Distributed Optimal Control of Cyber-Physical Systems: Controller Synthesis, Architecture Design and System Identification

The centralized paradigm of a single controller and a single plant upon which modern control theory is built is no longer applicable to modern cyber-physical systems of interest, such as the power-grid, software defined networks or automated highways systems, as these are all large-scale and spatially distributed. Both the scale and the distributed nature of these systems has motivated the decentralization of control schemes into local sub-controllers that measure, exchange and act on locally available subsets of the globally available system information. This decentralization of control logic leads to different decision makers acting on asymmetric information sets, introduces the need for coordination between them, and perhaps not surprisingly makes the resulting optimal control problem much harder to solve. In fact, shortly after such questions were posed, it was realized that seemingly simple decentralized optimal control problems are computationally intractable to solve, with the Wistenhausen counterexample being a famous instance of this phenomenon. Spurred on by this perhaps discouraging result, a concerted 40 year effort to identify tractable classes of distributed optimal control problems culminated in the notion of quadratic invariance, which loosely states that if sub-controllers can exchange information with each other at least as quickly as the effect of their control actions propagates through the plant, then the resulting distributed optimal control problem admits a convex formulation.

The identification of quadratic invariance as an appropriate means of "convexifying" distributed optimal control problems led to a renewed enthusiasm in the controller synthesis community, resulting in a rich set of results over the past decade. The contributions of this thesis can be seen as being a part of this broader family of results, with a particular focus on closing the gap between theory and practice by relaxing or removing assumptions made in the traditional distributed optimal control framework. Our contributions are to the foundational theory of distributed optimal control, and fall under three broad categories, namely controller synthesis, architecture design and system identification.

We begin by providing two novel controller synthesis algorithms. The first is a solution to the distributed H-infinity optimal control problem subject to delay constraints, and provides the only known exact characterization of delay-constrained distributed controllers satisfying an H-infinity norm bound. The second is an explicit dynamic programming solution to a two player LQR state-feedback problem with varying delays. Accommodating varying delays represents an important first step in combining distributed optimal control theory with the area of Networked Control Systems that considers lossy channels in the feedback loop. Our next set of results are concerned with controller architecture design. When designing controllers for large-scale systems, the architectural aspects of the controller such as the placement of actuators, sensors, and the communication links between them can no longer be taken as given -- indeed the task of designing this architecture is now as important as the design of the control laws themselves. To address this task, we formulate the Regularization for Design (RFD) framework, which is a unifying computationally tractable approach, based on the model matching framework and atomic norm regularization, for the simultaneous co-design of a structured optimal controller and the architecture needed to implement it. Our final result is a contribution to distributed system identification. Traditional system identification techniques such as subspace identification are not computationally scalable, and destroy rather than leverage any a priori information about the system's interconnection structure. We argue that in the context of system identification, an essential building block of any scalable algorithm is the ability to estimate local dynamics within a large interconnected system. To that end we propose a promising heuristic for identifying the dynamics of a subsystem that is still connected to a large system. We exploit the fact that the transfer function of the local dynamics is low-order, but full-rank, while the transfer function of the global dynamics is high-order, but low-rank, to formulate this separation task as a nuclear norm minimization problem. Finally, we conclude with a brief discussion of future research directions, with a particular emphasis on how to incorporate the results of this thesis, and those of optimal control theory in general, into a broader theory of dynamics, control and optimization in layered architectures.

