Matching Items (10)
Description
This thesis considers two problems in the control of robotic swarms. Firstly, it addresses a trajectory planning and task allocation problem for a swarm of resource-constrained robots that cannot localize or communicate with each other and that exhibit stochasticity in their motion and task switching policies. We model the population dynamics of the robotic swarm as a set of advection-diffusion- reaction (ADR) partial differential equations (PDEs).
Specifically, we consider a linear parabolic PDE model that is bilinear in the robots' velocity and task-switching rates. These parameters constitute a set of time-dependent control variables that can be optimized and transmitted to the robots prior to their deployment or broadcasted in real time. The planning and allocation problem can then be formulated as a PDE-constrained optimization problem, which we solve using techniques from optimal control. Simulations of a commercial pollination scenario validate the ability of our control approach to drive a robotic swarm to achieve predefined spatial distributions of activity over a closed domain, which may contain obstacles. Secondly, we consider a mapping problem wherein a robotic swarm is deployed over a closed domain and it is necessary to reconstruct the unknown spatial distribution of a feature of interest. The ADR-based primitives result in a coefficient identification problem for the corresponding system of PDEs. To deal with the inherent ill-posedness of the problem, we frame it as an optimization problem. We validate our approach through simulations and show that reconstruction of the spatially-dependent coefficient can be achieved with considerable accuracy using temporal information alone.
Specifically, we consider a linear parabolic PDE model that is bilinear in the robots' velocity and task-switching rates. These parameters constitute a set of time-dependent control variables that can be optimized and transmitted to the robots prior to their deployment or broadcasted in real time. The planning and allocation problem can then be formulated as a PDE-constrained optimization problem, which we solve using techniques from optimal control. Simulations of a commercial pollination scenario validate the ability of our control approach to drive a robotic swarm to achieve predefined spatial distributions of activity over a closed domain, which may contain obstacles. Secondly, we consider a mapping problem wherein a robotic swarm is deployed over a closed domain and it is necessary to reconstruct the unknown spatial distribution of a feature of interest. The ADR-based primitives result in a coefficient identification problem for the corresponding system of PDEs. To deal with the inherent ill-posedness of the problem, we frame it as an optimization problem. We validate our approach through simulations and show that reconstruction of the spatially-dependent coefficient can be achieved with considerable accuracy using temporal information alone.
ContributorsElamvazhuthi, Karthik (Author) / Berman, Spring Melody (Thesis advisor) / Peet, Matthew Monnig (Committee member) / Mittelmann, Hans (Committee member) / Arizona State University (Publisher)
Created2014
Description
In this paper, optimal control routines are applied to an existing problem of electron state transfer to determine if spin information can successfully be moved across a chain of donor atoms in silicon. The additional spin degrees of freedom are introduced into the formulation of the problem as well as the control optimization algorithm. We find a timescale of transfer for spin quantum information across the chain fitting with a t > π/A and t > 2π/A transfer pulse time corresponding with rotation of states on the electron Bloch sphere where A is the electron-nuclear coupling constant. Introduction of a magnetic field weakens transfer
efficiencies at high field strengths and prohibits anti-aligned nuclear states from transferring. We also develop a rudimentary theoretical model based on simulated results and partially validate the characteristic transfer times for spin states. This model also establishes a framework for future work including the introduction of a magnetic field.
efficiencies at high field strengths and prohibits anti-aligned nuclear states from transferring. We also develop a rudimentary theoretical model based on simulated results and partially validate the characteristic transfer times for spin states. This model also establishes a framework for future work including the introduction of a magnetic field.
