Optimal Control with Information Pattern Constraints

Despite the abundance of available literature that starts with the seminal paper of Wang and Davison almost forty years ago, when dealing with the problem of decentralized control for linear dynamical systems, one faces a surprising lack of general design methods, implementable via computationally tractable algorithms. This is mainly due to the fact that for decentralized control configurations, the classical control theoretical framework falls short in providing a systematic analysis of the stabilization problem, let alone cope with additional optimality criteria. Recently, a significant leap occurred through the theoretical machinery developed in Rotkowitz and Lall, IEEE-TAC, vol. 51, 2006, pp. 274-286 which unifies and consolidates many previous results, pinpoints certain tractable decentralized control structures, and outlines the most general known class of convex problems in decentralized control. The decentralized setting is modeled via the structured sparsity constraints paradigm, which proves to be a simple and effective way to formalize many decentralized configurations where the controller feature a given sparsity pattern. Rotkowitz and Lall propose a computationally tractable algorithm for the design of H2 optimal, decentralized controllers for linear and time invariant systems, provided that the plant is strongly stabilizable. The method is built on the assumption that the sparsity constraints imposed on the controller satisfy a certain condition (named quadratic invariance) with respect to the plant and that some decentralized, strongly stablizable, stabilizing controller is available beforehand. For this class of decentralized feedback configurations modeled via sparsity constraints, so called quadratically invariant, we provided complete solutions to several open problems. Firstly, the strong stabilizability assumption was removed via the so called coordinate free parametrization of all, sparsity constrained controllers. Next we have addressed the unsolved problem of stabilizability/stabilization via sparse controllers, using a particular form of the celebrated Youla parametrization. Finally, a new result related to the optimal disturbance attenuation problem in the presence of stable plant perturbations is presented. This result is also valid for quadratically invariant, decentralized feedback configurations. Each result provides a computational, numerically tractable algorithm which is meaningful in the synthesis of sparsity constrained optimal controllers

Reinforcement Learning

Brains rule the world, and brain-like computation is increasingly used in computers and electronic devices. Brain-like computation is about processing and interpreting data or directly putting forward and performing actions. Learning is a very important aspect. This book is on reinforcement learning which involves performing actions to achieve a goal. The first 11 chapters of this book describe and extend the scope of reinforcement learning. The remaining 11 chapters show that there is already wide usage in numerous fields. Reinforcement learning can tackle control tasks that are too complex for traditional, hand-designed, non-learning controllers. As learning computers can deal with technical complexities, the tasks of human operators remain to specify goals on increasingly higher levels. This book shows that reinforcement learning is a very dynamic area in terms of theory and applications and it shall stimulate and encourage new research in this field

Towards an infrastructure for preparation and control of intelligent automation systems

In an attempt to handle some of the challenges of modern production, intelligent automation systems offer solutions that are flexible, adaptive, and collaborative. Contrary to traditional solutions, intelligent automation systems emerged just recently and thus lack the supporting tools and infrastructure that traditional systems nowadays take for granted. To support efficient development, commissioning, and control of such systems, this thesis summarizes various lessons learned during years of implementation. Based on what was learned, this thesis investigates key features of infrastructure for modern and flexible intelligent automation systems, as well as a number of important design solutions. For example, an important question is raised whether to decentralize the global state or to give complete access to the main controller.Moreover, in order to develop such systems, a framework for virtual preparation and commissioning is presented, with the main goal to offer support for engineers. As traditional virtual commissioning solutions are not intended for preparing highly flexible, collaborative, and dynamic systems, this framework aims to provide some of the groundwork and point to a direction for fast and integrated preparation and virtual commissioning of such systems.Finally, this thesis summarizes some of the investigations made on planning as satisfiability, in order to evaluate how different methods improve planning performance. Throughout the thesis, an industrial material kitting use case exemplifies presented perspectives, lessons learned, and frameworks

DECENTRALIZED ROBUST NONLINEAR MODEL PREDICTIVE CONTROLLER FOR UNMANNED AERIAL SYSTEMS

The nonlinear and unsteady nature of aircraft aerodynamics together with limited practical range of controls and state variables make the use of the linear control theory inadequate especially in the presence of external disturbances, such as wind. In the classical approach, aircraft are controlled by multiple inner and outer loops, designed separately and sequentially. For unmanned aerial systems in particular, control technology must evolve to a point where autonomy is extended to the entire mission flight envelope. This requires advanced controllers that have sufficient robustness, track complex trajectories, and use all the vehicles control capabilities at higher levels of accuracy. In this work, a robust nonlinear model predictive controller is designed to command and control an unmanned aerial system to track complex tight trajectories in the presence of internal and external perturbance. The Flight System developed in this work achieves the above performance by using: 1 A nonlinear guidance algorithm that enables the vehicle to follow an arbitrary trajectory shaped by moving points; 2 A formulation that embeds the guidance logic and trajectory information in the aircraft model, avoiding cross coupling and control degradation; 3 An artificial neural network, designed to adaptively estimate and provide aerodynamic and propulsive forces in real-time; and 4 A mixed sensitivity approach that enhances the robustness for a nonlinear model predictive controller overcoming the effect of un-modeled dynamics, external disturbances such as wind, and measurement additive perturbations, such as noise and biases. These elements have been integrated and tested in simulation and with previously stored flight test data and shown to be feasible

Secure and Reliable Resource Allocation and Caching in Aerial-Terrestrial Cloud Networks (ATCNs)