Social, economic, and health impact of the respiratory syncytial virus: a systematic search

Background: Bronchiolitis caused by the respiratory syncytial virus (RSV) and its related complications are common in infants born prematurely, with severe congenital heart disease, or bronchopulmonary dysplasia, as well as in immunosuppressed infants. There is a rich literature on the different aspects of RSV infection with a focus, for the most part, on specific risk populations. However, there is a need for a systematic global analysis of the impact of RSV infection in terms of use of resources and health impact on both children and adults. With this aim, we performed a systematic search of scientific evidence on the social, economic, and health impact of RSV infection. Methods: A systematic search of the following databases was performed: MEDLINE, EMBASE, Spanish Medical Index, MEDES-MEDicina in Spanish, Cochrane Plus Library, and Google without time limits. We selected 421 abstracts based on the 6,598 articles identified. From these abstracts, 4 RSV experts selected the most relevant articles. They selected 65 articles. After reading the full articles, 23 of their references were also selected. Finally, one more article found through a literature information alert system was included. Results: The information collected was summarized and organized into the following topics: 1. Impact on health (infections and respiratory complications, mid-to long-term lung function decline, recurrent wheezing, asthma, other complications such as otitis and rhino-conjunctivitis, and mortality; 2. Impact on resources (visits to primary care and specialists offices, emergency room visits, hospital admissions, ICU admissions, diagnostic tests, and treatments); 3. Impact on costs (direct and indirect costs); 4. Impact on quality of life; and 5. Strategies to reduce the impact (interventions on social and hygienic factors and prophylactic treatments). Conclusions: We concluded that 1. The health impact of RSV infection is relevant and goes beyond the acute episode phase; 2. The health impact of RSV infection on children is much better documented than the impact on adults; 3. Further research is needed on mid-and long-term impact of RSV infection on the adult population, especially those at high-risk; 4. There is a need for interventions aimed at reducing the impact of RSV infection by targeting health education, information, and prophylaxis in high-risk populations.

Optimal control predicts human performance on objects with internal degrees of freedom.

On a daily basis, humans interact with a vast range of objects and tools. A class of tasks, which can pose a serious challenge to our motor skills, are those that involve manipulating objects with internal degrees of freedom, such as when folding laundry or using a lasso. Here, we use the framework of optimal feedback control to make predictions of how humans should interact with such objects. We confirm the predictions experimentally in a two-dimensional object manipulation task, in which subjects learned to control six different objects with complex dynamics. We show that the non-intuitive behavior observed when controlling objects with internal degrees of freedom can be accounted for by a simple cost function representing a trade-off between effort and accuracy. In addition to using a simple linear, point-mass optimal control model, we also used an optimal control model, which considers the non-linear dynamics of the human arm. We find that the more realistic optimal control model captures aspects of the data that cannot be accounted for by the linear model or other previous theories of motor control. The results suggest that our everyday interactions with objects can be understood by optimality principles and advocate the use of more realistic optimal control models for the study of human motor neuroscience.

a backtracking search tool for constructing combinatorial test suites

Combinatorial testing is an important testing method. It requires the test cases to cover various combinations of parameters of the system under test. The test generation problem for combinatorial testing can be modeled as constructing a matrix which has certain properties. This paper first discusses two combinatorial testing criteria: covering array and orthogonal array, and then proposes a backtracking search algorithm to construct matrices satisfying them. Several search heuristics and symmetry breaking techniques are used to reduce the search time. This paper also introduces some techniques to generate large covering array instances from smaller ones. All the techniques have been implemented in a tool called EXACT (EXhaustive seArch of Combinatorial Test suites). A new optimal covering array is found by this tool.

Application of uniform design and genetic algorithm in optimization of reversed-phase chromatographic separation

An optimization method based on uniform design in conjunction with genetic algorithm is described. According to the proposed method, the uniform design technique was applied to the design of starting experiments, which can reduce the number of experiments compared with traditional simultaneous methods, such as simplex. And genetic algorithm was used in optimization procedure, which can improve the rapidity of optimal procedure. The hierarchical chromatographic response function was modified to evaluate the separation equality of a chromatogram. An iterative procedure was adopted to search for the optimal condition to improve the accuracy of predicted retention and the quality of the chromatogram. The optimization procedure was tested in optimization of the chromatographic separation of 11 alkaloids in reversed-phase ion pair chromatography and satisfactory optimal result was obtained. (C) 2003 Elsevier B.V. All rights reserved.

