Fuzzy model predictive control. Complexity reduction by functional principal component analysis

En el Control Predictivo basado en Modelo, el controlador ejecuta una optimización en tiempo real para obtener la mejor solución para la acción de control. Un problema de optimización se resuelve para identificar la mejor acción de control que minimiza una función de coste relacionada con las predicciones de proceso. Debido a la carga computacional de los algoritmos, el control predictivo sujeto a restricciones, no es adecuado para funcionar en cualquier plataforma de hardware. Las técnicas de control predictivo son bien conocidos en la industria de proceso durante décadas. Es cada vez más atractiva la aplicación de técnicas de control avanzadas basadas en modelos a otros muchos campos tales como la automatización de edificios, los teléfonos inteligentes, redes de sensores inalámbricos, etc., donde las plataformas de hardware nunca se han conocido por tener una elevada potencia de cálculo. El objetivo principal de esta tesis es establecer una metodología para reducir la complejidad de cálculo al aplicar control predictivo basado en modelos no lineales sujetos a restricciones, utilizando como plataforma, sistemas de hardware de baja potencia de cálculo, permitiendo una implementación basado en estándares de la industria. La metodología se basa en la aplicación del análisis de componentes principales funcionales, proporcionando un enfoque matemáticamente elegante para reducir la complejidad de los sistemas basados en reglas, como los sistemas borrosos y los sistemas lineales a trozos. Lo que permite reducir la carga computacional en el control predictivo basado en modelos, sujetos o no a restricciones. La idea de utilizar sistemas de inferencia borrosos, además de permitir el modelado de sistemas no lineales o complejos, dota de una estructura formal que permite la implementación de la técnica de reducción de la complejidad mencionada anteriormente. En esta tesis, además de las contribuciones teóricas, se describe el trabajo realizado con plantas reales en los que se han llevado a cabo tareas de modelado y control borroso. Uno de los objetivos a cubrir en el período de la investigación y el desarrollo de la tesis ha sido la experimentación con sistemas borrosos, su simplificación y aplicación a sistemas industriales. La tesis proporciona un marco de conocimiento práctico, basado en la experiencia.In Model-based Predictive Control, the controller runs a real-time optimisation to obtain the best solution for the control action. An optimisation problem is solved to identify the best control action that minimises a cost function related to the process predictions. Due to the computational load of the algorithms, predictive control subject to restric- tions is not suitable to run on any hardware platform. Predictive control techniques have been well known in the process industry for decades. The application of advanced control techniques based on models is becoming increasingly attractive in other fields such as building automation, smart phones, wireless sensor networks, etc., as the hardware platforms have never been known to have high computing power. The main purpose of this thesis is to establish a methodology to reduce the computational complexity of applying nonlinear model based predictive control systems subject to constraints, using as a platform hardware systems with low computational power, allowing a realistic implementation based on industry standards. The methodology is based on applying the functional principal component analysis, providing a mathematically elegant approach to reduce the complexity of rule-based systems, like fuzzy and piece wise affine systems, allowing the reduction of the computational load on modelbased predictive control systems, subject or not subject to constraints. The idea of using fuzzy inference systems, in addition to allowing nonlinear or complex systems modelling, endows a formal structure which enables implementation of the aforementioned complexity reduction technique. This thesis, in addition to theoretical contributions, describes the work done with real plants on which tasks of modeling and fuzzy control have been carried out. One of the objectives to be covered for the period of research and development of the thesis has been training with fuzzy systems and their simplification and application to industrial systems. The thesis provides a practical knowledge framework, based on experience

Coordination and Self-Adaptive Communication Primitives for Low-Power Wireless Networks

