CPS: Synergy: Resilient Wireless Sensor-Actuator Networks

Sponsor: National Science Foundation ($1,192,000 - 2012-2015)
Award No.: CNS-1239222, (202052-31025-20, 305054-31025-20)
Principal Investigator: M.D.Lemmon, University of Notre Dame
Co-PI: J.N. Laneman (Notre Dame), H. Lin (Notre Dame)


ABSTRACT: Wireless sensor-actuator networks (WSAN) are systems consisting of numerous sensing and actuation devices that interact with the environment and coordinate their activities over a wireless communication network. WSANs represent an important class of cyber-physical system (CPS) found in the national power grid and air/traffic networks.

This project addresses the issue of resilience in WSANs. A resilient system is one that maintains an active awareness of surrounding threats and reacts to those threats in a manner that returns the system to operational normalcy in finite time. It has proven challenging to ensure resilience in large-scale WSANs because of the complexity such scale brings. This project’s approach rests on two fundamental trends that have the potential to transform the way we manage CPS. One trend concerns the revolution in machine-to-machine (M2M) communication networks that promise wireless networking with greater peak bit-rates and reliability than previously possible. Another trend concerns recent results that take advantage of the information transported over the physical component of a CPS to dramatically reduce the bit-rates required across the wireless channel. These results are based on recent advances that treat quantization and event-triggered feedback in a unified manner. By integrating these innovations from controls and communications into a layered and distributed control architecture that is characteristic of many intelligent control systems, the systems developed in this project promise an unprecedented level of resilience to transient and crash faults.

The project will evaluate and demonstrate this integrated control/communication approach to resilience on a multi-robotic testbed consisting of both unmanned ground and aerial vehicles. The testbed integrates M2M communication wireless networking hardware/software with a resilient multi-robot control architecture addressing both task coordination and platform stabilization.