A new topological index for the Changchun institute of applied chemistry C-13 NMR information system

A method to assign a single number representation for each atom (node) in a molecular graph, Atomic IDentification (AID) number, is proposed based on the counts of weighted paths terminated on that atom. Then, a new topological index, Molecular IDentification (MID) number is developed from AID. The MID is tested systematically, over half a million of structures are examined, and MID shows high discrimination for various structural isomers. Thus it can be used for documentation in the Changchun Institute of Chemistry C-13 NMR information system.

Optimal Fuzzy PID Controller with Incomplete Derivation and Its Simulation Research on Application of Intelligent Artificial Legs

提出了一种新的最优模糊PID控制器，它由两部分组成，即在线模糊推理机构和带有不完全微分的常规PID控制器，在模糊推理机构中，引入了三个可调节因子xp,xi和xd，其作用是进一步修改和优化模糊推理的结果，以使控制器对一个给定对象具有最优的控制效果，可调节因子的最优值采用ITAE准则及Nelder和Mead提出的柔性多面体最优搜索算法加以确定，这种PID控制器被用来控制由作者设计的智能人工腿中的一个直流电机，仿真结果表明该控制器的设计是非常有效的，它可被用于控制各种不同的对象和过程。

Calculation of Blocking Probabilities in Multistage Interconnection Networks with Redundant Paths

The blocking probability of a network is a common measure of its performance. There exist means of quickly calculating the blocking probabilities of Banyan networks; however, because Banyan networks have no redundant paths, they are not inherently fault-tolerant, and so their use in large-scale multiprocessors is problematic. Unfortunately, the addition of multiple paths between message sources and sinks in a network complicates the calculation of blocking probabilities. A methodology for exact calculation of blocking probabilities for small networks with redundant paths is presented here, with some discussion of its potential use in approximating blocking probabilities for large networks with redundant paths.

Cortical Dynamics of Contextually-Cued Attentive Visual Learning and Search: Spatial and Object Evidence Accumulation

How do humans use predictive contextual information to facilitate visual search? How are consistently paired scenic objects and positions learned and used to more efficiently guide search in familiar scenes? For example, a certain combination of objects can define a context for a kitchen and trigger a more efficient search for a typical object, such as a sink, in that context. A neural model, ARTSCENE Search, is developed to illustrate the neural mechanisms of such memory-based contextual learning and guidance, and to explain challenging behavioral data on positive/negative, spatial/object, and local/distant global cueing effects during visual search. The model proposes how global scene layout at a first glance rapidly forms a hypothesis about the target location. This hypothesis is then incrementally refined by enhancing target-like objects in space as a scene is scanned with saccadic eye movements. The model clarifies the functional roles of neuroanatomical, neurophysiological, and neuroimaging data in visual search for a desired goal object. In particular, the model simulates the interactive dynamics of spatial and object contextual cueing in the cortical What and Where streams starting from early visual areas through medial temporal lobe to prefrontal cortex. After learning, model dorsolateral prefrontal cortical cells (area 46) prime possible target locations in posterior parietal cortex based on goalmodulated percepts of spatial scene gist represented in parahippocampal cortex, whereas model ventral prefrontal cortical cells (area 47/12) prime possible target object representations in inferior temporal cortex based on the history of viewed objects represented in perirhinal cortex. The model hereby predicts how the cortical What and Where streams cooperate during scene perception, learning, and memory to accumulate evidence over time to drive efficient visual search of familiar scenes.

Optimal control of atom transport for quantum gates in optical lattices

By means of optimal control techniques we model and optimize the manipulation of the external quantum state (center-of-mass motion) of atoms trapped in adjustable optical potentials. We consider in detail the cases of both noninteracting and interacting atoms moving between neighboring sites in a lattice of a double-well optical potentials. Such a lattice can perform interaction-mediated entanglement of atom pairs and can realize two-qubit quantum gates. The optimized control sequences for the optical potential allow transport faster and with significantly larger fidelity than is possible with processes based on adiabatic transport.

