed by machines. By measuring these changes, the human voice can be analysed to identify acoustic features that show a correlation with depression. The implementation of voice diagnosis would both reduce the burden on healthcare and ensure those with depression are diagnosed in a timely fashion, allowing them quicker access to treatment. The research project presents an analysis of voice data from 17 biological females between the ages of 20-26 years old in higher education as a means to detect depression. Eight participants were considered healthy with no history of depression, whilst the other nine currently had depression. Participants performed two vocal tasks consisting of extending sounds for a period of time and reading back a passage of speech. Six acoustic features were then measured from the voice data to determine whether these features can be utilised as diagnostic indicators of depression. The main finding of this study demonstrated one of the acoustic features measured demonstrates significant differences when comparing depressed and healthy individuals.<br/

    A Broadband Mid-infrared Metasurface for Polarisation Manipulation and Utilisation

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    A pair of enantiomers are distinct from each other due to chiral structural arrangement which leads to selective interaction with chiral light. Vibrational circular dichroism spectroscopy in mid-infrared region provide a powerful label-free method to distinguish chiral enantiomers. Besides, mid-infrared sensing also significantly benefit from resolving compositional information of molecules due to molecular vibrational fingerprints which holds promising application in biological and medical sensing. However, the low signal-to-noise ratio associated with weak light-matter interaction is a continuing obstacle hindering the practical application. Recent demonstrations of chiral metamaterials have shown that due to the chirality of structure, local superchiral field can be produced in the vicinity of structure to interact with molecules and enhance vibrational circular dichroism response. However, a limitation factor in development of chiral structure is the narrow effective working bandwidth and the requirement of circular polarization excitation. This thesis introduces an achiral nanorod-based metausrface that enable to overcome these limitations. First, the nanorod-based metasurface is present to achieve high efficient linear-to-circular polarization conversion in a broadband mid-infrared wavelength range in reflection mode. The model was firstly studied and optimised through simulation tool based on Finite Difference Time Domain method. The device was fabricated in a top-down approach based on electron beam lithography and characterised using Fourier transform infrared spectroscopy. We identified two distinct resonances originated from gap-plasmon mode at 3.4ÎŒm and Fabry-Perot mode at 7.9ÎŒm. The demonstration of polarization state based on the measured Stokes parameters within off-resonance range from 4-7ÎŒm show that the reflected beam has converted into circular polarization state. For practical application of vibrational circular dichroism spectroscopy, we numerically demonstrate the induced chirality in near-field under excitation of linear polarization with various polarization angles. These analysis suggest that superchiral field can be produced by nanorod-based metasurface and distributed spatially under linear polarization excitation. When polarization is parallel or orthogonal to rod, namely the symmetry exist in the combination of rod and incident polarization, the absolute chirality is zero due to the fact that same amount of optical chirality density with opposite handedness offset by each other. However it is showed that one handedness of the optical chirality density is dominant when the symmetry is broken, hence, holds potential for circular dichroism spectroscopy sensing. In an experimental feasibility study, we measured the polarization states of light in far-field and demonstrate that the absolute chirality in the far-field show similar behaviour as that in near-field. Finally, we conduct a molecular sensing measurement based on the rod-shape metausrface for enantiomers (alanine) identification through circular dichroism spectroscopy. This thesis demonstrates with FDTD simulations that the metasurface can generate superchiral fields which enable to enhance interaction with molecules upon linear polarization excitation. By simply rotating sample with 90 degree, molecules can then interact with superchiral field with opposite handedness. The circular dichroism is to record the intensity of reflected beam and characterise the differential intensity between the two. Despite the measured data do not show inverse pattern for L- and D-alanine, we confirmed that metausrface enable to enhance the light-matter interaction