ContributorsMorgan, Eric Robert (Author) / Treacy, Michael (Thesis director) / Whaley, K. Birgitta (Committee member) / Greenman, Loren (Committee member) / Barrett, The Honors College (Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Department of Physics (Contributor)
Created2015-05
Description
Pharmacokinetics describes the movement and processing of a drug in a body, while Pharmacodynamics describes the drug's effect on a given subject. Pharmacokinetic/Pharmacodynamic(Pk/Pd) models have become a fundamental tool when predicting bacterial behavior and drug development. In November of 2009, Katsube et al. published their paper detailing their Pk/Pd model for the drug Doripenem and the bacteria P. aeruginosa. In their paper, they determined that there is a dependent relationship between the drug's effectiveness and the dosing strategy of the drug. Therefore, this thesis has applied optimal control in order to optimize the drug's effectiveness, while not burdening the subject with the side effects of the drug. Optimal Control is a mathematical tool used to balance two competing factors. As a result, it has become a useful tool used to make decisions involving complex behavior. By using Optimal Control, the model will maximize the drug's effect on the bacterial population of P. aeruginosa, while minimizing the drug concentration of Doripenem. In doing so, our research will enable doctors and clinicians to maximize a drug's effectiveness on the body, while minimizing side effects.
ContributorsSawkins, Bryan Thomas (Author) / Camacho, Erika (Thesis director) / Wirkus, Stephen (Committee member) / School of Mathematical and Natural Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Infectious diseases are a leading cause of death worldwide. With the development of drugs, vaccines and antibiotics, it was believed that for the first time in human history diseases would no longer be a major cause of mortality. Newly emerging diseases, re-emerging diseases and the emergence of microorganisms resistant to existing treatment have forced us to re-evaluate our optimistic perspective. In this study, a simple mathematical framework for super-infection is considered in order to explore the transmission dynamics of drug-resistance. Through its theoretical analysis, we identify the conditions necessary for the coexistence between sensitive strains and drug-resistant strains. Farther, in order to investigate the effectiveness of control measures, the model is extended so as to include vaccination and treatment. The impact that these preventive and control measures may have on its disease dynamics is evaluated. Theoretical results being confirmed via numerical simulations. Our theoretical results on two-strain drug-resistance models are applied in the context of Malaria, antimalarial drugs, and the administration of a possible partially effective vaccine. The objective is to develop a monitoring epidemiological framework that help evaluate the impact of antimalarial drugs and partially-effective vaccine in reducing the disease burden at the population level. Optimal control theory is applied in the context of this framework in order to assess the impact of time dependent cost-effective treatment efforts. It is shown that cost-effective combinations of treatment efforts depend on the population size, cost of implementing treatment controls, and the parameters of the model. We use these results to identify optimal control strategies for several scenarios.
ContributorsUrdapilleta, Alicia (Author) / Castillo-Chavez, Carlos (Thesis advisor) / Wang, Xiaohong (Thesis advisor) / Wirkus, Stephen (Committee member) / Camacho, Erika (Committee member) / Arizona State University (Publisher)
Created2011
Energy efficient optimal formation control of a multiple quadrotor UAV system with uncertain payload
Description
This thesis presents the design and simulation of an energy efficient controller for a system of three drones transporting a payload in a net. The object ensnared in the net is represented as a mass connected by massless stiff springs to each drone. Both a pole-placement approach and an optimal control approach are used to design a trajectory controller for the system. Results are simulated for a single drone and the three drone system both without and with payload.
ContributorsHayden, Alexander (Author) / Grewal, Anoop (Thesis director) / Berman, Spring (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor) / Historical, Philosophical & Religious Studies, Sch (Contributor)
Created2022-05
Description
Multi-segment manipulators and mobile robot collectives are examples of multi-agent robotic systems, in which each segment or robot can be considered an agent. Fundamental motion control problems for such systems include the stabilization of one or more agents to target configurations or trajectories while preventing inter-agent collisions, agent collisions with obstacles, and deadlocks. Despite extensive research on these control problems, there are still challenges in designing controllers that (1) are scalable with the number of agents; (2) have theoretical guarantees on collision-free agent navigation; and (3) can be used when the states of the agents and the environment are only partially observable. Existing centralized and distributed control architectures have limited scalability due to their computational complexity and communication requirements, while decentralized control architectures are often effective only under impractical assumptions that do not hold in real-world implementations. The main objective of this dissertation is to develop and evaluate decentralized approaches for multi-agent motion control that enable agents to use their onboard sensors and computational resources to decide how to move through their environment, with limited or absent inter-agent communication and external supervision. Specifically, control approaches are designed for multi-segment manipulators and mobile robot collectives to achieve position and pose (position and orientation) stabilization, trajectory tracking, and collision and deadlock avoidance. These control approaches are validated in both simulations and physical experiments to show that they can be implemented in real-time while remaining computationally tractable. First, kinematic controllers are proposed for position stabilization and trajectory tracking control of two- or three-dimensional hyper-redundant multi-segment manipulators. Next, robust and gradient-based feedback controllers are presented for individual holonomic and nonholonomic mobile robots that achieve position stabilization, trajectory tracking control, and obstacle avoidance. Then, nonlinear Model Predictive Control methods are developed for collision-free, deadlock-free pose stabilization and trajectory tracking control of multiple nonholonomic mobile robots in known and unknown environments with obstacles, both static and dynamic. Finally, a feedforward proportional-derivative controller is defined for collision-free velocity tracking of a moving ground target by multiple unmanned aerial vehicles.