The Internet of Things (IoT) is a recent trend where objects are augmented with computing and communication capabilities, often via low-power wireless radios. The Internet of Things is an enabler for a connected and more sustainable modern society: smart grids are deployed to improve energy production and consumption, wireless monitoring systems allow smart factories to detect faults early and reduce waste, while connected vehicles coordinate on the road to ensure our safety and save fuel. Many recent IoT applications have stringent requirements for their wireless communication substrate: devices must cooperate and coordinate, must perform efficiently under varying and sometimes extreme environments, while strict deadlines must be met. Current distributed coordination algorithms have high overheads and are unfit to meet the requirements of today\u27s wireless applications, while current wireless protocols are often best-effort and lack the guarantees provided by well-studied coordination solutions. Further, many communication primitives available today lack the ability to adapt to dynamic environments, and are often tuned during their design phase to reach a target performance, rather than be continuously updated at runtime to adapt to reality.In this thesis, we study the problem of efficient and low-latency consensus in the context of low-power wireless networks, where communication is unreliable and nodes can fail, and we investigate the design of a self-adaptive wireless stack, where the communication substrate is able to adapt to changes to its environment. We propose three new communication primitives: Wireless Paxos brings fault-tolerant consensus to low-power wireless networking, STARC is a middleware for safe vehicular coordination at intersections, while Dimmer builds on reinforcement learning to provide adaptivity to low-power wireless networks. We evaluate in-depth each primitive on testbed deployments and we provide an open-source implementation to enable their use and improvement by the community

New Waves of IoT Technologies Research – Transcending Intelligence and Senses at the Edge to Create Multi Experience Environments

The next wave of Internet of Things (IoT) and Industrial Internet of Things (IIoT) brings new technological developments that incorporate radical advances in Artificial Intelligence (AI), edge computing processing, new sensing capabilities, more security protection and autonomous functions accelerating progress towards the ability for IoT systems to self-develop, self-maintain and self-optimise. The emergence of hyper autonomous IoT applications with enhanced sensing, distributed intelligence, edge processing and connectivity, combined with human augmentation, has the potential to power the transformation and optimisation of industrial sectors and to change the innovation landscape. This chapter is reviewing the most recent advances in the next wave of the IoT by looking not only at the technology enabling the IoT but also at the platforms and smart data aspects that will bring intelligence, sustainability, dependability, autonomy, and will support human-centric solutions.acceptedVersio

Occupancy monitoring and prediction in ambient intelligent environment

Occupancy monitoring and prediction as an influential factor in the extraction of occupants' behavioural patterns for the realisation of ambient intelligent environments is addressed in this research. The proposed occupancy monitoring technique uses occupancy detection sensors with unobtrusive features to monitor occupancy in the environment. Initially the occupancy detection is conducted for a purely single-occupant environment. Then, it is extended to the multipleoccupant environment and associated problems are investigated. Along with the occupancy monitoring, it is aimed to supply prediction techniques with a suitable occupancy signal as the input which can enhance efforts in developing ambient intelligent environments. By predicting the occupancy pattern of monitored occupants, safety, security, the convenience of occupants, and energy saving can be improved. Elderly care and supporting people with health problems like dementia and Alzheimer disease are amongst the applications of such an environment. In the research, environments are considered in different scenarios based on the complexity of the problem including single-occupant and multiple-occupant scenarios. Using simple sensory devices instead of visual equipment without any impact on privacy and her/his normal daily activity, an occupant is monitored in a living or working environment in the single-occupant scenario. ZigBee wireless communication technology is used to collect signals from sensory devices such as motion detection sensors and door contact sensors. All these technologies together including sensors, wireless communication, and tagging are integrated as a wireless sensory agent

Use of Inferential Statistics to Design Effective Communication Protocols for Wireless Sensor Networks

This thesis explores the issues and techniques associated with employing the principles of inferential statistics to design effective Medium Access Control (MAC), routing and duty cycle management strategies for multihop Wireless Sensor Networks (WSNs). The main objective of these protocols are to maximise the throughput of the network, to prolong the lifetime of nodes and to reduce the end-to-end delay of packets over a general network scenario without particular considerations for specific topology configurations, traffic patterns or routing policies. WSNs represent one of the leading-edge technologies that have received substantial research efforts due to their prominent roles in many applications. However, to design effective communication protocols for WSNs is particularly challenging due to the scarce resources of these networks and the requirement for large-scale deployment. The MAC, routing and duty cycle management protocols are amongst the important strategies that are required to ensure correct operations of WSNs. This thesis makes use of the inferential statistics field to design these protocols; inferential statistics was selected as it provides a rich design space with powerful approaches and methods. The MAC protocol proposed in this thesis exploits the statistical characteristics of the Gamma distribution to enable each node to adjust its contention parameters dynamically based on its inference for the channel occupancy. This technique reduces the service time of packets and leverages the throughput by improving the channel utilisation. Reducing the service time minimises the energy consumed in contention to access the channel which in turn prolongs the lifetime of nodes. The proposed duty cycle management scheme uses non-parametric Bayesian inference to enable each node to determine the best times and durations for its sleeping durations without posing overheads on the network. Hence the lifetime of node is prolonged by mitigating the amount of energy wasted in overhearing and idle listening. Prolonging the lifetime of nodes increases the throughput of the network and reduces the end-to-end delay as it allows nodes to route their packets over optimal paths for longer periods. The proposed routing protocol uses one of the state-of-the-art inference techniques dubbed spatial reasoning that enables each node to figure out the spatial relationships between nodes without overwhelming the network with control packets. As a result, the end-to-end delay is reduced while the throughput and lifetime are increased. Besides the proposed protocols, this thesis utilises the analytical aspects of statistics to develop rigorous analytical models that can accurately predict the queuing and medium access delay and energy consumption over multihop networks. Moreover, this thesis provides a broader perspective for design of communication protocols for WSNs by casting the operations of these networks in the domains of the artificial chemistry discipline and the harmony search optimisation algorithm