Aerial-terrestrial cloud networks (ATCNs), global integration of air and ground communication systems, pave a way for a large set of applications such as surveillance, on-demand transmissions, data-acquisition, and navigation. However, such networks suffer from crucial challenges of secure and reliable resource allocation and content-caching as the involved entities are highly dynamic and there is no fine-tuned strategy to accommodate their connectivity. To resolve this quandary, cog-chain, a novel paradigm for secure and reliable resource allocation and content-caching in ATCNs, is presented. Various requirements, key concepts, and issues with ATCNs are also presented along with basic concepts to establish a cog-chain in ATCNs. Feed and fetch modes are utilized depending on the involved entities and caching servers. In addition, a cog-chain communication protocol is presented which avails to evaluate the formation of a virtual cog-chain between the nodes and the content-caching servers. The efficacy of the proposed solution is demonstrated through consequential gains observed for signaling overheads, computational time, reliability, and resource allocation growth. The proposed approach operates with the signaling overheads ranging between 30.36 and 303.6 bytes?hops/sec and the formation time between 186 and 195 ms. Furthermore, the overall time consumption is 83.33% lower than the sequential-verification model and the resource allocation growth is 27.17% better than the sequential-verification model. - 2019 IEEE.This work was supported in part by the Institute for Information and Communications Technology Promotion (IITP) grant through the Korean Government (MSIT) (Rule Specification-Based Misbehavior Detection for IoT-Embedded Cyber-Physical Systems) under Grant 2017-0-00664, and in part by the Soonchunhyang University Research Fund.Scopu

An architecture for secure data management in medical research and aided diagnosis

Programa Oficial de Doutoramento en Tecnoloxías da Información e as Comunicacións. 5032V01[Resumo] O Regulamento Xeral de Proteccion de Datos (GDPR) implantouse o 25 de maio de 2018 e considerase o desenvolvemento mais importante na regulacion da privacidade de datos dos ultimos 20 anos. As multas fortes definense por violar esas regras e non e algo que os centros sanitarios poidan permitirse ignorar. O obxectivo principal desta tese e estudar e proponer unha capa segura/integracion para os curadores de datos sanitarios, onde: a conectividade entre sistemas illados (localizacions), a unificacion de rexistros nunha vision centrada no paciente e a comparticion de datos coa aprobacion do consentimento sexan as pedras angulares de a arquitectura controlar a sua identidade, os perfis de privacidade e as subvencions de acceso. Ten como obxectivo minimizar o medo a responsabilidade legal ao compartir os rexistros medicos mediante o uso da anonimizacion e facendo que os pacientes sexan responsables de protexer os seus propios rexistros medicos, pero preservando a calidade do tratamento do paciente. A nosa hipotese principal e: os conceptos Distributed Ledger e Self-Sovereign Identity son unha simbiose natural para resolver os retos do GDPR no contexto da saude? Requirense solucions para que os medicos e investigadores poidan manter os seus fluxos de traballo de colaboracion sen comprometer as regulacions. A arquitectura proposta logra eses obxectivos nun ambiente descentralizado adoptando perfis de privacidade de datos illados.[Resumen] El Reglamento General de Proteccion de Datos (GDPR) se implemento el 25 de mayo de 2018 y se considera el desarrollo mas importante en la regulacion de privacidad de datos en los ultimos 20 anos. Las fuertes multas estan definidas por violar esas reglas y no es algo que los centros de salud puedan darse el lujo de ignorar. El objetivo principal de esta tesis es estudiar y proponer una capa segura/de integración para curadores de datos de atencion medica, donde: la conectividad entre sistemas aislados (ubicaciones), la unificacion de registros en una vista centrada en el paciente y el intercambio de datos con la aprobacion del consentimiento son los pilares de la arquitectura propuesta. Esta propuesta otorga al titular de los datos un rol central, que le permite controlar su identidad, perfiles de privacidad y permisos de acceso. Su objetivo es minimizar el temor a la responsabilidad legal al compartir registros medicos utilizando el anonimato y haciendo que los pacientes sean responsables de proteger sus propios registros medicos, preservando al mismo tiempo la calidad del tratamiento del paciente. Nuestra hipotesis principal es: .son los conceptos de libro mayor distribuido e identidad autosuficiente una simbiosis natural para resolver los desafios del RGPD en el contexto de la atencion medica? Se requieren soluciones para que los medicos y los investigadores puedan mantener sus flujos de trabajo de colaboracion sin comprometer las regulaciones. La arquitectura propuesta logra esos objetivos en un entorno descentralizado mediante la adopcion de perfiles de privacidad de datos aislados.[Abstract] The General Data Protection Regulation (GDPR) was implemented on 25 May 2018 and is considered the most important development in data privacy regulation in the last 20 years. Heavy fines are defined for violating those rules and is not something that healthcare centers can afford to ignore. The main goal of this thesis is to study and propose a secure/integration layer for healthcare data curators, where: connectivity between isolated systems (locations), unification of records in a patientcentric view and data sharing with consent approval are the cornerstones of the proposed architecture. This proposal empowers the data subject with a central role, which allows to control their identity, privacy profiles and access grants. It aims to minimize the fear of legal liability when sharing medical records by using anonymisation and making patients responsible for securing their own medical records, yet preserving the patient’s quality of treatment. Our main hypothesis is: are the Distributed Ledger and Self-Sovereign Identity concepts a natural symbiosis to solve the GDPR challenges in the context of healthcare? Solutions are required so that clinicians and researchers can maintain their collaboration workflows without compromising regulations. The proposed architecture accomplishes those objectives in a decentralized environment by adopting isolated data privacy profiles

Distributed and decentralized control in fully distributed processing systems

Issued as Quarterly progress reports no. 1-5, and Final technical report, Project no. G-36-649Final technical report has title: Distributed and decentralized control in fully distributed processing system