    The persistent shadow of the supermassive black hole of M 87

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    In April 2019, the Event Horizon Telescope (EHT) Collaboration reported the first-ever event-horizon-scale images of a black hole, resolving the central compact radio source in the giant elliptical galaxy M 87. These images reveal a ring with a southerly brightness distribution and a diameter of ∌42 ÎŒas, consistent with the predicted size and shape of a shadow produced by the gravitationally lensed emission around a supermassive black hole. These results were obtained as part of the April 2017 EHT observation campaign, using a global very long baseline interferometric radio array operating at a wavelength of 1.3 mm. Here, we present results based on the second EHT observing campaign, taking place in April 2018 with an improved array, wider frequency coverage, and increased bandwidth. In particular, the additional baselines provided by the Greenland telescope improved the coverage of the array. Multiyear EHT observations provide independent snapshots of the horizon-scale emission, allowing us to confirm the persistence, size, and shape of the black hole shadow, and constrain the intrinsic structural variability of the accretion flow. We have confirmed the presence of an asymmetric ring structure, brighter in the southwest, with a median diameter of 43.3−3.1+1.5 Όas. The diameter of the 2018 ring is remarkably consistent with the diameter obtained from the previous 2017 observations. On the other hand, the position angle of the brightness asymmetry in 2018 is shifted by about 30° relative to 2017. The perennial persistence of the ring and its diameter robustly support the interpretation that the ring is formed by lensed emission surrounding a Kerr black hole with a mass ∌6.5 × 109 M⊙. The significant change in the ring brightness asymmetry implies a spin axis that is more consistent with the position angle of the large-scale jet

    Running to Your Own Beat:An Embodied Approach to Auditory Display Design

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    Personal fitness trackers represent a multi-billion-dollar industry, predicated on devices for assisting users in achieving their health goals. However, most current products only offer activity tracking and measurement of performance metrics, which do not ultimately address the need for technique related assistive feedback in a cost-effective way. Addressing this gap in the design space for assistive run training interfaces is also crucial in combating the negative effects of Forward Head Position, a condition resulting from mobile device use, with a rapid growth of incidence in the population. As such, Auditory Displays (AD) offer an innovative set of tools for creating such a device for runners. ADs present the opportunity to design interfaces which allow natural unencumbered motion, detached from the mobile or smartwatch screen, thus making them ideal for providing real-time assistive feedback for correcting head posture during running. However, issues with AD design have centred around overall usability and user-experience, therefore, in this thesis an ecological and embodied approach to AD design is presented as a vehicle for designing an assistive auditory interface for runners, which integrates seamlessly into their everyday environments

    Air Quality Research Using Remote Sensing