ContributorsSalimi Lafmejani, Amir (Author) / Berman, Spring (Thesis advisor) / Tsakalis, Konstantinos (Thesis advisor) / Papandreou-Suppappola, Antonia (Committee member) / Marvi, Hamidreza (Committee member) / Arizona State University (Publisher)
Created2022
Description
This dissertation discusses continuous-time reinforcement learning (CT-RL) for control of affine nonlinear systems. Continuous-time nonlinear optimal control problems hold great promise in real-world applications. After decades of development, reinforcement learning (RL) has achieved some of the greatest successes as a general nonlinear control design method. Yet as RL control has developed, CT-RL results have greatly lagged their discrete-time RL (DT-RL) counterparts, especially in regards to real-world applications. Current CT-RL algorithms generally fall into two classes: adaptive dynamic programming (ADP), and actor-critic deep RL (DRL). The first school of ADP methods features elegant theoretical results stemming from adaptive and optimal control. Yet, they have not been shown effectively synthesizing meaningful controllers. The second school of DRL has shown impressive learning solutions, yet theoretical guarantees are still to be developed. A substantive analysis uncovering the quantitative causes of the fundamental gap between CT and DT remains to be conducted. Thus, this work develops a first-of-its kind quantitative evaluation framework to diagnose the performance limitations of the leading CT-RL methods. This dissertation also introduces a suite of new CT-RL algorithms which offers both theoretical and synthesis guarantees. The proposed design approach relies on three important factors. First, for physical systems that feature physically-motivated dynamical partitions into distinct loops, the proposed decentralization method breaks the optimal control problem into smaller subproblems. Second, the work introduces a new excitation framework to improve persistence of excitation (PE) and numerical conditioning via classical input/output insights. Third, the method scales the learning problem via design-motivated invertible transformations of the system state variables in order to modulate the algorithm learning regression for further increases in numerical stability. This dissertation introduces a suite of (decentralized) excitable integral reinforcement learning (EIRL) algorithms implementing these paradigms. It rigorously proves convergence, optimality, and closed-loop stability guarantees of the proposed methods, which are demonstrated in comprehensive comparative studies with the leading methods in ADP on a significant application problem of controlling an unstable, nonminimum phase hypersonic vehicle (HSV). It also conducts comprehensive comparative studies with the leading DRL methods on three state-of-the-art (SOTA) environments, revealing new performance/design insights.
ContributorsWallace, Brent Abraham (Author) / Si, Jennie (Thesis advisor) / Berman, Spring M (Committee member) / Bertsekas, Dimitri P (Committee member) / Tsakalis, Konstantinos S (Committee member) / Arizona State University (Publisher)
Created2024
Description
The 2009-10 influenza and the 2014-15 Ebola pandemics brought once again urgency to an old question: What are the limits on prediction and what can be proposed that is useful in the face of an epidemic outbreak?
This thesis looks first at the impact that limited access to vaccine stockpiles may have on a single influenza outbreak. The purpose is to highlight the challenges faced by populations embedded in inadequate health systems and to identify and assess ways of ameliorating the impact of resource limitations on public health policy.
