Workshop F-1 (Full-Day): Stochastic Hybrid Systems: Theory and Applications
Summary
Organized under European Commission projects HYBRIDGE, IST-2001-32460 (http://www.nlr.nl/public/hosted-sites/hybridge/) and COLUMBUS, IST-38314 (http://www.columbus.gr) the main aim of this workshop is to expose participants to recent research activity in the area of stochastic hybrid systems. Theoretical results will be illustrated and motivated by applications in different important fields.
Stochastic hybrid systems are systems that combine continuous dynamics with discrete/logic components and are affected by uncertainty. From a theoretical point of view, the study of this class of systems is particularly challenging because they exhibit the complexities that arise from the interaction of
Emphasis will be placed on fundamental theoretical advances for this complex and diverse class of systems, in particular on
Motivation for the theoretical results will be provided by a number of key applications:
Experts in all these areas have been invited to present their work.
Target audience
The workshop is addressed to graduate students and researchers with a background in automatic control, hybrid systems or stochastic systems. The material covered at the workshop will expose the participants to the state of the art in the area of stochastic hybrid systems as well as open research problems in this area.
Workshop program:
The workshop will cover a full day. The program is:
8:30-9:00 J. Lygeros (University of Patras)
Overview of stochastic hybrid models
9:00-9:30 A. van der Schaft (Twente University)
Compositional specification
9:30-10:15 M. Prandini (Politecnico di Milano)
Reachability: theoretical foundations and application to aircraft
conflict detection
10:15-10:30 Break
10:30-12:00 J.-P. Katoen (Twente University)
Model checking of stochastic hybrid systems
12:00-13:30 Lunch
13:30-14:30 M. Davis (Imperial College)
Piecewise deterministic Markov processes revisited
14:30-15:30 J. Hespanha (U.C. Santa Barbara)
Stochastic hybrid systems in communication networks
15:30-15:45 Break
15:45-16:30 M.D. di Benedetto (University of L'Aquila)
Hybrid observer design: theory and automotive applications
16:30-17:15 H. Blom (NLR)
Stochastic hybrid model based assessment of the risk of collision between
aircraft
Workshop proceedings
Copies of all the presentations will be made available to the workshop participants.
Contact Information
John Lygeros (University of Patras)
Arjan van der Schaft (University of Twente)Workshop F-2 (Full-Day): Symbolic Approaches to Control Design
Summary
As control systems are becoming increasingly complex through the emergence of reactive, embedded software systems interacting among themselves and users over communication networks, new system-level challenges must be addressed. In particular, classic control design objectives such as stability and robustness are being complemented by a number of new questions. These range from the cost of implementation, the complexity associated with specifying the control procedures and with verifying the behavior of the closed-loop system, to the bandwidth required to achieve the desired performance.
During the last decade, significant progress has been made toward overcoming the complexity associated with many modern control tasks, such as autonomous robot guidance and navigation, process control in sensor-rich environments, and control of biological systems, by decomposing the task into a collection of building blocks, or modes of operation. Such heterogeneous models give rise to hybrid, multi-modal control systems, where time as well as event driven dynamics come into play. In particular, the use of symbolic methods to harness the complexity has been proposed, and this workshop aims at bring together a number of issues and results in this emerging area of research.
Target Audience
Topics to be presented range from fundamental studies addressing the inherent limitations of control under input quantization, control from temporal logic specifications, to more practical aspects describing software implementation of motion description languages. In addition, to survey recent techniques and results, the workshop will also include a discussion on ongoing and future work to further advance the existing approaches. It will therefore be of interest to practicing engineers as well as researchers interested in symbolic methods for control design.
Workshop Program
Workshop Proceedings
Attendees will receive copies of the presentations as well a collection of papers relevant to the workshop topics.
Workshop Website
Workshop F-3 (Full-Day): Control in Quantum Systems
Summary
The last century has seen a steady increase in man's ability to control and manipulate quantum mechanical phenomenon. Numerous technological advances now owe their existence directly or indirectly to quantum mechanical effects. From transistors, lasers, compact disc players, optical fibre communications, magnetic resonance imaging to scanning tunneling microscopes, the quantum technology has effected every aspect of our life. Advances in the areas of nuclear and electron magnetic resonance spectroscopy, microwave and optical spectroscopy, laser coherent control, solid state physics involve active control of quantum dynamics. Applications range from spectroscopic techniques in order to elucidate the structure of matter to use of quantum dynamics for computing, communication and protecting information. With the advances in experimental technology in the fields of atomic and condensed matter physics, it is now becoming possible to to do real time feedback control on quantum systems, with interesting applications like sub-shot noise meteorology, generation and stabilization of non-classical states of light and matter, and active manipulation of of coherent dynamics. As quantum technology is becoming a integral part of our lives, the field of control of quantum mechanical phenomenon is expanding in its scope and applications.
