Design and Real-World Evaluation of Dependable Wireless Cyber-Physical Systems

The ongoing effort for an efficient, sustainable, and automated interaction between humans, machines, and our environment will make cyber-physical systems (CPS) an integral part of the industry and our daily lives. At their core, CPS integrate computing elements, communication networks, and physical processes that are monitored and controlled through sensors and actuators. New and innovative applications become possible by extending or replacing static and expensive cable-based communication infrastructures with wireless technology. The flexibility of wireless CPS is a key enabler for many envisioned scenarios, such as intelligent factories, smart farming, personalized healthcare systems, autonomous search and rescue, and smart cities. High dependability, efficiency, and adaptivity requirements complement the demand for wireless and low-cost solutions in such applications. For instance, industrial and medical systems should work reliably and predictably with performance guarantees, even if parts of the system fail. Because emerging CPS will feature mobile and battery-driven devices that can execute various tasks, the systems must also quickly adapt to frequently changing conditions. Moreover, as applications become ever more sophisticated, featuring compact embedded devices that are deployed densely and at scale, efficient designs are indispensable to achieve desired operational lifetimes and satisfy high bandwidth demands. Meeting these partly conflicting requirements, however, is challenging due to imperfections of wireless communication and resource constraints along several dimensions, for example, computing, memory, and power constraints of the devices. More precisely, frequent and correlated message losses paired with very limited bandwidth and varying delays for the message exchange significantly complicate the control design. In addition, since communication ranges are limited, messages must be relayed over multiple hops to cover larger distances, such as an entire factory. Although the resulting mesh networks are more robust against interference, efficient communication is a major challenge as wireless imperfections get amplified, and significant coordination effort is needed, especially if the networks are dynamic. CPS combine various research disciplines, which are often investigated in isolation, ignoring their complex interaction. However, to address this interaction and build trust in the proposed solutions, evaluating CPS using real physical systems and wireless networks paired with formal guarantees of a system’s end-to-end behavior is necessary. Existing works that take this step can only satisfy a few of the abovementioned requirements. Most notably, multi-hop communication has only been used to control slow physical processes while providing no guarantees. One of the reasons is that the current communication protocols are not suited for dynamic multi-hop networks. This thesis closes the gap between existing works and the diverse needs of emerging wireless CPS. The contributions address different research directions and are split into two parts. In the first part, we specifically address the shortcomings of existing communication protocols and make the following contributions to provide a solid networking foundation: • We present Mixer, a communication primitive for the reliable many-to-all message exchange in dynamic wireless multi-hop networks. Mixer runs on resource-constrained low-power embedded devices and combines synchronous transmissions and network coding for a highly scalable and topology-agnostic message exchange. As a result, it supports mobile nodes and can serve any possible traffic patterns, for example, to efficiently realize distributed control, as required by emerging CPS applications. • We present Butler, a lightweight and distributed synchronization mechanism with formally guaranteed correctness properties to improve the dependability of synchronous transmissions-based protocols. These protocols require precise time synchronization provided by a specific node. Upon failure of this node, the entire network cannot communicate. Butler removes this single point of failure by quickly synchronizing all nodes in the network without affecting the protocols’ performance. In the second part, we focus on the challenges of integrating communication and various control concepts using classical time-triggered and modern event-based approaches. Based on the design, implementation, and evaluation of the proposed solutions using real systems and networks, we make the following contributions, which in many ways push the boundaries of previous approaches: • We are the first to demonstrate and evaluate fast feedback control over low-power wireless multi-hop networks. Essential for this achievement is a novel co-design and integration of communication and control. Our wireless embedded platform tames the imperfections impairing control, for example, message loss and varying delays, and considers the resulting key properties in the control design. Furthermore, the careful orchestration of control and communication tasks enables real-time operation and makes our system amenable to an end-to-end analysis. Due to this, we can provably guarantee closed-loop stability for physical processes with linear time-invariant dynamics. • We propose control-guided communication, a novel co-design for distributed self-triggered control over wireless multi-hop networks. Self-triggered control can save energy by transmitting data only when needed. However, there are no solutions that bring those savings to multi-hop networks and that can reallocate freed-up resources, for example, to other agents. Our control system informs the communication system of its transmission demands ahead of time so that communication resources can be allocated accordingly. Thus, we can transfer the energy savings from the control to the communication side and achieve an end-to-end benefit. • We present a novel co-design of distributed control and wireless communication that resolves overload situations in which the communication demand exceeds the available bandwidth. As systems scale up, featuring more agents and higher bandwidth demands, the available bandwidth will be quickly exceeded, resulting in overload. While event-triggered control and self-triggered control approaches reduce the communication demand on average, they cannot prevent that potentially all agents want to communicate simultaneously. We address this limitation by dynamically allocating the available bandwidth to the agents with the highest need. Thus, we can formally prove that our co-design guarantees closed-loop stability for physical systems with stochastic linear time-invariant dynamics.:Abstract Acknowledgements List of Abbreviations List of Figures List of Tables 1 Introduction 1.1 Motivation 1.2 Application Requirements 1.3 Challenges 1.4 State of the Art 1.5 Contributions and Road Map 2 Mixer: Efficient Many-to-All Broadcast in Dynamic Wireless Mesh Networks 2.1 Introduction 2.2 Overview 2.3 Design 2.4 Implementation 2.5 Evaluation 2.6 Discussion 2.7 Related Work 3 Butler: Increasing the Availability of Low-Power Wireless Communication Protocols 3.1 Introduction 3.2 Motivation and Background 3.3 Design 3.4 Analysis 3.5 Implementation 3.6 Evaluation 3.7 Related Work 4 Feedback Control Goes Wireless: Guaranteed Stability over Low-Power Multi-Hop Networks 4.1 Introduction 4.2 Related Work 4.3 Problem Setting and Approach 4.4 Wireless Embedded System Design 4.5 Control Design and Analysis 4.6 Experimental Evaluation 4.A Control Details 5 Control-Guided Communication: Efficient Resource Arbitration and Allocation in Multi-Hop Wireless Control Systems 5.1 Introduction 5.2 Problem Setting 5.3 Co-Design Approach 5.4 Wireless Communication System Design 5.5 Self-Triggered Control Design 5.6 Experimental Evaluation 6 Scaling Beyond Bandwidth Limitations: Wireless Control With Stability Guarantees Under Overload 6.1 Introduction 6.2 Problem and Related Work 6.3 Overview of Co-Design Approach 6.4 Predictive Triggering and Control System 6.5 Adaptive Communication System 6.6 Integration and Stability Analysis 6.7 Testbed Experiments 6.A Proof of Theorem 4 6.B Usage of the Network Bandwidth for Control 7 Conclusion and Outlook 7.1 Contributions 7.2 Future Directions Bibliography List of Publication