Age-specific per capita constraint rates play an important role on the dynamics of communicable diseases and, influenza is, of course, no exception. Yet the challenges associated with estimating age-specific contact rates have not been decisively met. And so, this thesis attempts to connect contact theory with age-specific contact data in the context of influenza outbreaks in practical ways. In mathematical epidemiology, proportionate mixing is used as the preferred theoretical mixing structure and so, the frame of discussion of this dissertation follows this specific theoretical framework. The questions that drive this dissertation, in the context of influenza dynamics, proportionate mixing, and control, are:
I. What is the role of age-aggregation on the dynamics of a single outbreak? Or simply speaking, does the number and length of the age-classes used to model a population make a significant difference on quantitative predictions?
II. What would the age-specific optimal influenza vaccination policies be? Or, what are the age-specific vaccination policies needed to control an outbreak in the presence of limited or unlimited vaccine stockpiles?
Intertwined with the above questions are issues of resilience and uncertainty including, whether or not data collected on mixing (by social scientists) can be used effectively to address both questions in the context of influenza and proportionate mixing. The objective is to provide answers to these questions by assessing the role of aggregation (number and length of age classes) and model robustness (does the aggregation scheme selected makes a difference on influenza dynamics and control) via comparisons between purely data-driven model and proportionate mixing models.
This thesis looks first at the impact that limited access to vaccine stockpiles may have on a single influenza outbreak. The purpose is to highlight the challenges faced by populations embedded in inadequate health systems and to identify and assess ways of ameliorating the impact of resource limitations on public health policy.
Age-specific per capita constraint rates play an important role on the dynamics of communicable diseases and, influenza is, of course, no exception. Yet the challenges associated with estimating age-specific contact rates have not been decisively met. And so, this thesis attempts to connect contact theory with age-specific contact data in the context of influenza outbreaks in practical ways. In mathematical epidemiology, proportionate mixing is used as the preferred theoretical mixing structure and so, the frame of discussion of this dissertation follows this specific theoretical framework. The questions that drive this dissertation, in the context of influenza dynamics, proportionate mixing, and control, are:
I. What is the role of age-aggregation on the dynamics of a single outbreak? Or simply speaking, does the number and length of the age-classes used to model a population make a significant difference on quantitative predictions?
II. What would the age-specific optimal influenza vaccination policies be? Or, what are the age-specific vaccination policies needed to control an outbreak in the presence of limited or unlimited vaccine stockpiles?
Intertwined with the above questions are issues of resilience and uncertainty including, whether or not data collected on mixing (by social scientists) can be used effectively to address both questions in the context of influenza and proportionate mixing. The objective is to provide answers to these questions by assessing the role of aggregation (number and length of age classes) and model robustness (does the aggregation scheme selected makes a difference on influenza dynamics and control) via comparisons between purely data-driven model and proportionate mixing models.
ContributorsMorales, Romarie (Author) / Castillo-Chavez, Carlos (Thesis advisor) / Mubayi, Anuj (Thesis advisor) / Towers, Sherry (Committee member) / Arizona State University (Publisher)
Created2016
Description
The main part of this work establishes existence, uniqueness and regularity properties of measure-valued solutions of a nonlinear hyperbolic conservation law with non-local velocities. Major challenges stem from in- and out-fluxes containing nonzero pure-point parts which cause discontinuities of the velocities. This part is preceded, and motivated, by an extended study which proves that an associated optimal control problem has no optimal $L^1$-solutions that are supported on short time intervals.
The hyperbolic conservation law considered here is a well-established model for a highly re-entrant semiconductor manufacturing system. Prior work established well-posedness for $L^1$-controls and states, and existence of optimal solutions for $L^2$-controls, states, and control objectives. The results on measure-valued solutions presented here reduce to the existing literature in the case of initial state and in-flux being absolutely continuous measures. The surprising well-posedness (in the face of measures containing nonzero pure-point part and discontinuous velocities) is directly related to characteristic features of the model that capture the highly re-entrant nature of the semiconductor manufacturing system.
