WP4d Networked Control

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WP4d Networked Control

• Motivation for the existence of the WP in HYCON
• Hybrid dynamics arise in many networked embedded
  control systems, e.g.,
• modeling and analysis of control over wireless
  links
• adaptive control of resource management of
  wireless networks
• Hybrid models provide suitable level of
  abstraction for networked control

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WP4d Activities M13-M24

• Research advances on case studies
• Initial activity on the definition of an
  industrial case to provide a unified test bed for
  all participants
• Integration among partners and cooperation with
  other WPs
• Cooperation with industry
• Dissemination

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WP4d Activities M13-M24 Case Studies

• Focus on a few specific and well-defined problems
  related to the earlier work on the two case
  studies.
• RESULTS
• Case study (a) application of hybrid models to
  multi-agent coordination and new switched
  strategies to achieve collision avoidance and
  coordination for large sets of agents
• Case study (b) new hybrid models for adaptive
  control of transmission behaviors and algorithms
  for control over wireless networks

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Case Study A Hybrid control of multi-robot
systems over distributed wireless communication
Collision avoidance algorithm

• Decentralized algorithm for conflict management
  of multi-agent mobile systems
• Each agent takes decision based only on local
  information
• Simple hybrid collision avoidance algorithm
• Results
• Provable safety and liveness properties
• Experimental validation

Limitations on achievable performance

• Hybrid model of communication topology
• Convergence rate to consensus
• Results
• - Convergence vs network size and topology
• Persistence of topologies
• Algorithms for distributed sensing
• Experimental test-beds

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Case Study B Distributed and hybrid control of
resources in wireless networks for control
applications
Adaptive transmission

• Adaptive choice of communication protocol to
  enable closed-loop control over a wireless link
• Desired plant behavior described by a set of
  specifications that must be satisfied
• Model non-idealities of the wireless channel
• Results
• - Hybrid model for the communication scheme
• - Platform-based design formulation

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WP4d Activities M13-M24
WP6
Test case
WP4d
WP4c
WP4b
WP4a
WP3
Fundamental research on networked systems
The case studies relate to fundamental research
challenges that will bear fruits not only for
WP4d but also for other application domains that
will explicitly consider networked contexts
(link to other WP4x).
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HYCON platform for networked control

• Applications bound to specific implementation
  platforms
• Need to hide implementation details from
  application programmers
• Need interoperability between applications and
  between platforms

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Platform-Based Design

• Platform Based Design
• Top Down Application Development
• Platform Mapping
• Bottom Up Design Space Exploration

Sangiovanni-Vincentelli et al.
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Platforms for Wireless Sensor Networks
Sangiovanni-Vincentelli et al.
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Contributions in the Unified Framework
Multi-agent coordination
Hybrid MPC
Collision avoidance
Resource adaptation
Adaptive networking
Sensor fusion
Localization
Sangiovanni-Vincentelli et al.
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Remarks

• The PBD unifying view is relevant as it
  defines the interfaces and the components that
  are needed to ensure interoperabilty and
  flexibility
• The PBD view for Wireless Sensor Networks is
  unique to the HYCON community
• PBD is already used in other WPs (e.g., WP4.c)
  and can provide a useful integration framework
  across HYCON at large

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Wireless communication trends in industrial
automation
Variety of applications in control and monitoring

• From wired infrastructure to wireless solutions
• Reduce cabling
• Enhance flexibility
• Better maneuvers and control
• Easier to deploy
• Increase safety
• Improve monitoring and diagnosis
• Decrease maintenance costs

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Industrial test case on wireless automation
Industrial partner ABB
Primary System
Secondary System
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Industrial test case on wireless automation

• (Distributed) positioning of fixed and mobile
  entities
• (Distributed) synchronization
• Coordination of mobile entities
• (Joint) adaptive (control) networking

Controller
Problem Minimize air flow Subject to constraints
on oxygen control for safety
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WP4d - Milestones and Deliverables M13-M24
Task 4d.2 Definition of case studies on hybrid
modelling and control for networked control Task
4d.3 Hybrid modeling and control for the
proposed case studies
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Comments D4d.3.1 delayed to accommodate review
comments
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WPd - Milestones and Deliverables M13-M24, contd
Task 4d.4 Dissemination activities
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Cooperation, mobility and meetings