Recent work has shown that by systematic use of ideas from the field of automatic control, significant improvements can be made in experiments involving control of quantum phenomenon. Compelling case studies have appeared in fields of physics, chemistry, meteorology and computer science. The workshop will provide a comprehensive background in principles of quantum mechanics as applicable to problems of quantum control.
Target Audience
This workshop is aimed at engineers and mathematicians with a background in automatic control. The goal is to discuss with the broader control community, exciting new problems lying at the interface of physics, mathematics and control. As part of the workshop, notes will be distributed, which will include review material on the subject and new developments in field of control of quantum systems. One central focus of the workshop will be to formulate open problems in this area in the language of systems and control.
Workshop Schedule
Contact Information
Navin Khaneja
Assistant Professor of Electrical Engineering
Harvard University
Ph: 617-384-8132
fax: 617-496-6404
Email: navin@hrl.harvard.edu
Workshop F-4 (Full-Day): Nanotechnology: Micro-Cantilever Technology, Nanopositioning and Control
Summary
The first part of the tutorial will introduce the principles of Atomic Force Microscopy. After the motivation, appropriate models for the main sensing element and the micro-cantilever will be developed. The thermal noise response of the micro-cantilever is developed and used to provide an identification method for the parameters of the the micro-cantilever model. Experimental methods to estimate the limitations due to thermal noise will be provided. A novel method for maintaining nanometer range tip-sample separations using thermal noise based control is presented. Next representative tip-sample interaction potentials will be discussed followed by use of nonlinear tools to analyze the steady state behavior of the micro-cantilever with experimental data to corroborate and contrast the theory. The next topic will illustrate the rich complex behavior that will demonstrate period-doubling analysis when the sample is oscillated. The rather regular behavior under typical operating conditions will be explained using a systems perspective. The amplitude and phase dynamics using the Krylov-Bogilubov method will be presented. A new method that exploits the transient signal of the cantilever deflection which is based on an observer architecture will demonstrate the efficacy of systems tools to nanotechnology.
The second part of the tutorial will focus on nanopositioning. After presenting the essential features of nanopositioning, closed-loop necessitated instrumentation will be developed followed by the use of robust control tools for lateral positioning using stack piezo actuators and flexure based nanopositioning stages. After the design for performance, Glover-McFarlane designs to robustify existing designs will be developed. Preview based control methods will be analyzed. Finally, the demands related to imaging will be addressed that pose new challenges for the control architecture. All of the above topics will be presented together with experimental viewpoint.
Target Audience
Introduces micro-cantilever based devices and nanopositioners to the control community and develops control tools that are relevant to these devices. The workshop will be useful to scanning probe microscopists and to researchers interested in nanotechnology.
Workshop Schedule
Contact Information
Srinivasa Salapaka
(salapaka@uiuc.edu)
University of Illinois, Urbana Champaign
Murti V. Salapaka
(murti@iastate.edu)
Iowa State University
Workshop F-5 (Full-Day): UAV Autonomy and Multi-Vehicle Coordinated Control
Summary
This workshop, which includes representatives from academe, government, and industry, will highlight recent advances in autonomous control of single and multi-vehicle UAV operations, and identify priorities and programs for future autonomous controls related research in this area. Comprehensive overview with particular emphasis on results that have been proven using realistic simulation environments and flight testing will be provided. Technical topics covered include autonomous operation (stability, disturbance rejection, trajectory planning & tracking) of single vehicle, multi-vehicle operations (formation stability, collision avoidance, coordinated maneuvers) under various communications & coordination constraints.
Target Audience
Diverse team of speakers from academia, industry and government emphasizing various aspects of recent results, technical challenges with upcoming R&D programs & technology transition opportunities, makes this workshop ideally suited for students, academic researchers and industry professionals.
