DATA DRIVEN INTELLIGENT AGENT NETWORKS FOR ADAPTIVE MONITORING AND CONTROL

To analyze the characteristics and predict the dynamic behaviors of complex systems over time, comprehensive research to enable the development of systems that can intelligently adapt to the evolving conditions and infer new knowledge with algorithms that are not predesigned is crucially needed. This dissertation research studies the integration of the techniques and methodologies resulted from the fields of pattern recognition, intelligent agents, artificial immune systems, and distributed computing platforms, to create technologies that can more accurately describe and control the dynamics of real-world complex systems. The need for such technologies is emerging in manufacturing, transportation, hazard mitigation, weather and climate prediction, homeland security, and emergency response. Motivated by the ability of mobile agents to dynamically incorporate additional computational and control algorithms into executing applications, mobile agent technology is employed in this research for the adaptive sensing and monitoring in a wireless sensor network. Mobile agents are software components that can travel from one computing platform to another in a network and carry programs and data states that are needed for performing the assigned tasks. To support the generation, migration, communication, and management of mobile monitoring agents, an embeddable mobile agent system (Mobile-C) is integrated with sensor nodes. Mobile monitoring agents visit distributed sensor nodes, read real-time sensor data, and perform anomaly detection using the equipped pattern recognition algorithms. The optimal control of agents is achieved by mimicking the adaptive immune response and the application of multi-objective optimization algorithms. The mobile agent approach provides potential to reduce the communication load and energy consumption in monitoring networks. The major research work of this dissertation project includes: (1) studying effective feature extraction methods for time series measurement data; (2) investigating the impact of the feature extraction methods and dissimilarity measures on the performance of pattern recognition; (3) researching the effects of environmental factors on the performance of pattern recognition; (4) integrating an embeddable mobile agent system with wireless sensor nodes; (5) optimizing agent generation and distribution using artificial immune system concept and multi-objective algorithms; (6) applying mobile agent technology and pattern recognition algorithms for adaptive structural health monitoring and driving cycle pattern recognition; (7) developing a web-based monitoring network to enable the visualization and analysis of real-time sensor data remotely. Techniques and algorithms developed in this dissertation project will contribute to research advances in networked distributed systems operating under changing environments.

Memory resource balancing for virtualized computing

Virtualization has become a common abstraction layer in modern data centers. By multiplexing hardware resources into multiple virtual machines (VMs) and thus enabling several operating systems to run on the same physical platform simultaneously, it can effectively reduce power consumption and building size or improve security by isolating VMs. In a virtualized system, memory resource management plays a critical role in achieving high resource utilization and performance. Insufficient memory allocation to a VM will degrade its performance dramatically. On the contrary, over-allocation causes waste of memory resources. Meanwhile, a VM’s memory demand may vary significantly. As a result, effective memory resource management calls for a dynamic memory balancer, which, ideally, can adjust memory allocation in a timely manner for each VM based on their current memory demand and thus achieve the best memory utilization and the optimal overall performance. In order to estimate the memory demand of each VM and to arbitrate possible memory resource contention, a widely proposed approach is to construct an LRU-based miss ratio curve (MRC), which provides not only the current working set size (WSS) but also the correlation between performance and the target memory allocation size. Unfortunately, the cost of constructing an MRC is nontrivial. In this dissertation, we first present a low overhead LRU-based memory demand tracking scheme, which includes three orthogonal optimizations: AVL-based LRU organization, dynamic hot set sizing and intermittent memory tracking. Our evaluation results show that, for the whole SPEC CPU 2006 benchmark suite, after applying the three optimizing techniques, the mean overhead of MRC construction is lowered from 173% to only 2%. Based on current WSS, we then predict its trend in the near future and take different strategies for different prediction results. When there is a sufficient amount of physical memory on the host, it locally balances its memory resource for the VMs. Once the local memory resource is insufficient and the memory pressure is predicted to sustain for a sufficiently long time, a relatively expensive solution, VM live migration, is used to move one or more VMs from the hot host to other host(s). Finally, for transient memory pressure, a remote cache is used to alleviate the temporary performance penalty. Our experimental results show that this design achieves 49% center-wide speedup.

REAL TIME FUZZY CONTROLLER FOR QUADROTOR STABILITY CONTROL

In this report, we develop an intelligent adaptive neuro-fuzzy controller by using adaptive neuro fuzzy inference system (ANFIS) techniques. We begin by starting with a standard proportional-derivative (PD) controller and use the PD controller data to train the ANFIS system to develop a fuzzy controller. We then propose and validate a method to implement this control strategy on commercial off-the-shelf (COTS) hardware. An analysis is made into the choice of filters for attitude estimation. These choices are limited by the complexity of the filter and the computing ability and memory constraints of the micro-controller. Simplified Kalman filters are found to be good at estimation of attitude given the above constraints. Using model based design techniques, the models are implemented on an embedded system. This enables the deployment of fuzzy controllers on enthusiast-grade controllers. We evaluate the feasibility of the proposed control strategy in a model-in-the-loop simulation. We then propose a rapid prototyping strategy, allowing us to deploy these control algorithms on a system consisting of a combination of an ARM-based microcontroller and two Arduino-based controllers. We then use a combination of the code generation capabilities within MATLAB/Simulink in combination with multiple open-source projects in order to deploy code to an ARM CortexM4 based controller board. We also evaluate this strategy on an ARM-A8 based board, and a much less powerful Arduino based flight controller. We conclude by proving the feasibility of fuzzy controllers on Commercial-off the shelf (COTS) hardware, we also point out the limitations in the current hardware and make suggestions for hardware that we think would be better suited for memory heavy controllers.