An autonomous and intelligent system for rotating machinery diagnostics

Rotating machinery diagnostics (RMD) is a process of evaluating the condition of their components by acquiring a number of measurements and extracting condition related information using signal processing algorithms. A reliable RMD system is fundamental for condition based maintenance programmes to reduce maintenance cost and risk. It must be able to detect any abnormalities at early stages to allow preventing severe performance degradation, avoid economic losses and/or catastrophic failures. A conventional RMD system consists of sensing elements (transducers) and data acquisition system with a compliant software package. Such system is bulky and costly in practical deployment. The recent advancement in micro-scaled electronics have enabled wide spectrum of system design and capabilities at embedded scale. Micro electromechanical system (MEMS) based sensing technologies offer significant savings in terms of system’s price and size. Microcontroller units with embedded computation and sensing interface have enabled system-on-chip design of RMD system within a single sensing node. This research aims at exploiting this growth of microelectronics science to develop a remote and intelligent system to aid maintenance procedures. System’s operation is independent from central processing platform or operator’s analysis. Features include on-board time domain based statistical parameters calculations, frequency domain analysis techniques and a time controlled monitoring tasks within the limitations of its energy budget. A working prototype is developed to test the concept of the research. Two experimental testbeds are used to validate the performance of developed system: DC motor with rotor unbalance and 1.1kW induction motor with phase imbalance. By establishing a classification model with several training samples, the developed system achieved an accuracy of 93% in detecting quantified seeded faults while consumes minimum power at 16.8mW. The performance of developed system demonstrates its strong potential for full industry deployment and compliance

An approach to understand network challenges of wireless sensor network in real-world environments

The demand for large-scale sensing capabilities and scalable communication networks to monitor and control entities within smart buildings have fuelled the exponential growth in Wireless Sensor Network (WSN). WSN proves to be an attractive enabler because of its accurate sensing, low installation cost and flexibility in sensor placement. While WSN offers numerous benefits, it has yet to realise its full potential due to its susceptibility to network challenges in the environment that it is deployed. Particularly, spatial challenges in the indoor environment are known to degrade WSN communication reliability and have led to poor estimations of link quality. Existing WSN solutions often generalise all link failures and tackle them as a single entity. However, under the persistent influence of spatial challenges, failing to provide precise solutions may cause further link failures and higher energy consumption of battery-powered devices. Therefore, it is crucial to identify the causes of spatial- related link failures in order to improve WSN communication reliability. This thesis investigates WSN link failures under the influence of spatial challenges in real-world indoor environments. Novel and effective strategies are developed to evaluate the WSN communication reliability. By distinguishing between spatial challenges such as a poorly deployed environment and human movements, solutions are devised to reduce link failures and improve the lifespans of energy constraint WSN nodes. In this thesis, WSN test beds using proprietary wireless sensor nodes are developed and deployed in both controlled and uncontrolled office environments. These test beds provide diverse platforms for investigation into WSN link quality. In addition, a new data extraction feature called Network Instrumentation (NI) is developed and implemented onto the communication stacks of wireless sensor nodes to collect ZigBee PRO parameters that are under the influence of environmental dynamics. To understand the relationships between WSN and Wi-Fi devices communications, an investigation on frequency spectrum sharing is conducted between IEEE 802.15.4 and IEEE 802.11 bgn standards. It is discovered that the transmission failure of WSN nodes under persistent Wi-Fi interference is largely due to channel access failure rather than corrupted packets. The findings conclude that both technologies can co- exist as long as there is sufficient frequency spacing between Wi-Fi and WSN communication and adequate operating distance between the WSN nodes, and between the WSN nodes and the Wi-Fi interference source. Adaptive Network-based Fuzzy Inference System (ANFIS) models are developed to predict spatial challenges in an indoor environment. These challenges are namely, “no failure”, “failure due to poorly deployed environment” and “failure due to human movement”. A comparison of models has found that the best-produced model represents the properties of signal strength, channel fluctuations, and communication success rates. It is recognised that the interpretability of ANFIS models have reduced due to the “curse of dimensionality”. Hence, Non-Dominated Sorting Genetic Algorithm (NSGA-II) technique is implemented to reduce the complexity of these ANFIS models. This is followed by a Fuzzy rule sensitivity analysis, where the impacts of Fuzzy rules on model accuracy are found to be dependent on factors such as communication range and controlled or uncontrolled environment. Long-term WSN routing stability is measured, taking into account the adaptability and robustness of routing paths in the real-world environments. It is found that routing stability is subjected to the implemented routing protocol, deployed environment and routing options available. More importantly, the probability of link failures can be as high as 29.9% when a next hop’s usage rate falls less than 10%. This suggests that a less dominant next hop is subjected to more link failures and is short-lived. Overall, this thesis brings together diverse WSN test beds in real-world indoor environments and a new data extraction platform to extract link quality parameters from ZigBee PRO stack for a representative assessment of WSN link quality. This produces realistic perspectives of the interactions between WSN communication reliability and the environmental dynamics, particularly spatial challenges. The outcomes of this work include an in-depth system level understanding of real-world deployed applications and an insightful measure of large-scale WSN communication performance. These findings can be used as building blocks for a reliable and sustainable network architecture built on top of resource–constrained WSN