Documentation:
  1. Original Project Description, February 2012
  2. NSF Project Reports, 2013,2014,2015,2016
  3. CPS-PI Posters and Movies
  4. B. Wu and H. Lin (2015), "Counterexample-guided permissive supervisor synthesis for probabilistic systems through learning", 2015 American Control Conference, Chicago
  5. X. Zhang, B. Wu, and H. Lin (2015), "Learning based supervisor synthesis for POMDP for PCTL Specifications", The 54th IEEE Conference on Decision and Control, Osaka, Japan.
  6. J. Dai and H. Lin (2015), "Learning based design of fault-tolerant cooperative multi-agent systems", 2015 American Control Conference, Chicago.
  7. X. Zhang and H. Lin (2015), "Stochastic hybrid systems modeling and performance verification of behavior-based robots", 2015 American Control Conference, Chicago
  8. M.D. Lemmon and T. Tamba (2015), "Using elementary flux modes to estimate the distance to regime shifts in kinetic systems", IFAC Conference on the Analysis and Design of Hybrid Systems (ADHS 2015), Atlanta Georgia.
  9. Zhao Wang and M.D. Lemmon (2015), "Stability analysis of weak rural electrification microgrids with droop-controlled rotational and electronic distributed generators", IEEE Power and Energy Society General Meeting, 2015, Denver Colorado, USA.
  10. Zhao Wang and M.D. Lemmon (2015), "A static voltage stability detector using only local measurements of droop-controlled generators for stressed power distribution networks ", IEEE Power and Energy Society General Meeting, 2015, Denver Colorado, USA
  11. Bin Hu and M.D. Lemmon (2015), "Distributed Switching Control to Achieve Almost Sure Safety for Leader-Follower Vehicular Networked Systems", IEEE Transactions on Automation Control. PP(00), awaiting publication, DOE:10.1109/TAC.2015.2418451.
  12. A. Karmimoddini and H. Lin (2015), "Hierarchical hybrid symbolic robot motion planning and control", Asian Journal of Control, 17(1):23.
  13. Q. Quan, K.Y. Cai and H. Lin (2015), "Additive-state-decomposition-based tracking control framework for a class of nonminimum phase systems with measurable nonlinearities and unknown disturbances", International Journal of Robust and Nonlinear Control, 25(2):163.
  14. T. Li, H. Lin, and J. Zhao (2015), "Cooperative optimization with inseparable cost functions", IET Control Theory and Applications, accepted for publication.
  15. Z. Ji, H. Lin, and H. Yu (2015). "Protocols design and uncontrollable topologies construction for multiagent networks", IEEE Transactions on Automatic Control, 60(3):781
  16. T.A. Tamba (2015), "Forecasting Regime Shifts in Nonlinear Dynamical Processes", Ph.D. Dissertation, University of Notre Dame, Dept. of Electrical Engineering
  17. Sahand Golnarian (2014), "Energy efficient and Queue-aware Resource Allocation in Uplink OFDM Systems for Wireless M2M Communication, M.S. Thesis, University of Notre Dame
  18. T.A. Tamba and M.D. Lemmon (2014), Stochastic Reachability of Jump-Diffusion Process using Sum of Squares Optimization, submitted to IEEE Transactions on Automatic Control, June 2014.
    19. Bin Hu and M.D. Lemmon (2014), Distributed switching control to achieve resilience to deep fades in leader-follower nonholonomic systems, Conference on High Confidence Networked Systems (HiCONS), Berlin, Germany, April 2014.
  19. T.A. Tamba and M.D. Lemmon (2014), Forecasting the Resilience of Networked Dynamical Systems under Environmental Perturbations, Conference on High Confidence Networked Systems, (HiCONS), work-in-progress session, Berlin, Germany, April 2014.
  20. Bin Hu and M.D. Lemmon (2014), Distributed switched supervisory control to achieve almost sure safety for a class of interconnected networked systems, IEEE International Conference on Control and Automation (ICCA), Taichung, Taiwan, June 2014.
  21. T.A. Tamba and M.D. Lemmon (2014), The distance-to-bifurcation problem in non-negative dynamical systems with kinetic realizations, IEEE International Conference on Control and Automation (ICCA), Taichung, Taiwan, June 2014.
  22. T.A. Tamba and M.D. Lemmon (2013), Using First Passage Times to Manage Eco-system Regime Shfits, IEEE Conference on Decision and Control, Firenze, IT, December 2013.
  23. H. Lin and P. J. Antsaklis, Hybrid Dynamical Systems: An Introduction to Control and Verification,Foundations and Trends in Systems and Control, vol. 1, no. 1, pp. 1-172, Mar. 2014. doi: 10.1561/2600000001
  24. H. Lin, Mission Accomplished: An Introduction to Formal Methods in Mobile Robot Motion Planning and Control, Unmanned Systems, vol. 2, no. 2, pp. 201-216, 2014
  25. A. Karimoddini, H. Lin, B. M. Chen, and T. H. Lee, Hierarchical hybrid modeling and control of an unmanned helicopter, International Journal of Control, vol. 87, No. 9, pp. 1779-1793,
  26. A. Karimoddini and H. Lin, Hierarchical hybrid symbolic robot motion planning and control, accepted by Asian Journal of Control, 2014.
  27. J. Dai and H. Lin,  A Learning-based Synthesis Approach to Decentralized Supervisory Control of Discrete Event Systems with Unknown Plants,'' accepted by Control Theory and Technology, 2014.
  28. X. Liu, H. Lin, and B. M. Chen, Structural controllability of switched linear systems, Automatica, vol. 49, no. 12, pp. 3531-3537, 2013
  29. A. Karimoddini, H. Lin, B. M. Chen, and T. H. Lee, A Bumpless Hybrid Supervisory Control Algorithm for the formation of Unmanned Helicopters, Mechatroics, vol. 23, no. 6, pp. 677-688, 2013.
  30. J. Dai and H. Lin, Decentralized supervisory control of discrete event systems with unknown Plants: A learning-based synthesis approach,  in Proc. of the 11th IEEE International Conference on Control and Automation, Taichung, Taiwan,  June 18-20,  2014. 
