Networked Control Systems: The Communication Basics and Control Methodologies

As an emerging research field, networked control systems have shown the increasing importance and attracted more and more attention in the recent years. The integration of control and communication in networked control systems has made the design and analysis of such systems a great theoretical challenge for conventional control theory. Such an integration also makes the implementation of networked control systems a necessary intermediate step towards the final convergence of control, communication, and computation. We here introduce the basics of networked control systems and then describe the state-of-the-art research in this field. We hope such a brief tutorial can be useful to inspire further development of networked control systems in both theory and potential applications

Rethinking affordance

n/a – Critical survey essay retheorising the concept of 'affordance' in digital media context. Lead article in a special issue on the topic, co-edited by the authors for the journal Media Theory

Digital Image

This paper considers the ontological significance of invisibility in relation to the question ‘what is a digital image?’ Its argument in a nutshell is that the emphasis on visibility comes at the expense of latency and is symptomatic of the style of thinking that dominated Western philosophy since Plato. This privileging of visible content necessarily binds images to linguistic (semiotic and structuralist) paradigms of interpretation which promote representation, subjectivity, identity and negation over multiplicity, indeterminacy and affect. Photography is the case in point because until recently critical approaches to photography had one thing in common: they all shared in the implicit and incontrovertible understanding that photographs are a medium that must be approached visually; they took it as a given that photographs are there to be looked at and they all agreed that it is only through the practices of spectatorship that the secrets of the image can be unlocked. Whatever subsequent interpretations followed, the priori- ty of vision in relation to the image remained unperturbed. This undisputed belief in the visibility of the image has such a strong grasp on theory that it imperceptibly bonded together otherwise dissimilar and sometimes contradictory methodol- ogies, preventing them from noticing that which is the most unexplained about images: the precedence of looking itself. This self-evident truth of visibility casts a long shadow on im- age theory because it blocks the possibility of inquiring after everything that is invisible, latent and hidden

Cooperative Adaptive Control for Cloud-Based Robotics

This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws to identify unknown inertial parameters. Through this development, we introduce a notion of Collective Sufficient Richness, wherein parameter convergence can be enabled through teamwork in the group. The introduction of this property and the analysis of stable adaptive controllers that benefit from it constitute the main new contributions of this work. Building on this original example, we then consider decentralized update laws, time-varying network topologies, and the influence of communication delays on this process. Perhaps surprisingly, these nonidealized networked conditions inherit the same benefits of convergence being determined through collective effects for the group. Simple simulations of a planar manipulator identifying an unknown load are provided to illustrate the central idea and benefits of Collective Sufficient Richness.Comment: ICRA 201