Infinite-Dimensional Stochastic Hybrid Systems: A Unified Framework for Distributed Control with Limited and Disrupted Communication

Infinite-Dimensional Stochastic Hybrid Systems：A Unified Framework for Distributed Control with Limited and Disrupted Communication无限维随机混合系统：有限和中断通信的分布式控制的统一框架本项目追求一个为期四年的研究和教育计划，以开发一个统一的框架，用于有限和潜在中断通信的分布式控制。该框架利用混合系统作为建模工具的选择，结合联合收割机物理连续系统，基于事件的协议，和实时软件。该项目的重点是对通信网络的分布式控制的具体需求。所开发的算法进行了测试，在两个测试平台上提供的加州大学，圣巴巴拉（UCSB）：ZEUS手术机器人系统和无线移动的roboticsystem.The研究追求显着扩展的混合系统理论，以解决具体的分布式控制和通信问题。特别是，以下基本问题进行了研究：发展理论的无穷维和功能的混合系统，这是需要处理（可能变化）的通信和计算延迟。 将混合系统理论扩展到随机设置，能够捕获大多数物理系统和通信/调度协议中存在的噪声，不确定性和随机性。 应用到现有的两个试验台的这些扩展的混合系统理论，以了解实际需要的分布式控制的通信网络。更广泛的影响所产生的projectThis项目的目的是生产严格的工具，分析和设计分布式控制系统，是完全集成的通信网络，支持他们。重点是在系统的设计，可证明是正确的建设，最大限度地减少需要蛮力后验验证。本研究的最终目标是设计一个在现实的（因此不是完美的）网络世界中可靠的控制系统。开发的工具和技术应用于两个测试平台：ZEUS手术机器人系统和基于ActivMedia的PIONEER-2轮式机器人的无线移动的机器人系统。这些试验台提供了基础研究的实际验证，并展示了混合系统作为医学和生物学等领域的使能技术的作用;科学和工业传感和控制;以及实验仪器对科学的支持。该项目具有很强的教育成分。除了为攻读博士学位的学生提供资金外，UCSB在混合动力控制系统领域的课程中还增加了新课程。这些课程是跨学科的，针对控制，通信，信号处理，机械和化学工程领域的学生。目标受众包括研究生早期在他们的MS和博士课程或高年级本科生。为此目的（并促进学生在不同部门的招生）的课程大多是自给自足的最低先决条件。本科教育是专门通过课程的变化，以提高对混合动力学的认识，以及为工程学院跨学科控制工程实验室（ICE实验室）的实验发展。通过让学生参与研究，希望能促进所开发技术向产业的转化，并鼓励学生培养在科学研究和电气工程专业职业生涯中取得成功所需的严谨和分析思维。所有成果，包括论文，报告和软件，都可以通过万维网免费提供给研究界。课程材料（包括课堂讲稿、家庭作业、实验材料等）学术界也可以免费获得。

Infinite-Dimensional Stochastic Hybrid Systems:A Unified Framework for Distributed Control with Limited and Disrupted CommunicationThis project pursues a four-year research and education plan to develop a unified framework for distributed control with limited and potentially disrupted communication. This framework utilizes hybrid systems as the modeling tool of choice to combine physical continuous systems, event-based protocols, and real-time software. The project is focused on the specific needs of distributed control over communication networks. The algorithms developed are tested on two testbeds available at the University of California, Santa Barbara (UCSB): the ZEUS Surgical Robotic System and a wireless mobile robotic system.The research pursues significant extensions of hybrid systems theory to address issues specific to distributed control and communication. In particular, the following fundamental issues are investigated: Development of a theory for infinite-dimensional and functional hybrid systems, which is needed to deal with (possibly varying) communication and computation delays. Extension of hybrid systems theory to a stochastic setting, capable of capturing noise, uncertainty and randomization present in most physical systems and in communication/scheduling protocols. Application to two existing test-beds of these extensions of hybrid systems theory, in order to understand the practical needs of distributed control over communication networks.Broader impacts resulting from the projectThis project aims at producing rigorous tools to analyze and design distributed control systems that are fully integrated with the communication networks that support them. The emphasis is in the design of systems that are provably correct by construction, minimizing the need for brute force a posteriori validation. The ultimate goal of this research is the design of control systems that are reliable in a realistic (thus not perfect) networked world.The tools and technologies developed are applied to two testbeds: the ZEUS Surgical Robotic System and a wireless mobile robotic system based on ActivMedia's PIONEER-2 wheeled robot. These testbeds provide the practical validation of the fundamental research as well as demonstrate the role of hybrid systems as an enabling technology to areas such as medicine and biology; scientific and industrial sensing and control; and the support of experimental apparatus for science.This project has a strong educational component. Aside from providing funding for students pursuing PhD programs, new courses are added to UCSB's curriculum in the area of hybrid control systems. These courses are interdisciplinary, aimed at students in the areas of control, communications, signal processing, mechanical, and chemical engineering. The intended audience consists of graduate students early in their MS and PhD programs or senior undergraduate students. To this effect (and to facilitate the enrollment of students in different departments) the courses are mostly self-contained with minimal prerequisites. Undergraduate education is specifically addressed through curricular changes to increase awareness towards hybrid dynamics as well as the development of experiments for the College of Engineering Interdisciplinary Control Engineering Laboratory (ICE Lab). By exposing the students to research, it is expected to enhance the transition to industry of the technologies developed and encourage students to develop the rigorous and analytical thinking required for success in scientific research and also in a professional career in electrical engineering.All the results, including papers, reports, and software are available freely to the research community through the world-wide-web. The course materials (including lecture notes, homeworks, laboratory materials, etc.) are also freely available to the academic community.