Workshop Program
The workshop will cover a full day. The specific discussion topics include:
Workshop Proceedings
Copies of all the presentations will be made available to the workshop participants.
Contact Information
Datta Godbole (datta.godbole@honeywell.com)
Tariq Samad (tariq.samad@honeywell.com)
Workshop F-6 (Full-Day): Modeling and Control of Dynamical Systems: The Port-Hamiltonian Approach
Summary
The main goal of the Tutorial is to present methods, techniques and tools for modelling and control of complex dynamical systems using an integrated system approach that can deal with physical components stemming from different physical domains (electrical, mechanical, thermodynamic), both in the lumped-parameter and in the distributed parameter cases. This Tutorial aims to be an opportunity to describe with precision and attention the topics that are being developed within the European sponsored project GeoPlex, reference code IST-2001-34166.
In this Tutorial leading scientists will explain in a clear and comprehensive manner the results of years of recent research activity, illustrating in a compact form concepts that are presently spread in a number of journal and conference papers. This will allow to the audience to be rapidly introduced to the state-of-the-art in this field. In this manner, graduate students in control theory will have a unique opportunity to be trained in this very interesting and challenging new research area.
Target Audience
This Tutorial will provide an overview of the key topics and state of the art in modelling and control of such complex dynamical systems, with an approach based on the Hamiltonian formalism. The main objective is to provide graduate students in modelling and control theory a unique training opportunity in this recent methodological area.
This Tutorial is primarily addressed to young researchers (researchers, Post Docs, PhD students) interested in modelling and control of complex interacting dynamical systems, such as mechanical (devices for advanced manipulation, telemanipulation and haptic systems, legged robots), electromechanical (electric motors, power converters) and the chemical ones and in modeling and control of infinite dimensional systems.
Workshop Schedule:
This is a full-day workshop, organized on 8 hours (4 in the morning and 4 in the afternoon). Starting from the basic definition of Dirac structure, the finite dimensional port Hamiltonian system is introduced, together with simple examples of mechanical and electro-mechanical systems. Then, energy-based control methodologies (e.g. control by damping injection, control by interconnection and IDA-PBC) are introduced and discussed with the help of examples (mechanical systems, electric motors, levitation ball). Great importance will be given to the application of the Hamiltonian framework in the advanced robotics field, such as telemanipulation and haptic, both in the continuous and discrete time domains. Finally, new results concerning the generalization of the port Hamiltonian framework to the distributed parameter case are presented. Aspects pertaining to both modelling and control will be addressed.
09:00-10:00 S. Stramigioli (University of Twente)
General Introduction
10:00-11:30 Arjan van der Schaft (University of Twente)
Dirac structures and finite dimensional port Hamiltonian systems
11:30-13:00 S. Stramigioli (University of Twente)
Port based modeling and control of advanced robotic systems
(telemanipulation and haptic)
14:00-16:00 R. Ortega (LSS/CNRS/Supelec)
Energy shaping control of physical systems
16:00-18:00 A. Macchelli (University of Bologna)
Modeling and control of distributed systems in port Hamiltonian form
NOTE: There will be a break about every 2 hours.
Workshop Notes
The workshop notes will consist of copies of the slides used during the presentations, together with journal and conference papers of interest for further studies. Eventually, all the material will be organized in a small textbook.
Workshop Website
Contact Information
Alessandro Macchelli (University of Balogna -DEIS)
Workshop F-7 (Full-Day): Geometric Control of Mechanical Systems
Summary
The geometric theory of control for mechanical systems has reached a quite mature state, as evidenced by the recent appearance several monographs on the topic. This workshop is an outgrowth of a book written by the organizers.
The primary emphasis of the workshop is the modeling, analysis, and control of mechanical systems. The methods and results presented can be applied to a large class of mechanical control systems, including applications in robotics, autonomous vehicle control, and multi-body systems.
A distinctive feature of the presentation is its reliance on techniques from differential and Riemannian geometry. The workshop will outline the areas of overlap between geometric mechanics and control theory for mechanical systems. Liberal use of examples form an integral part of the presentation. The workshop begins with mathematical background, motivated through innovative approaches to physical modeling, analysis, and design techniques.
Target Audience
The workshop is targeted to the following audiences:
Workshop Schedule
Workshop Notes
Presently, two things are available for download on the web:
Other material will be available at the workshop, including (hopefully) our book.
