Optimal Energy Allocation for Kalman Filtering over Packet Dropping Links with Imperfect Acknowledgments and Energy Harvesting Constraints

This paper presents a design methodology for optimal transmission energy allocation at a sensor equipped with energy harvesting technology for remote state estimation of linear stochastic dynamical systems. In this framework, the sensor measurements as noisy versions of the system states are sent to the receiver over a packet dropping communication channel. The packet dropout probabilities of the channel depend on both the sensor's transmission energies and time varying wireless fading channel gains. The sensor has access to an energy harvesting source which is an everlasting but unreliable energy source compared to conventional batteries with fixed energy storages. The receiver performs optimal state estimation with random packet dropouts to minimize the estimation error covariances based on received measurements. The receiver also sends packet receipt acknowledgments to the sensor via an erroneous feedback communication channel which is itself packet dropping. The objective is to design optimal transmission energy allocation at the energy harvesting sensor to minimize either a finite-time horizon sum or a long term average (infinite-time horizon) of the trace of the expected estimation error covariance of the receiver's Kalman filter. These problems are formulated as Markov decision processes with imperfect state information. The optimal transmission energy allocation policies are obtained by the use of dynamic programming techniques. Using the concept of submodularity, the structure of the optimal transmission energy policies are studied. Suboptimal solutions are also discussed which are far less computationally intensive than optimal solutions. Numerical simulation results are presented illustrating the performance of the energy allocation algorithms.Comment: Submitted to IEEE Transactions on Automatic Control. arXiv admin note: text overlap with arXiv:1402.663

Robust Control in Global Warming Management: An Analytical Dynamic Integrated Assessment

Imperfect measurement of uncertainty (deeper uncertainty) in climate sensitivity is introduced in a two-sectoral integrated assessment model (IAM) with endogenous growth, based on an extension of DICE. The household expresses ambiguity aversion and can use robust control via a `shadow ambiguity premium' on social carbon cost to identify robust climate policy feedback rules that work well over a range such as the IPCC climate sensitivity range (IPCC, 2007a). Ambiguity aversion, in combination with linear damage, increases carbon cost in a similar way as a low pure rate of time preference. However, ambiguity aversion in combination with non-linear damage would also make policy more responsive to changes in climate data observations. Perfect ambiguity aversion results in an infinite expected shadow carbon cost and a zero carbon consumption path. Dynamic programming identifies an analytically tractable solution to the IAM.climate policy, carbon cost, robust control, Knightian uncertainty, ambiguity aversion, integrated asssessment

Joint source-channel coding with feedback

This paper quantifies the fundamental limits of variable-length transmission of a general (possibly analog) source over a memoryless channel with noiseless feedback, under a distortion constraint. We consider excess distortion, average distortion and guaranteed distortion ($d$-semifaithful codes). In contrast to the asymptotic fundamental limit, a general conclusion is that allowing variable-length codes and feedback leads to a sizable improvement in the fundamental delay-distortion tradeoff. In addition, we investigate the minimum energy required to reproduce $k$ source samples with a given fidelity after transmission over a memoryless Gaussian channel, and we show that the required minimum energy is reduced with feedback and an average (rather than maximal) power constraint.Comment: To appear in IEEE Transactions on Information Theor