Control-guided Communication: Efficient Resource Arbitration and Allocation in Multi-hop Wireless Control Systems

In future autonomous systems, wireless multi-hop communication is key to enable collaboration among distributed agents at low cost and high flexibility. When many agents need to transmit information over the same wireless network, communication becomes a shared and contested resource. Event-triggered and self-triggered control account for this by transmitting data only when needed, enabling significant energy savings. However, a solution that brings those benefits to multi-hop networks and can reallocate freed up bandwidth to additional agents or data sources is still missing. To fill this gap, we propose control-guided communication, a novel co-design approach for distributed self-triggered control over wireless multi-hop networks. The control system informs the communication system of its transmission demands ahead of time, and the communication system allocates resources accordingly. Experiments on a cyber-physical testbed show that multiple cart-poles can be synchronized over wireless, while serving other traffic when resources are available, or saving energy. These experiments are the first to demonstrate and evaluate distributed self-triggered control over low-power multi-hop wireless networks at update rates of tens of milliseconds.Comment: Accepted final version to appear in: IEEE Control Systems Letter

Demo Abstract: Fast Feedback Control and Coordination with Mode Changes for Wireless Cyber-Physical Systems

This abstract describes the first public demonstration of feedback control and coordination of multiple physical systems over a dynamic multi-hop low-power wireless network with update intervals of tens of milliseconds. Our running system can dynamically change between different sets of application tasks (e.g., sensing, actuation, control) executing on the spatially distributed embedded devices, while closed-loop stability is provably guaranteed even across those so-called mode changes. Moreover, any subset of the devices can move freely, which does not affect closed-loop stability and control performance as long as the wireless network remains connected.Comment: Proceedings of the 18th International Conference on Information Processing in Sensor Networks (IPSN'19), April 16--18, 2019, Montreal, QC, Canad

On convex conceptual regions in deep network representations

The current study of human-machine alignment aims at understanding the geometry of latent spaces and the correspondence to human representations. G\"ardenfors' conceptual spaces is a prominent framework for understanding human representations. Convexity of object regions in conceptual spaces is argued to promote generalizability, few-shot learning, and intersubject alignment. Based on these insights, we investigate the notion of convexity of concept regions in machine-learned latent spaces. We develop a set of tools for measuring convexity in sampled data and evaluate emergent convexity in layered representations of state-of-the-art deep networks. We show that convexity is robust to basic re-parametrization, hence, meaningful as a quality of machine-learned latent spaces. We find that approximate convexity is pervasive in neural representations in multiple application domains, including models of images, audio, human activity, text, and brain data. We measure convexity separately for labels (i.e., targets for fine-tuning) and other concepts. Generally, we observe that fine-tuning increases the convexity of label regions, while for more general concepts, it depends on the alignment of the concept with the fine-tuning objective. We find evidence that pre-training convexity of class label regions predicts subsequent fine-tuning performance