Determining the optimal current direction of transcranial magnetic stimulation to induce motor responses in the tongue: A preliminary study of neurologically healthy individuals

Objective
To determine the optimal transcranial magnetic stimulation (TMS) coil direction for inducing motor responses in the tongue in a group of non-neurologically impaired participants.
Methods
Single-pulse TMS was delivered using a figure-of-eight Magstim 2002 TMS coil. Study 1 investigated the effect of eight different TMS coil directions on the motor-evoked potentials elicited in the tongue in eight adults. Study 2 examined active motor threshold levels at optimal TMS coil direction compared to a customarily-used ventral-caudal direction. Study 3 repeated the procedure of Study 1 at five different sites across the tongue motor cortex in one adult.
Results
Inter-individual variability in optimal direction was observed, with an optimal range of directions determined for the group. Active motor threshold was reduced when a participant's own optimal TMS coil direction was used compared to the ventral-caudal direction. A restricted range of optimal directions was identified across the five cortical positions tested.
Conclusions
There is a need to identify each individual's own optimal TMS coil direction in investigating tongue motor cortex function. A recommended procedure for determining optimal coil direction is described.
Significance
Optimized TMS procedures are needed so that TMS can be utilized in determining the underlying neurophysiological basis of various motor speech disorders.

Effect of technique on intraocular pressure after combined cataract and glaucoma surgery: An evidence-based review.

TOPIC:

To analyze the literature pertaining to the techniques used in combined cataract and glaucoma surgery, including the technique of cataract extraction, the timing of the surgery (staged procedure versus combined procedure), the anatomic location of the operation, and the use of antifibrosis agents.

CLINICAL RELEVANCE:

Cataract and glaucoma are both common conditions and are often present in the same patient. There is no agreement concerning the optimal surgical management of these disorders when they coexist.

METHODS/LITERATURE REVIEWED:

Electronic searches of English language articles published since 1964 were conducted in Pub MED and CENTRAL, the Cochrane Collaboration's database. These were augmented by a hand search of six ophthalmology journals and the reference lists of a sample of studies included in the literature review. Evidence grades (A, strong; B, moderate; C, weak; I, insufficient) were assigned to the evidence that involved a direct comparison of alternative techniques.

RESULTS:

The preponderance of evidence from the literature suggests a small (2-4 mmHg) benefit from the use of mitomycin-C (MMC), but not 5-fluorouracil (5-FU), in combined cataract and glaucoma surgery (evidence grade B). Two-site surgery provides slightly lower (1-3 mmHg) intraocular pressure (IOP) than one-site surgery (evidence grade C), and IOP is lowered more (1-3 mmHg) by phacoemulsification than by nuclear expression in combined procedures (evidence grade C). There is insufficient evidence to conclude either that staged or combined procedures give better results or that alternative glaucoma procedures are superior to trabeculectomy in combined procedures.

CONCLUSIONS:

In the literature on surgical techniques and adjuvants used in the management of coexisting cataract and glaucoma, the strongest evidence of efficacy exists for using MMC, separating the incisions for cataract and glaucoma surgery, and removing the nucleus by phacoemulsification.