A Two-Level Information Modelling Translation Methodology and Framework to Achieve Semantic Interoperability in Constrained GeoObservational Sensor Systems

As geographical observational data capture, storage and sharing technologies such as in situ remote monitoring systems and spatial data infrastructures evolve, the vision of a Digital Earth, first articulated by Al Gore in 1998 is getting ever closer. However, there are still many challenges and open research questions. For example, data quality, provenance and heterogeneity remain an issue due to the complexity of geo-spatial data and information representation. Observational data are often inadequately semantically enriched by geo-observational information systems or spatial data infrastructures and so they often do not fully capture the true meaning of the associated datasets. Furthermore, data models underpinning these information systems are typically too rigid in their data representation to allow for the ever-changing and evolving nature of geo-spatial domain concepts. This impoverished approach to observational data representation reduces the ability of multi-disciplinary practitioners to share information in an interoperable and computable way. The health domain experiences similar challenges with representing complex and evolving domain information concepts. Within any complex domain (such as Earth system science or health) two categories or levels of domain concepts exist. Those concepts that remain stable over a long period of time, and those concepts that are prone to change, as the domain knowledge evolves, and new discoveries are made. Health informaticians have developed a sophisticated two-level modelling systems design approach for electronic health documentation over many years, and with the use of archetypes, have shown how data, information, and knowledge interoperability among heterogenous systems can be achieved. This research investigates whether two-level modelling can be translated from the health domain to the geo-spatial domain and applied to observing scenarios to achieve semantic interoperability within and between spatial data infrastructures, beyond what is possible with current state-of-the-art approaches. A detailed review of state-of-the-art SDIs, geo-spatial standards and the two-level modelling methodology was performed. A cross-domain translation methodology was developed, and a proof-of-concept geo-spatial two-level modelling framework was defined and implemented. The Open Geospatial Consortium’s (OGC) Observations & Measurements (O&M) standard was re-profiled to aid investigation of the two-level information modelling approach. An evaluation of the method was undertaken using II specific use-case scenarios. Information modelling was performed using the two-level modelling method to show how existing historical ocean observing datasets can be expressed semantically and harmonized using two-level modelling. Also, the flexibility of the approach was investigated by applying the method to an air quality monitoring scenario using a technologically constrained monitoring sensor system. This work has demonstrated that two-level modelling can be translated to the geospatial domain and then further developed to be used within a constrained technological sensor system; using traditional wireless sensor networks, semantic web technologies and Internet of Things based technologies. Domain specific evaluation results show that twolevel modelling presents a viable approach to achieve semantic interoperability between constrained geo-observational sensor systems and spatial data infrastructures for ocean observing and city based air quality observing scenarios. This has been demonstrated through the re-purposing of selected, existing geospatial data models and standards. However, it was found that re-using existing standards requires careful ontological analysis per domain concept and so caution is recommended in assuming the wider applicability of the approach. While the benefits of adopting a two-level information modelling approach to geospatial information modelling are potentially great, it was found that translation to a new domain is complex. The complexity of the approach was found to be a barrier to adoption, especially in commercial based projects where standards implementation is low on implementation road maps and the perceived benefits of standards adherence are low. Arising from this work, a novel set of base software components, methods and fundamental geo-archetypes have been developed. However, during this work it was not possible to form the required rich community of supporters to fully validate geoarchetypes. Therefore, the findings of this work are not exhaustive, and the archetype models produced are only indicative. The findings of this work can be used as the basis to encourage further investigation and uptake of two-level modelling within the Earth system science and geo-spatial domain. Ultimately, the outcomes of this work are to recommend further development and evaluation of the approach, building on the positive results thus far, and the base software artefacts developed to support the approach