Determination of ankle and metatarsophalangeal stiffness during walking and jogging

Forefoot stiffness has been shown to influence joint biomechanics. However, little or no data exist on metatarsophalangeal stiffness. Twenty-four healthy rearfoot strike runners were recruited from a staff and student population at the University of Central Lancashire. Five repetitions of shod, self-selected speed level walking, and jogging were performed. Kinetic and kinematic data were collected using retroreflective markers placed on the lower limb and foot to create a 3-segment foot model using the calibrated anatomical system technique. Ankle and metatarsophalangeal moments and angles were calculated. Stiffness values were calculated using a linear best fit line of moment versus of angle plots. Paired t tests were used to compare values between walking and jogging conditions. Significant differences were seen in ankle range of motion, but not in metatarsophalangeal range of motion. Maximum moments were significantly greater in the ankle during jogging, but these were not significantly different at the metatarsophalangeal joint. Average ankle joint stiffness exhibited significantly lower stiffness when walking compared with jogging. However, the metatarsophalangeal joint exhibited significantly greater stiffness when walking compared with jogging. A greater understanding of forefoot stiffness may inform the development of footwear, prosthetic feet, and orthotic devices, such as ankle foot orthoses for walking and sporting activities

Interlaboratory Reproducibility in Growth and Reporter Expression in the Cyanobacterium Synechocystis sp. PCC 6803

In recent years, a plethora of new synthetic biology tools for use in cyanobacteria have been published; however, their reported characterizations often cannot be reproduced, greatly limiting the comparability of results and hindering their applicability. In this interlaboratory study, the reproducibility of a standard microbiological experiment for the cyanobacterial model organism Synechocystis sp. PCC 6803 was assessed. Participants from eight different laboratories quantified the fluorescence intensity of mVENUS as a proxy for the transcription activity of the three promoters PJ23100, PrhaBAD, and PpetE over time. In addition, growth rates were measured to compare growth conditions between laboratories. By establishing strict and standardized laboratory protocols, reflecting frequently reported methods, we aimed to identify issues with state-of-the-art procedures and assess their effect on reproducibility. Significant differences in spectrophotometer measurements across laboratories from identical samples were found, suggesting that commonly used reporting practices of optical density values need to be supplemented by cell count or biomass measurements. Further, despite standardized light intensity in the incubators, significantly different growth rates between incubators used in this study were observed, highlighting the need for additional reporting requirements of growth conditions for phototrophic organisms beyond the light intensity and CO2 supply. Despite the use of a regulatory system orthogonal to Synechocystis sp. PCC 6803, PrhaBAD, and a high level of protocol standardization, ∼32% variation in promoter activity under induced conditions was found across laboratories, suggesting that the reproducibility of other data in the field of cyanobacteria might be affected similarly

Evolution in the Disks and Bulges of Group Galaxies since z=0.4

We present quantitative morphology measurements of a sample of optically selected group galaxies at 0.3 < z < 0.55 using the Hubble Space Telescope (HST) Advanced Camera for Surveys (ACS) and the GIM2D surface brightness--fitting software package. The group sample is derived from the Canadian Network for Observational Cosmology Field Redshift survey (CNOC2) and follow-up Magellan spectroscopy. We compare these measurements to a similarly selected group sample from the Millennium Galaxy Catalogue (MGC) at 0.05 < z < 0.12. We find that, at both epochs, the group and field fractional bulge luminosity (B/T) distributions differ significantly, with the dominant difference being a deficit of disk--dominated (B/T < 0.2) galaxies in the group samples. At fixed luminosity, z=0.4 groups have ~ 5.5 +/- 2 % fewer disk--dominated galaxies than the field, while by z=0.1 this difference has increased to ~ 19 +/- 6 %. Despite the morphological evolution we see no evidence that the group environment is actively perturbing or otherwise affecting the entire existing disk population. At both redshifts, the disks of group galaxies have similar scaling relations and show similar median asymmetries as the disks of field galaxies. We do find evidence that the fraction of highly asymmetric, bulge--dominated galaxies is 6 +/- 3 % higher in groups than in the field, suggesting there may be enhanced merging in group environments. We replicate our group samples at z=0.4 and z=0 using the semi-analytic galaxy catalogues of Bower et al (2006). This model accurately reproduces the B/T distributions of the group and field at z=0.1. However, the model does not reproduce our finding that the deficit of disks in groups has increased significantly since z=0.4.Comment: Accepted for publication in MNRAS. 20 pages, 17 figure