Navigation in dynamic environments taking advantage of moving agents

Esta tese propõe uma forma diferente de navegação de robôs em ambientes dinâmicos, onde o robô tira partido do movimento de pedestres, com o objetivo de melhorar as suas capacidades de navegação. A ideia principal é que, ao invés de tratar as pessoas como obstáculos dinâmicos que devem ser evitados, elas devem ser tratadas como agentes especiais com conhecimento avançado em navegação em ambientes dinâmicos. Para se beneficiar do movimento de pedestres, este trabalho propõe que um robô os selecione e siga, de modo que possa mover-se por caminhos ótimos, desviar-se de obstáculos não detetados, melhorar a navegação em ambientes densamente populados e aumentar a sua aceitação por outros humanos. Para atingir estes objetivos, novos métodos são desenvolvidos na área da seleção de líderes, onde duas técnicas são exploradas. A primeira usa métodos de previsão de movimento, enquanto a segunda usa técnicas de aprendizagem por máquina, para avaliar a qualidade de candidatos a líder, onde o treino é feito com exemplos reais. Os métodos de seleção de líder são integrados com algoritmos de planeamento de movimento e experiências são realizadas para validar as técnicas propostas.

Development of chitosan packaging films with carvacrol and grape seed extract as antimicrobial and antioxidant agents

In order to produce packaging films with a broad spectrum of action on microorganisms, the effect of two antimicrobial (AM) to be included in the films, carvacrol and GSE were studied separately on different microorganisms. Carvacrol was more effective against the grampositive bacteria than against the gram-negative bacterium. GSE was not effective against yeast. Subsequently, a search for optimal combinations of carvacrol, GSE and the addition of chitosan (as a third component with film forming properties) was carried out. Response surface analysis showed several synergetic effects and three optimal AM combinations (OAMC) were obtained for each microorganism. The experimental validation confirmed that the optimal solutions found can successfully predict the response for each microorganism. The optimization of mixtures of the three components, but this time, using the same concentration for all microorganisms, was also studied to obtain an OAMC with wide spectrum of activity. The results of the response surface analysis showed several synergistic effects for all microorganisms. Three OAMC, OAMC-1, OAMC-2, OAMC-3, were found to be the optimal mixtures for all microorganisms. The radical scavenging activity (RSA) of the different agents was then compared with a standard antioxidant (AOX) BHT, at different concentrations; as also at the OAMC. The RSA increased in the following order: chitosanof OAMC-3. The physico-mechanical properties of 3 films, film-1 with OAMC-1, film-2 with OAMC-2 and film-3 with OAMC-3 were studied. Film-3 presented the lowest WVP, CO2P and TS values and the highest O2P whereas film-1 presented the highest WVP and the lowest crystallinity, CO2P, TS and luminosity. Being one of the components of GSE, gallic acid (GA) release in water from film-1, film-2 and film-3 was next studied over a 30 day period. The mathematical model for the release of GA based on Fick’s law successfully fitted the experimental data and GA diffusion coefficients, assumed to be Arrhenius temperature dependent were obtained for each film. This work will contribute to the development of environmentally friendly packaging films, resulting in improved food preservation and shelf-life extension.

Retrial Queues with Orbital Search

Queueing system in which arriving customers who find all servers and waiting positions (if any) occupied many retry for service after a period of time are retrial queues or queues with repeated attempts. This study deals with two objectives one is to introduce orbital search in retrial queueing models which allows to minimize the idle time of the server. If the holding costs and cost of using the search of customers will be introduced, the results we obtained can be used for the optimal tuning of the parameters of the search mechanism. The second one is to provide insight of the link between the corresponding retrial queue and the classical queue. At the end we observe that when the search probability Pj = 1 for all j, the model reduces to the classical queue and when Pj = 0 for all j, the model becomes the retrial queue. It discusses the performance evaluation of single-server retrial queue. It was determined by using Poisson process. Then it discuss the structure of the busy period and its analysis interms of Laplace transforms and also provides a direct method of evaluation for the first and second moments of the busy period. Then it discusses the M/ PH/1 retrial queue with disaster to the unit in service and orbital search, and a multi-server retrial queueing model (MAP/M/c) with search of customers from the orbit. MAP is convenient tool to model both renewal and non-renewal arrivals. Finally the present model deals with back and forth movement between classical queue and retrial queue. In this model when orbit size increases, retrial rate also correspondingly increases thereby reducing the idle time of the server between services