Optimal Mobile Sensing and Actuation Policies in Cyber-physical Systems

189 Pages·2012·3.86 MB·English

by  Christophe Tricaud

Optimal Mobile Sensing and Actuation Policies
in Cyber-physical Systems

Christophe Tricaud (cid:2) YangQuan Chen
Optimal Mobile
Sensing and
Actuation Policies
in Cyber-physical
Systems
Dr.ChristopheTricaud Dr.YangQuanChen
CumminsInc. DepartmentofElectricalandComputer
1900McKinleyAvenue Engineering,CSOIS
Columbus47201,IN UtahStateUniversity
USA OldMainHill4160
[email protected] Logan84322-4120,UT
USA
[email protected]
ISBN978-1-4471-2261-6 e-ISBN978-1-4471-2262-3
DOI10.1007/978-1-4471-2262-3
SpringerLondonDordrechtHeidelbergNewYork
BritishLibraryCataloguinginPublicationData
AcataloguerecordforthisbookisavailablefromtheBritishLibrary
LibraryofCongressControlNumber:2011940676
©Springer-VerlagLondonLimited2012
Apartfromanyfairdealingforthepurposesofresearchorprivatestudy,orcriticismorreview,asper-
mittedundertheCopyright,DesignsandPatentsAct1988,thispublicationmayonlybereproduced,
storedortransmitted,inanyformorbyanymeans,withthepriorpermissioninwritingofthepublish-
ers,orinthecaseofreprographicreproductioninaccordancewiththetermsoflicensesissuedbythe
CopyrightLicensingAgency.Enquiriesconcerningreproductionoutsidethosetermsshouldbesentto
thepublishers.
Theuseofregisterednames,trademarks,etc.,inthispublicationdoesnotimply,evenintheabsenceofa
specificstatement,thatsuchnamesareexemptfromtherelevantlawsandregulationsandthereforefree
forgeneraluse.
Thepublishermakesnorepresentation,expressorimplied,withregardtotheaccuracyoftheinformation
containedinthisbookandcannotacceptanylegalresponsibilityorliabilityforanyerrorsoromissions
thatmaybemade.
Coverdesign:VTeXUAB,Lithuania
Printedonacid-freepaper
SpringerispartofSpringerScience+BusinessMedia(www.springer.com)
To ourcolleagues,friends, andfamilies