Sensor Networks and Their Applications: Investigating the Role of Sensor Web Enablement

The Engineering Doctorate (EngD) was conducted in conjunction with BT Research on state-of-the-art Wireless Sensor Network (WSN) projects. The first area of work is a literature review of WSN project applications, some of which the author worked on as a BT Researcher based at the world renowned Adastral Park Research Labs in Suffolk (2004-09). WSN applications are examined within the context of Machine-to-Machine (M2M); Information Networking (IN); Internet/Web of Things (IoT/WoT); smart home and smart devices; BT’s 21st Century Network (21CN); Cloud Computing; and future trends. In addition, this thesis provides an insight into the capabilities of similar external WSN project applications. Under BT’s Sensor Virtualization project, the second area of work focuses on building a Generic Architecture for WSNs with reusable infrastructure and ‘infostructure’ by identifying and trialling suitable components, in order to realise actual business benefits for BT. The third area of work focuses on the Open Geospatial Consortium (OGC) standards and their Sensor Web Enablement (SWE) initiative. The SWE framework was investigated to ascertain its potential as a component of the Generic Architecture. BT’s SAPHE project served as a use case. BT Research’s experiences of taking this traditional (vertical) stove-piped application and creating SWE compliant services are described. The author’s findings were originally presented in a series of publications and have been incorporated into this thesis along with supplementary WSN material from BT Research projects. SWE 2.0 specifications are outlined to highlight key improvements, since work began at BT with SWE 1.0. The fourth area of work focuses on Complex Event Processing (CEP) which was evaluated to ascertain its potential for aggregating and correlating the shared project sensor data (‘infostructure’) harvested and for enabling data fusion for WSNs in diverse domains. Finally, the conclusions and suggestions for further work are provided

Enabling Parallel Wireless Communication in Mobile Robot Teams

Wireless inter-robot communication enables robot teams to cooperatively solve complex problems that cannot be addressed by a single robot. Applications for cooperative robot teams include search and rescue, exploration and surveillance. Communication is one of the most important components in future autonomous robot systems and is essential for core functions such as inter-robot coordination, neighbour discovery and cooperative control algorithms. In environments where communication infrastructure does not exist, decentralised multi-hop networks can be constructed using only the radios on-board each robot. These are known as wireless mesh networks (WMNs). However existing WMNs have limited capacity to support even small robot teams. There is a need for WMNs where links act like dedicated point-to-point connections such as in wired networks. Addressing this problem requires a fundamentally new approach to WMN construction and this thesis is the first comprehensive study in the multi-robot literature to address these challenges. In this thesis, we propose a new class of communication systems called zero mutual interference (ZMI) networks that are able to emulate the point-to-point properties of a wired network over a WMN implementation. We instantiate the ZMI network using a multi-radio multi-channel architecture that autonomously adapts its topology and channel allocations such that all network edges communicate at the full capacity of the radio hardware. We implement the ZMI network on a 100-radio testbed with up to 20-individual nodes and verify its theoretical properties. Mobile robot experiments also demonstrate these properties are practically achievable. The results are an encouraging indication that the ZMI network approach can facilitate the communication demands of large cooperative robot teams deployed in practical problems such as data pipe-lining, decentralised optimisation, decentralised data fusion and sensor networks