02009nas a2200217 4500008004100000245007400041210006900115300001200184490000700196520134900203653002101552653001301573100001701586700001501603700001201618700001401630700001901644700001501663700001201678856010101690 2007 eng d00aA component-based approach to the design of networked control systems0 acomponentbased approach to the design of networked control syste a261-2790 v133 a

Component-based techniques revolve around composable, reusable software objects that shield the application level software from the details of the hardware and lowlevel software implementation and vice versa. Components provide many benefits that have led to their wide adoption in software and middleware developed for embedded systems: They are well-defined entities that can be replaced without affecting the rest of the systems, they can be developed and tested separately and integrated later, and they are reusable. Clearly such features are important for the design of large-scale complex systems more generally, beyond software architectures. We propose the use of a component approach to address embedded control problems. We outline a general componentbased framework to embedded control and show how it can be instantiated in specific problems that arise in the control over/of sensor networks. Building on the middleware component framework developed under the European project RUNES, we develop a number of control-oriented components necessary for the implementation of control applications and design their integration. The paper provides the overview of the approach, discusses a real life application where the approach has been tested and outlines a number of specific control problems that arise in this application.

10aEmbedded Control10aRobotics1 aArzén, K -E1 aBicchi, A.1 aDini, G1 aHailes, S1 aJohansson, K H1 aLygeros, J1 aTzes, A uhttp://95.110.227.16/publications/component-based-approach-design-networked-control-systems.html01552nas a2200193 4500008004100000245006900041210006200110260000900172300001200181520095300193653002101146653001301167100001701180700001501197700001401212700001901226700001501245856009801260 2006 eng d00aOn the Design and Control of Wireless Networked Embedded Systems0 aDesign and Control of Wireless Networked Embedded Systems bIEEE a440-4453 a

Wireless networked embedded systems are becoming increasingly important in a wide area of technical fields. In this tutorial paper we present recent results on design and control of these systems developed within the project Reconfigurable Ubiquitous Networked Embedded Systems (RUNES), which is an European Integrated Project with the aim to control complexity in networked embedded systems by developing robust and scalable middleware systems. New components for control under varying network conditions are discussed for the RUNES architecture. The complexity of the closed-loop system is increased due to the coupling with the disturbances introduced by the communication system. The network may introduce additional delays, jitter, data rate limitations, packet losses etc. Experimental work on integration test beds that demonstrates these results is shown together with motivating links to the RUNES disaster relief tunnel scenario.

10aEmbedded Control10aRobotics1 aArzén, K -E1 aBicchi, A.1 aHailes, S1 aJohansson, K H1 aLygeros, J uhttp://95.110.227.16/publications/design-and-control-wireless-networked-embedded-systems.html01654nas a2200169 4500008004100000245009300041210006900134300001400203520104000217653002101257653001301278100001501291700001601306700001501322700001901337856012801356 2004 eng d00aControl of Distributed Embedded Systems in the Presence of Unknown–but–Bounded Noise0 aControl of Distributed Embedded Systems in the Presence of Unkno a1448-14533 a

In this paper we consider the problem of controlling multiple scalar systems through a limited capacity shared channel. Each system is affected by process noise and can be controlled byactuators with values in a {\em fixed}inite set. The control objective is to bound the evolution of the systems in specified sets (controlled invariance). Our goal is to find an optimal allocation of the shared communication resource to the different control activities and to identify correct choices for the design parameters. The paper provides fundamental conceptual tools to attack the design problem in the formal framework of an optimization problem. Namely, we give a feasibility criterion to decide whether a set of design parameters conforms with a control specification (i.e., with the controlled invariance of a specified set for each system). Moreover, we offer the explicit computation of the minimum bit rate necessary for the controlled invariance of a set, which is of utmost importance for solving the optimization problem.

10aEmbedded Control10aRobotics1 aPicasso, B1 aPalopoli, L1 aBicchi, A.1 aJohansson, K H uhttp://95.110.227.16/publications/control-distributed-embedded-systems-presence-unknown%E2%80%93%E2%80%93bounded-noise.html01284nas a2200157 4500008004100000245005500041210005400096520078700150653002100937653001300958100001500971700001900986700001601005700001501021856009001036 2004 eng d00aQuantised Control in Distributed Embedded Systems.0 aQuantised Control in Distributed Embedded Systems3 a

Traditional control design is based on ideal assumptions concerning the amount, type and accuracy of the information flow that can be circulated across the controller. Unfortunately, real implementation platforms exhibit non-idealities that may substantially invalidate such assumptions. As a result, the system’s closed-loop performance can be severely affected and sometimes stability itself is jeopardised. These problems show up with particular strength when multiple feedback loops share a limited pool of computation and communication resources. In this case the designer is confronted with the challenging task of choosing at the same time the control law and the optimal allocation policy for the shared resources (control algortihm/system architecture co-design).

10aEmbedded Control10aRobotics1 aBicchi, A.1 aJohansson, K H1 aPalopoli, L1 aPicasso, B uhttp://95.110.227.16/publications/quantised-control-distributed-embedded-systems.html