• Student and researcher mobility
• Transfer of PhD students
• Several faculty and researcher visits
• Exchange of MSc students, also supported by
  ERASMUS agreements, e.g.
• mobility between UNISI and KTH, UAQ and KTH
  within the Erasmus framework, with one student
  enrolled for Ph.D. at KTH
• 3 Master thesis by UAQ students at PARADES under
  joint coordination, with one student being
  enrolled for Ph.D.
• 3 WP4d meetings in M13-M18
• Seville, December 12 2005
• Rome, Feb. 16-17 2006
• Lund, June 1-2 2006

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Cooperation with industrial associates

• Invited talks from industrial associates at WP4d
  meetings and workshops
• Rome, Nov. 2005 Mike Horton, CEO Crossbow
• Rome, Feb. 2006 Giuseppe Cotignoli, COMAU
• Lund, June 2006 Alf Isaksson, ABB Corporate
  Research
• Meetings have been attended by industrial
  representatives
• FOI, ABB, Selex, Thales (Lund meeting)
• Ericsson AB, Selex, COMAU (Rome meeting)
• The test case on wireless automation is under
  development with ABB
• WP4d associated companies have increased and
  include now
• Ericsson AB, ABB, Thales, Selex
• Micron, FOI, Pirelli Labs
• Telefonica

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WP4d Actions on Further Reviewers Comments

• Improving Visibility
• Workshops and a side-event in a major conference
  intended to involve the communication community
• Closer links with NEWCOM researchers in the FP7
  perspective.
• Several HYCON joint publications in
  communications journals and conferences

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Dissemination activities Main events

• Wireless Sensor Networks 2005, Rome, November 14,
  2005, a technical workshop organized by PARADES
  in cooperation with Xbow Technologies and
  Instrumentation Devices.
• NEWCOM-HYCON Technical Workshop on Embedded
  Systems and Infrastructureless Networks,
  Florence, May 22, 2006 organized by F. Santucci
  and K.-H. Johansson in cooperation with Sergio
  Palazzo for the NEWCOM side.
• MTNS06 Mini-symposium on Distributed
  decision-making over ad-hoc networks, Kyoto,
  July 24-28, 2006 organized by K.-H. Johansson
  and F. Santucci as a joint HYCON-IFAC initiative.
• HYCON-NEWCOM Workshop on Networked Control,
  organized by Francoise Lamnabhi-Lagarrique at
  CNRS, Sept. 8, 2006.
• Launching of a new International Journal
  "Networks and Heterogeneous Media", B. Piccoli is
  Editor in Chief. The journal publishes original
  contributions in the broad field of networks,
  complex and heterogeneous media.
  www.aimsciences.org/journals/NHM/index.htm

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Dissemination activities Workshop on Embedded
systems and infrastructureless networks

• Joint initiative of NEWCOM-Project A Ad Hoc and
  Sensor Networks and HYCON-WP4d
• Date May 22, 2006 (in connection with MobiHoc
  2006)
• Location Florence
• Agenda
• 1 invited talk
• overview presentations of NEWCOM-Project A and
  HYCON-WP4d
• three overview talks from representative of 3
  other projects on WSN (CRUISE, WiSeNts, and
  eSENSE)
• 2 NEWCOM-HYCON sessions with 5 slots per session
• The workshop was attended by 29 participants.

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Mini-symposium on Distributed decision-making
over ad-hoc networks

• HYCON-IFAC joint initiative
• MTNS06 July 2006
• Experimental evaluation of a mobile ad-hoc
  networked controlled system, A. Panousopoulou,
  G. Nikolakopoulos, A. Tzes, J. Lygeros
• Modeling of adaptive behaviours in control over
  wireless networks, M.D. Di Benedetto, A.
  D'Innocenzo, G. Pola, C. Rinaldi, F. Santucci
• On the probabilistic verification of a
  decentralized and cooperative policy for conflict
  resolution in multi-agents systems, L.
  Pallottino, A. Frazzoli, V. Scordio, A. Bicchi
• Distributed model predictive consensus, K.-H.
  Johansson, M. Johansson, A. Speranzon, Johansson
• Distributed Kalman filtering using weighted
  averaging, P. Alriksson and A. Rantzer

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WP4d - Effort consumption