  31. B. Wu, H. Lin, and M. Lemmon, Stability analysis for wireless networked control system in unslotted IEEE 802.15.4 protocol, in Proc. of the 11th IEEE International Conference on Control and Automation, Taichung, Taiwan,  June 18-20,  2014. 
  32. A. Partovi and H. Lin, Assume-guaranteed cooperative satisfaction, in Proc. of the 2014 American Control Conference,  Portland, OR, June 4-6, 2014. 
  33. A. Karimoddini, M. Karimadini,  and H. Lin, Decentralized hybrid formation control of unmanned aerial vehicles,  in Proc. of the 2014 American Control Conference,  Portland, OR, June 4-6, 2014.
  34. M. Khoshnevisan and J. N. Laneman, Intermittent Communication, IEEE Trans. Inform. Theory, Jan. 2014, submitted for publication. [http://arxiv.org/pdf/1312.1421v1.pdf]
  35. E. MolavianJazi and J. N. Laneman, A Finite-Blocklength Perspective on Gaussian Multi-Access Channels, IEEE Trans. Inform. Theory, Mar. 2014, submitted for publication. [http://arxiv.org/pdf/1309.2343.pdf]
  36. M. Khoshnevisan and J. N. Laneman, Achievable Rates for Intermittent Multi-Access Communication, in Proc. IEEE Information Theory Workshop (ITW), Seville, Spain, Sept. 2013. [http://www.nd.edu/~jnl/pubs/itw2013.pdf]
  37. E. MolavianJazi and J. N. Laneman, On the Second-Order Coding Rate of Non-Ergodic Fading Channels, in Proc. Allerton Conf. Communications, Control, and Computing, Monticello, IL, Oct. 2013. [http://www.nd.edu/~jnl/pubs/allerton2013.pdf]
  38. E. MolavianJazi and J. N. Laneman, On the Second-Order Cost of TDMA for Gaussian Multiple Access, in Proc. IEEE Int. Symp. Information Theory (ISIT), Honolulu, Hawaii, July 2014. [http://www.nd.edu/~jnl/pubs/isit2014.pdf]
  39. M. Khoshnevisan, Intermittent Communication, Ph.D. dissertation, University of Notre Dame, Notre Dame, IN, Jan. 2014. [http://www.nd.edu/~jnl/pubs/mkhoshnevisan-phd-nd-2014.pdf]
  40. E. MolavianJazi, A Unified Approach to Gaussian Channels with Finite Blocklength, Ph.D. dissertation, University of Notre Dame, Notre Dame, IN, Aug. 2014. [http://www.nd.edu/~jnl/pubs/emolavianjazi-phd-nd-2014.pdf]
  41. T. Tamba, Forecasting Regime Shifts in Complex Dynamical Systems, Ph.D. Candidacy Proposal, University of Notre Dame, May 2014.
  42. M.D. Lemmon (2012), Towards a passivity framework for power control and response time management in cloud computing, 7th International Workshop on Feedback Computing, San Jose, CA, Sept. 17, 2012.
  43. Lichun 'Lucinda' Li, Bin Hu, and M.D. Lemmon (2012), Resilient Event Triggered Systems with Limited Communication, IEEE Conference on Decision and Control, Hawaii, USA, December 2012
  44. Z. Wang, M. Xia, and M.D. Lemmon (2013), Voltage Stability of Weak Power Distribution Networks with Inverter Connected Sources, American Control Conference, Washington D.C., June 2013
  45. Lichun 'Lucinda' Li, M.D. Lemmon (2013), Polynomial Approximations of Optimal Event Triggers for State Estimation Problems using SOSTOOLS, American Control Conference, Washington D.C., June 2013
  46. Bin Hu and M.D. Lemmon (2013), Using Channel State Feedback to Achieve Resilience to Deep Fades in Wireless Networked Control Systems, Conference on High Confidence Networked Systems, Philadelphia, PA, April 9-11, 2013
  47. Lichun 'Lucinda' Li and M.D. Lemmon (2013), Computational Synthesis of Event-Triggers for MMSE State Esitmators with Communication Constraints, Submitted to IEEE Transactions on Control Systems Technology, January 2013
  48. B. Hu and M.D. Lemmon (2013), Resilient Leader-Follower Formation Control for Nonholonomic Systems Using Channel State Feedback, submitted to the IEEE Conference on Decision and Control, Firenze, IT, December 2013
  49. A. Karimoddini, H. Lin, B.M. Chen, and T.H. Lee, A smooth hybrid symbolic control for a team of UAVs over a partitioned space, Proceedings of the 2013 American Control Conference, USA, 2013.
  50. A. Karimoddini and H. Lin, Hierarchical Hybrid Symbolic Control for Robot Motion Planning, Proc. of 10th IEEE International Conference on Control and Automation, P.R. China, 2013.
  51. M. Khoshnevisan and J. Nicholas Laneman, Intermittent Multi-Access Communication: Achievable Rates, IEEE International Symposium on Information Theory, July 7-12, 2013, Istanbul, Turkey
  52. M. Khoshnevisan and J. Nicholas Laneman, Upper Bounds on the Capacity of Binary Intermittent Communication, ( poster), Workshop on Information Theory and Applications (ITA'13), February 10-15, 2013, Univ. of California, San Diego
  53. A. Karimoddini, H. Lin, B.M. Chen, T.H. Lee, A bumpless hybrid supervisory control algorithm for the formation of unmanned helicopters, to appear in Mechatronics, 2013.
  54. A. Karimoddini, H. Len, X. Dong, F. Lin, G. Cai, B.M. Chen, and T.H. Lee, Hybrid modeling and control of the regulation layer of unmanned helicopter", conditionally accepted byt he International Journal of Control, 2013.
  55. E. MolavianJazi and J.N. Laneman, Simpler Achievable Rate Regions for Multiaccess with Finite Blocklength, In Proc. IEEE Int. Symp. Information Theory (ISIT), Boston, MA, July 2012.
  56. M. Khoshnevisan and J.N. Laneman, Achievable Rates for Intermittent Communication, in Proc. IEEE Int. Symp. Information Theory (ISIT), Boston, MA, July 2012.
  57. M. Khoshnevisan and J.N. Laneman, Interittent Communication and Partial Divergence, in Proc. Allerton Conf. Communications, Control, and Computing, Monticello, IL, Oct. 2012
  58. E. MolavianJazi and J.N. Laneman, A random coding approach to Gaussian Multiple access channels with finite blocklength, in Proc. Allerton Conf. Communications, Control, and Computing, Monticello, IL, Oct. 2012.

Course Development:
  1. EE 87025 - Hybrid Dynamical Systems, Spring 2013
  2. EE 67598 02 - Special Studies in Mathematical Systems Biology, Spring 2013

Technology Transfer:


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