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    Air pollution is a worldwide environmental hazard that poses serious consequences not only for human health and the climate but also for agriculture, ecosystems, and cultural heritage, among other factors. According to the WHO, there are 8 million premature deaths every year as a result of exposure to ambient air pollution. In addition, more than 90% of the world’s population live in areas where the air quality is poor, exceeding the recommended limits. On the other hand, air pollution and the climate co-influence one another through complex physicochemical interactions in the atmosphere that alter the Earth’s energy balance and have implications for climate change and the air quality. It is important to measure specific atmospheric parameters and pollutant compound concentrations, monitor their variations, and analyze different scenarios with the aim of assessing the air pollution levels and developing early warning and forecast systems as a means of improving the air quality and safeguarding public health. Such measures can also form part of efforts to achieve a reduction in the number of air pollution casualties and mitigate climate change phenomena. This book contains contributions focusing on remote sensing techniques for evaluating air quality, including the use of in situ data, modeling approaches, and the synthesis of different instrumentations and techniques. The papers published in this book highlight the importance and relevance of air quality studies and the potential of remote sensing, particularly that conducted from Earth observation platforms, to shed light on this topic

    On Age-of-Information Aware Resource Allocation for Industrial Control-Communication-Codesign

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    Unter dem Überbegriff Industrie 4.0 wird in der industriellen Fertigung die zunehmende Digitalisierung und Vernetzung von industriellen Maschinen und Prozessen zusammengefasst. Die drahtlose, hoch-zuverlĂ€ssige, niedrig-latente Kommunikation (engl. ultra-reliable low-latency communication, URLLC) – als Bestandteil von 5G gewĂ€hrleistet höchste DienstgĂŒten, die mit industriellen drahtgebundenen Technologien vergleichbar sind und wird deshalb als Wegbereiter von Industrie 4.0 gesehen. Entgegen diesem Trend haben eine Reihe von Arbeiten im Forschungsbereich der vernetzten Regelungssysteme (engl. networked control systems, NCS) gezeigt, dass die hohen DienstgĂŒten von URLLC nicht notwendigerweise erforderlich sind, um eine hohe RegelgĂŒte zu erzielen. Das Co-Design von Kommunikation und Regelung ermöglicht eine gemeinsame Optimierung von RegelgĂŒte und Netzwerkparametern durch die Aufweichung der Grenze zwischen Netzwerk- und Applikationsschicht. Durch diese VerschrĂ€nkung wird jedoch eine fundamentale (gemeinsame) Neuentwicklung von Regelungssystemen und Kommunikationsnetzen nötig, was ein Hindernis fĂŒr die Verbreitung dieses Ansatzes darstellt. Stattdessen bedient sich diese Dissertation einem Co-Design-Ansatz, der beide DomĂ€nen weiterhin eindeutig voneinander abgrenzt, aber das Informationsalter (engl. age of information, AoI) als bedeutenden Schnittstellenparameter ausnutzt. Diese Dissertation trĂ€gt dazu bei, die EchtzeitanwendungszuverlĂ€ssigkeit als Folge der Überschreitung eines vorgegebenen Informationsalterschwellenwerts zu quantifizieren und fokussiert sich dabei auf den Paketverlust als Ursache. Anhand der Beispielanwendung eines fahrerlosen Transportsystems wird gezeigt, dass die zeitlich negative Korrelation von Paketfehlern, die in heutigen Systemen keine Rolle spielt, fĂŒr Echtzeitanwendungen Ă€ußerst vorteilhaft ist. Mit der Annahme von schnellem Schwund als dominanter Fehlerursache auf der Luftschnittstelle werden durch zeitdiskrete Markovmodelle, die fĂŒr die zwei Netzwerkarchitekturen Single-Hop und Dual-Hop prĂ€sentiert werden, Kommunikationsfehlerfolgen auf einen Applikationsfehler abgebildet. Diese Modellierung ermöglicht die analytische Ableitung von anwendungsbezogenen ZuverlĂ€ssigkeitsmetriken wie die durschnittliche Dauer bis zu einem Fehler (engl. mean time to failure). FĂŒr Single-Hop-Netze wird das neuartige Ressourcenallokationsschema State-Aware Resource Allocation (SARA) entwickelt, das auf dem Informationsalter beruht und die AnwendungszuverlĂ€ssigkeit im Vergleich zu statischer Multi-KonnektivitĂ€t um GrĂ¶ĂŸenordnungen erhöht, wĂ€hrend der Ressourcenverbrauch im Bereich von konventioneller EinzelkonnektivitĂ€t bleibt. Diese ZuverlĂ€ssigkeit kann auch innerhalb eines Systems von Regelanwendungen, in welchem mehrere Agenten um eine begrenzte Anzahl Ressourcen konkurrieren, statistisch garantiert werden, wenn die Anzahl der verfĂŒgbaren Ressourcen pro Agent um ca. 10 % erhöht werden. FĂŒr das Dual-Hop Szenario wird darĂŒberhinaus ein Optimierungsverfahren vorgestellt, das eine benutzerdefinierte Kostenfunktion minimiert, die niedrige AnwendungszuverlĂ€ssigkeit, hohes Informationsalter und hohen durchschnittlichen Ressourcenverbrauch bestraft und so das benutzerdefinierte optimale SARA-Schema ableitet. Diese Optimierung kann offline durchgefĂŒhrt und als Look-Up-Table in der unteren Medienzugriffsschicht zukĂŒnftiger industrieller Drahtlosnetze implementiert werden.:1. Introduction 1 1.1. The Need for an Industrial Solution . . . . . . . . . . . . . . . . . . . 