Preface
Cyber-physical systems (CPSs) are an emerging research topic born from the
ever increasing complexity of engineered systems. Future systems will have to
interact with each other and with the physical world in a very tight and well-
coordinated fashion, and designing such systems is the research challenge behind
CPSs.CPSshavebeendefinedas“computationalthinkingandintegrationofcom-
putation around the physical dynamic systems where sensing, decision, actuation,
computation,networking,andphysicalprocessesaremixed”.Givensuchadefini-
tion of CPSs, it is trivial to observe that there are two main entities in a CPS: the
“cyber”endofthesystemthatiscomposedofthehardwareandsoftware,andthe
“physical”endofthesystemthatrelatestopartoftheenvironment.Theproblemof
designingthecyberpartmaynotbetrivialbutcanbesolvedfromscratch.However,
thephysicalpart,usuallyanaturalphysicalprocess,isinherentlygivenandhasto
beidentifiedinordertoproposeanappropriatecyberparttobeadopted.Therefore,
oneofthefirststepsindesigningaCPSistoidentifyitsphysicalpart.Thephysical
partcanbelongtoalargearrayofsystemclasses.Amongthepossiblecandidates,
wefocusourinterestondistributedparametersystems(DPSs)whosedynamicscan
bemodeledbypartialdifferentialequations(PDEs).DPSsarebynatureverychal-
lenging to observe as their states are distributed throughout the spatial domain of
interest.Therefore,systematicapproacheshavetobedevelopedtoobtaintheopti-
mallocationsofsensorstooptimallyestimatetheparametersofagivenDPS.
Withthismonograph,wewishtoprovideourreaderwithacomprehensiveun-
derstandingofCPSandemphasizeonourpastexperienceinthetopic.Forthepast
five years, we have worked on the topic of optimal mobile sensing and actuation
policiesinCPSsanddirectedourresearcheffortfrompurelytheoreticalresultsto
moreapplicableresults.Thatiswhythereaderwillfindnotonlysensingandactua-
tion,butalsoremotesensing,anonlinesolutiontotheproblemofoptimalsensing,
andcommunicationtopologies.
Wefirstreviewtherecentmethodsfromtheliteratureasthefoundationsofour
contributions. Then, we define new research problems within the above optimal
parameterestimationframework.Twodifferentyetimportantproblemsconsidered
are the optimal mobile sensor trajectory planning and the accuracy effects and al-
locationofheterogeneoussensors.Undertheremotesensingsetting,weareableto
vii
viii Preface
determinetheoptimaltrajectoriesofremotesensors.Theproblemofoptimalrobust
estimationisthenintroducedandsolvedusinganinterlaced“online”or“real-time”
scheme.Actuationpolicies are introducedinto the framework to improvethe esti-
mation by providing the best stimulation of the DPS for optimal parameter iden-
tification, where trajectories of both sensors and actuators are optimized simulta-
neously.Wealsointroducedanewmethodologytosolvingfractional-orderoptimal
controlproblems,withwhichwedemonstratethatwecansolveoptimalsensingpol-
icyproblemswhensensorsmoveincomplexmedia,displayingfractionaldynamics.
Weconsiderandsolvetheproblemofoptimalscalereconciliationusingsatelliteim-
agery,groundmeasurements,andunmannedaerialvehicles(UAVs)-basedpersonal
remotesensing.
Finally,toprovidethereaderwithallthenecessarybackground,theappendices
containimportantconceptsandtheoremsfromtheliteratureaswellastheMATLAB
codesusedtonumericallysolvesomeofthedescribedproblems.
Columbus,IN,USA ChristopheTricaud
Logan,UT,USA YangQuanChen
Acknowledgements
Withthismonograph,ourintentistoprovideacomprehensivesummaryofourre-
searcheffortsduringthepastfewyearsinthedomainofoptimalmobilesensingand
actuationpoliciesincyber-physicalsystems.Forthatreason,thismonographcon-
tainsmaterialsfrompapersandarticlesthatwerepreviouslypublishedaswellasthe
Ph.D.dissertationofthefirstauthor.Wearethankfulandwouldliketoacknowledge
thecopyrightpermissionsfromthefollowingpublisherswhohavereleasedourwork
onthattopic:
Acknowledgement is given to the Institute of Electrical and Electronic Engineers
(IEEE)toreproducematerialfromthefollowingpapers:
©2008 IEEE. Reprinted, with permission, from Christophe Tricaud, Maciej
Patan, Dariusz Ucin´ski, and YangQuan Chen. “D-Optimal Trajectory Design
of Heterogeneous Mobile Sensors for Parameter Estimation of Distributed Sys-
tems”, Proc. of the 2008 American Control Conference, Seattle, Washing-
ton, USA, June 11–13, 2008, pp. 663–668 (material found in Chap. 3). DOI:
10.1109/ACC.2008.4586568
©2009 IEEE. Reprinted, with permission, from Christophe Tricaud and
YangQuan Chen. “Solution of Fractional Order Optimal Control Problems Us-
ing SVD-basedRationalApproximations”,Proc. ofthe 2009AmericanControl
Conference, St. Louis, Missouri, USA, June 10–12, 2009, (material found in
Chap.6)
©2009 IEEE. Reprinted, with permission, from Christophe Tricaud and
YangQuan Chen. “Optimal Mobile Actuator/Sensor Network Motion Strategy
for Parameter Estimation in a Class of Cyber Physical Systems”, Proc. of the
2009AmericanControlConference,St.Louis,Missouri,USA,June10–12,2009
(materialfoundinChap.4).
©2010 IEEE. Reprinted, with permission, from Christophe Tricaud and
YangQuanChen.“OptimalTrajectoriesofMobileRemoteSensorsforParameter
EstimationinDistributedCyber-physicalSystems”,Proc.ofthe2010American
ix