Workshop Website
Workshop F-8 (Full-Day): A Unified Theory of Complex Systems
Summary
This workshop focuses on control and dynamical systems (CDS) approaches to
creating a unified theory of complex systems. On the theory side, we will
review some of the history of "complex systems" and various attempts to
find a more unified view, including phase transitions, and criticality,
bifurcations, chaos, fractals, computational complexity, (un)decidability,
P/NP, power laws, self-similarity, scale-free networks. The theory will
be intertwined with applications, primarily in physics, biology, ecology
and technological networks.
Workshop H-1 (Half-Day): Control of Energy Processing and Power Systems
Summary
Reliable generation, transmission and utilization of electrical energy is fundamental for modern society. Blackouts across North America and Europe through the latter half of 2003 highlighted the importance, yet complexity, of power system dynamics and control. Furthermore, evolving technology at all levels of the electricity supply system is driving a reassessment of traditional analysis and control techniques.
Higher penetration of distributed generation places greater emphasis on the dynamic response of lower voltage systems. Coordination of large numbers of small sources, in the presence of significant load uncertainty, is a challenging distributed control problem. Flexible AC transmission system (FACTS) devices offer control-based improvements in transmission system utilization. However advances in control design methods are required. Power electronic converters are driving a revolution in electrical energy utilization. These energy conversion systems exhibit hybrid (continuous/discrete) dynamics.
Speakers will identify open issues in the analysis and control of energy systems. Suggestions for achieving progress on those issues will form an important aspect of each presentation. Ample discussion time has been built into the schedule.
Target Audience
The workshop will provide an opportunity for control engineers and researchers to gain an understanding of control related issues that are arising in modern energy conversion and power systems. Minimal background knowledge of power and energy systems will be assumed. Furthermore, the workshop will also provide energy-system practitioners with an overview of the possibilities offered by a modern system/control viewpoint.
Workshop schedule
Workshop proceedings
Detailed notes will be provided via presentation slides. Copies of the slides will be available to participants at the workshop.
Contact information
Ian A. Hiskens
University of Wisconsin-Madison
Email: hiskens@engr.wisc.edu
Workshop H-2 (Half-Day): Robust Information Transmission and Control Subject to Uncertainty and Power Constraints
Summary
The aim of the workshop is to introduce participants to the multidisciplinary topic of information transmission and control. The emphasis will be on Information Theory, Stochastic Systems (Control, Estimation), and their intimate relations, when the underlying systems are stochastic, uncertain, and subject to power constraints. The tutorial will identify specific research areas as well as provide an introduction to some of the methodologies and results which are currently available on Robust Information Theory, Robust Control and Estimation of Stochastic Systems, and Control over Limited Capacity Communication Channels.
Following an introduction to basic concepts of classical and statistical Thermodynamics, the emphasis will be on
Motivation
In recent years, the rise of Internet Technologies and standards and the unfolding era of “Pervasive Computing and Home Networking’’ has created a rapid convergence between communication networks, control systems, and technologies, which process uncertain, diverse and non-homogeneous data over uncertain channels. On the other hand, recent advances in wireless communications and electronics has enabled the development of new low cost, low power multifunctional sensors, which communicate over small distances. These advances are preparing the ground for the integration of new applications, as well as traditional applications, such as tele-operation, in which information transmission and control are converging. The design of such systems is influenced by many factors, including complexity, limited communication capacity, power constraints, uncertainty of the sensor data collected, uncertainty of the communication links, uncertainty of the controlled system, etc. The emphasis of this tutorial is on Large Scale Complex Systems, in which the traditional areas of Communication and Control are converging.
Target Audience
The workshop is intended for an audience with interest in Information Theory, Robust Control, Statistical Mechanics and their intimate connections. Control and communication subject to uncertainty and power constraints are the main topics to be addressed. The workshop will include fundamental results as well as current and future research in Robust Information Transmission and Control Subject to Uncertainty and Power Constraints.
Workshop Structure and Schedule
This is a 4 hour (half-day) workshop. The main topics to be covered are described below.
Workshop Handouts
Workshop participants will receive
The workshop web site where the material will be available is http://www.site.uottawa.ca/~chadcha/CDC2004/
Contact Information
Charalambos D. Charalambous
University of Cyprus
E-mail: chadcha@ucy.ac.cy
Webpage:
http://www.site.uottawa.ca/~chadcha/CDC2004/