3 1.2. Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2. Related Work 7 2.1. Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.2. Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.3. Codesign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2.3.1. The Need for Abstraction – Age of Information . . . . . . . . 11 2.4. Dependability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.5. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3. Deriving Proper Communications Requirements 17 3.1. Fundamentals of Control Theory . . . . . . . . . . . . . . . . . . . . 18 3.1.1. Sampling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.1.2. Performance Requirements . . . . . . . . . . . . . . . . . . . 21 3.1.3. Packet Losses and Delay . . . . . . . . . . . . . . . . . . . . . 22 3.2. Joint Design of Control Loop with Packet Losses . . . . . . . . . . . . 23 3.2.1. Method 1: Reduced Sampling . . . . . . . . . . . . . . . . . . 23 3.2.2. Method 2: Markov Jump Linear System . . . . . . . . . . . . . 25 3.2.3. Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 3.3. Focus Application: The AGV Use Case . . . . . . . . . . . . . . . . . . 31 3.3.1. Control Loop Model . . . . . . . . . . . . . . . . . . . . . . . 31 3.3.2. Control Performance Requirements . . . . . . . . . . . . . . . 33 3.3.3. Joint Modeling: Applying Reduced Sampling . . . . . . . . . . 34 3.3.4. Joint Modeling: Applying MJLS . . . . . . . . . . . . . . . . . 34 3.4. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4. Modeling Control-Communication Failures 43 4.1. Communication Assumptions . . . . . . . . . . . . . . . . . . . . . . 43 4.1.1. Small-Scale Fading as a Cause of Failure . . . . . . . . . . . . 44 4.1.2. Connectivity Models . . . . . . . . . . . . . . . . . . . . . . . 46 4.2. Failure Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 4.2.1. Single-hop network . . . . . . . . . . . . . . . . . . . . . . . . 49 4.2.2. Dual-hop network . . . . . . . . . . . . . . . . . . . . . . . . 51 4.3. Performance Metrics . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 4.3.1. Mean Time to Failure . . . . . . . . . . . . . . . . . . . . . . . 54 4.3.2. Packet Loss Ratio . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.3.3. Average Number of Assigned Channels . . . . . . . . . . . . . 57 4.3.4. Age of Information . . . . . . . . . . . . . . . . . . . . . . . . 57 4.4. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 5. Single Hop – Single Agent 61 5.1. State-Aware Resource Allocation . . . . . . . . . . . . . . . . . . . . 61 5.2. Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 5.3. Erroneous Acknowledgments . . . . . . . . . . . . . . . . . . . . . . 67 5.4. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 6. Single Hop – Multiple Agents 71 6.1. Failure Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 6.1.1. Admission Control . . . . . . . . . . . . . . . . . . . . . . . . 72 6.1.2. Transition Probabilities . . . . . . . . . . . . . . . . . . . . . . 73 6.1.3. Computational Complexity . . . . . . . . . . . . . . . . . . . 74 6.1.4. Performance Metrics . . . . . . . . . . . . . . . . . . . . . . . 75 6.2. Illustration Scenario . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 6.3. Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 6.3.1. Verification through System-Level Simulation . . . . . . . . . 78 6.3.2. Applicability on the System Level . . . . . . . . . . . . . . . . 79 6.3.3. Comparison of Admission Control Schemes . . . . . . . . . . 80 6.3.4. Impact of the Packet Loss Tolerance . . . . . . . . . . . . . . . 82 6.3.5. Impact of the Number of Agents . . . . . . . . . . . . . . . . . 84 6.3.6. Age of Information . . . . . . . . . . . . . . . . . . . . . . . . 84 6.3.7. Channel Saturation Ratio . . . . . . . . . . . . . . . . . . . . 86 6.3.8. Enforcing Full Channel Saturation . . . . . . . . . . . . . . . 86 6.4. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 7. Dual Hop – Single Agent 91 7.1. State-Aware Resource Allocation . . . . . . . . . . . . . . . . . . . . 91 7.2. Optimization Targets . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 7.3. Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 7.3.1. Extensive Simulation . . . . . . . . . . . . . . . . . . . . . . . 96 7.3.2. Non-Integer-Constrained Optimization . . . . . . . . . . . . . 98 7.4. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 8. Conclusions and Outlook 105 8.1. Key Results and Conclusions . . . . . . . . . . . . . . . . . . . . . . . 105 8.2. Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 A. DC Motor Model 111 Bibliography 113 Publications of the Author 127 List of Figures 129 List of Tables 131 List of Operators and Constants 133 List of Symbols 135 List of Acronyms 137 Curriculum Vitae 139In industrial manufacturing, Industry 4.0 refers to the ongoing convergence of the real and virtual worlds, enabled through intelligently interconnecting industrial machines and processes through information and communications technology. Ultrareliable low-latency communication (URLLC) is widely regarded as the enabling technology for Industry 4.0 due to its ability to fulfill highest quality-of-service (QoS) comparable to those of industrial wireline connections. In contrast to this trend, a range of works in the research domain of networked control systems have shown that URLLC’s supreme QoS is not necessarily required to achieve high quality-ofcontrol; the co-design of control and communication enables to jointly optimize and balance both quality-of-control parameters and network parameters through blurring the boundary between application and network layer. However, through the tight interlacing, this approach requires a fundamental (joint) redesign of both control systems and communication networks and may therefore not lead to short-term widespread adoption. Therefore, this thesis instead embraces a novel co-design approach which keeps both domains distinct but leverages the combination of control and communications by yet exploiting the age of information (AoI) as a valuable interface metric. This thesis contributes to quantifying application dependability as a consequence of exceeding a given peak AoI with the particular focus on packet losses. The beneficial influence of negative temporal packet loss correlation on control performance is demonstrated by means of the automated guided vehicle use case. Assuming small-scale fading as the dominant cause of communication failure, a series of communication failures are mapped to an application failure through discrete-time Markov models for single-hop (e.g, only uplink or downlink) and dual-hop (e.g., subsequent uplink and downlink) architectures. This enables the derivation of application-related dependability metrics such as the mean time to failure in closed form. For single-hop networks, an AoI-aware resource allocation strategy termed state-aware resource allocation (SARA) is proposed that increases the application reliability by orders of magnitude compared to static multi-connectivity while keeping the resource consumption in the range of best-effort single-connectivity. This dependability can also be statistically guaranteed on a system level – where multiple agents compete for a limited number of resources – if the provided amount of resources per agent is increased by approximately 10 %. For the dual-hop scenario, an AoI-aware resource allocation optimization is developed that minimizes a user-defined penalty function that punishes low application reliability, high AoI, and high average resource consumption. This optimization may be carried out offline and each resulting optimal SARA scheme may be implemented as a look-up table in the lower medium access control layer of future wireless industrial networks.:1. Introduction 1 1.1. The Need for an Industrial Solution . . . . . . . . . . . . . . . . . . . 3 1.2. Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2. Related Work 7 2.1. Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.2. Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.3. Codesign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2.3.1. The Need for Abstraction – Age of Information . . . . . . . . 11 2.4. Dependability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.5. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3. Deriving Proper Communications Requirements 17 3.1. Fundamentals of Control Theory . . . . . . . . . . . . . . . . . . . . 18 3.1.1. Sampling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.1.2. Performance Requirements . . . . . . . . . . . . . . . . . . . 21 3.1.3. Packet Losses and Delay . . . . . . . . . . . . . . . . . . . . . 22 3.2. Joint Design of Control Loop with Packet Losses . . . . . . . . . . . . 23 3.2.1. Method 1: Reduced Sampling . . . . . . . . . . . . . . . . . . 23 3.2.2. Method 2: Markov Jump Linear System . . . . . . . . . . . . . 25 3.2.3. Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 3.3. Focus Application: The AGV Use Case . . . . . . . . . . . . . . . . . . 31 3.3.1. Control Loop Model . . . . . . . . . . . . . . . . . . . . . . . 31 3.3.2. Control Performance Requirements . . . . . . . . . . . . . . . 33 3.3.3. Joint Modeling: Applying Reduced Sampling . . . . . . . . . . 34 3.3.4. Joint Modeling: Applying MJLS . . . . . . . . . . . . . . . . . 34 3.4. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 4. Modeling Control-Communication Failures 43 4.1. Communication Assumptions . . . . . . . . . . . . . . . . . . . . . . 43 4.1.1. Small-Scale Fading as a Cause of Failure . . . . . . . . . . . . 44 4.1.2. Connectivity Models . . . . . . . . . . . . . . . . . . . . . . . 46 4.2. Failure Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 4.2.1. Single-hop network . . . . . . . . . . . . . . . . . . . . . . . . 49 4.2.2. Dual-hop network . . . . . . . . . . . . . . . . . . . . . . . . 51 4.3. Performance Metrics . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 4.3.1. Mean Time to Failure . . . . . . . . . . . . . . . . . . . . . . . 54 4.3.2. Packet Loss Ratio . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.3.3. Average Number of Assigned Channels . . . . . . . . . . . . . 57 4.3.4. Age of Information . . . . . . . . . . . . . . . . . . . . . . . . 57 4.4. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 5. Single Hop – Single Agent 61 5.1. State-Aware Resource Allocation . . . . . . . . . . . . . . . . . . . . 61 5.2. Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 5.3. Erroneous Acknowledgments . . . . . . . . . . . . . . . . . . . . . . 67 5.4. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 6. Single Hop – Multiple Agents 71 6.1. Failure Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 6.1.1. Admission Control . . . . . . . . . . . . . . . . . . . . . . . . 72 6.1.2. Transition Probabilities . . . . . . . . . . . . . . . . . . . . . . 73 6.1.3. Computational Complexity . . . . . . . . . . . . . . . . . . . 74 6.1.4. Performance Metrics . . . . . . . . . . . . . . . . . . . . . . . 75 6.2. Illustration Scenario . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 6.3. Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 6.3.1. Verification through System-Level Simulation . . . . . . . . . 78 6.3.2. Applicability on the System Level . . . . . . . . . . . . . . . . 79 6.3.3. Comparison of Admission Control Schemes . . . . . . . . . . 80 6.3.4. Impact of the Packet Loss Tolerance . . . . . . . . . . . . . . . 82 6.3.5. Impact of the Number of Agents . . . . . . . . . . . . . . . . . 84 6.3.6. Age of Information . . . . . . . . . . . . . . . . . . . . . . . . 84 6.3.7. Channel Saturation Ratio . . . . . . . . . . . . . . . . . . . . 86 6.3.8. Enforcing Full Channel Saturation . . . . . . . . . . . . . . . 86 6.4. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 7. Dual Hop – Single Agent 91 7.1. State-Aware Resource Allocation . . . . . . . . . . . . . . . . . . . . 91 7.2. Optimization Targets . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 7.3. Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 7.3.1. Extensive Simulation . . . . . . . . . . . . . . . . . . . . . . . 96 7.3.2. Non-Integer-Constrained Optimization . . . . . . . . . . . . . 98 7.4. Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 8. Conclusions and Outlook 105 8.1. Key Results and Conclusions . . . . . . . . . . . . . . . . . . . . . . . 105 8.2. Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 A. DC Motor Model 111 Bibliography 113 Publications of the Author 127 List of Figures 129 List of Tables 131 List of Operators and Constants 133 List of Symbols 135 List of Acronyms 137 Curriculum Vitae 13
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