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Networked Control Systems

Networked Control Systems. Vincenzo Liberatore. Today: Cyberspace. Interact with remote virtual environment On-line social activities Communicate with co-workers, friends On-line search and information gathering Disaster Recovery Networks Distributed multimedia, games E-commerce:

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Networked Control Systems

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  1. Networked Control Systems Vincenzo Liberatore

  2. Today: Cyberspace • Interact with remote virtual environment • On-line social activities • Communicate with co-workers, friends • On-line search and information gathering • Disaster Recovery Networks • Distributed multimedia, games • E-commerce: • Buy books, CDs, computers • Dump stock shares

  3. Tomorrow: Cyber+Physics • Affect a remote physical environment • Hazardous environments • Terrestrial, space exploration • Distributed manufacturing • Remote diagnostic and troubleshooting • Experimental facilities • E.g., microgravity fluid dynamics • Home robotics

  4. Enabling Technologies • Embedded computing • Embed computers in the physical world • Pervasive networking • Interconnect them • Control theory and robotics • Physics-software interface

  5. Challenges • Remove dependency on • Precise environment models • Quality-of-Service provisioning • Software that is • Distributed • Adaptive and evolvable • Secure and safe (e.g., stability) • Remotely re-programmable

  6. Outline • Remote robotic manipulation • Foundations for Networked Control Systems

  7. Remote Robotic Manipulation

  8. Objectives • Manipulation tasks • E.g., collect and manipulate a specimen from Mars surface • Contact operations • Energy exchanged between robot and environment • Results in physical change in environment state • Safety: • Force or kinematics constraints • Remote supervision

  9. Distributed Control • Natural admittance control • Virtual Attractors • Locally encapsulates real-time constraints • Multi-agent distributed system • Software components, autonomous, adaptable, knowledgeable, mobile, collaborative, persistent • Supervisory control and tele-operation • Evolvable software

  10. Demonstration VR The VS then splits the command into pieces and send them to the VR Wide-area Network VR VR Virtual Robots (VR’s) residing on the network. VR VR VR Engineer, using a C# interface, loads a high-level command into the Virtual Supervisor (VS). Based on data obtained by the other VR’s, the robot is controlled directly by a single VR.

  11. Benefits • Supervisory control • Beyond tele-operation and autonomy • Dynamic reconfiguration • Task-oriented reconfiguration • Plug-and-play • Fault-tolerance • Survivability • Extensibility

  12. Foundations ofNetworked Control Systems

  13. + CONTROL SYSTEM - INTERNET Networked control system Networked Control Systems + CONTROL SYSTEM - Traditional view

  14. Foundations • Toward a theory of networked control • Mathematical underpinnings • Established operation principles • Patterns and pitfalls • Core factors • System dynamics • E.g., output of open loop system • Network dynamics • E.g., packet forwarding, losses, delays, jitter • Networked control systems

  15. Acknowledgments • Faculty • Vincenzo Liberatore, Wyatt S. Newman, Michael S. Branicky, Steve P. Phillips • Students • Adam Covitch, Ahmad Al-Hammouri • Alumni • David Rosas

  16. More info? • Demos • Internet Robotics • Scalable Data Dissemination • URL http://vorlon.cwru.edu/~vxl11/netlab/

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