More specifically, the optimal control problem is to minimize an $L^1$-functional that measures the mismatch between actual and desired accumulated out-flux. The focus is on the transition between equilibria with eventually zero backlog. In the case of a step up to a larger equilibrium, the in-flux not only needs to increase to match the higher desired out-flux, but also needs to increase the mass in the factory and to make up for the backlog caused by an inverse response of the system. The optimality results obtained confirm the heuristic inference that the optimal solution should be an impulsive in-flux, but this is no longer in the space of $L^1$-controls.
The need for impulsive controls motivates the change of the setting from $L^1$-controls and states to controls and states that are Borel measures. The key strategy is to temporarily abandon the Eulerian point of view and first construct Lagrangian solutions. The final section proposes a notion of weak measure-valued solutions and proves existence and uniqueness of such.
In the case of the in-flux containing nonzero pure-point part, the weak solution cannot depend continuously on the time with respect to any norm. However, using semi-norms that are related to the flat norm, a weaker form of continuity of solutions with respect to time is proven. It is conjectured that also a similar weak continuous dependence on initial data holds with respect to a variant of the flat norm.
The hyperbolic conservation law considered here is a well-established model for a highly re-entrant semiconductor manufacturing system. Prior work established well-posedness for $L^1$-controls and states, and existence of optimal solutions for $L^2$-controls, states, and control objectives. The results on measure-valued solutions presented here reduce to the existing literature in the case of initial state and in-flux being absolutely continuous measures. The surprising well-posedness (in the face of measures containing nonzero pure-point part and discontinuous velocities) is directly related to characteristic features of the model that capture the highly re-entrant nature of the semiconductor manufacturing system.
More specifically, the optimal control problem is to minimize an $L^1$-functional that measures the mismatch between actual and desired accumulated out-flux. The focus is on the transition between equilibria with eventually zero backlog. In the case of a step up to a larger equilibrium, the in-flux not only needs to increase to match the higher desired out-flux, but also needs to increase the mass in the factory and to make up for the backlog caused by an inverse response of the system. The optimality results obtained confirm the heuristic inference that the optimal solution should be an impulsive in-flux, but this is no longer in the space of $L^1$-controls.
The need for impulsive controls motivates the change of the setting from $L^1$-controls and states to controls and states that are Borel measures. The key strategy is to temporarily abandon the Eulerian point of view and first construct Lagrangian solutions. The final section proposes a notion of weak measure-valued solutions and proves existence and uniqueness of such.
In the case of the in-flux containing nonzero pure-point part, the weak solution cannot depend continuously on the time with respect to any norm. However, using semi-norms that are related to the flat norm, a weaker form of continuity of solutions with respect to time is proven. It is conjectured that also a similar weak continuous dependence on initial data holds with respect to a variant of the flat norm.
ContributorsGong, Xiaoqian, Ph.D (Author) / Kawski, Matthias (Thesis advisor) / Kaliszewski, Steven (Committee member) / Motsch, Sebastien (Committee member) / Smith, Hal (Committee member) / Thieme, Horst (Committee member) / Arizona State University (Publisher)
Created2019
Description
Recent years, there has been many attempts with different approaches to the human-robot interaction (HRI) problems. In this paper, the multi-agent interaction is formulated as a differential game with incomplete information. To tackle this problem, the parameter estimation method is utilized to obtain the approximated solution in a real time basis. Previous studies in the parameter estimation made the assumption that the human parameters are known by the robot; but such may not be the case and there exists uncertainty in the modeling of the human rewards as well as human's modeling of the robot's rewards. The proposed method, empathetic estimation, is tested and compared with the ``non-empathetic'' estimation from the existing works. The case studies are conducted in an uncontrolled intersection with two agents attempting to pass efficiently. Results have shown that in the case of both agents having inconsistent belief of the other agent's parameters, the empathetic agent performs better at estimating the parameters and has higher reward values, which indicates the scenarios when empathy is essential: when agent's initial belief is mismatched from the true parameters/intent of the agents.
ContributorsChen, Yi (Author) / Ren, Yi (Thesis advisor) / Zhang, Wenlong (Committee member) / Yong, Sze Zheng (Committee member) / Arizona State University (Publisher)
Created2021