Award Abstract #0540179
DDDAS/SEP: Optimal interlaced distributed control and distributed measurement with networked mobile actuators and sensors

NSF Org:	CMMI Division of Civil, Mechanical, and Manufacturing Innovation
Initial Amendment Date:	September 19, 2005
Latest Amendment Date:	September 19, 2006
Award Number:	0540179
Award Instrument:	Standard Grant
Program Manager:	Suhada Jayasuriya CMMI Division of Civil, Mechanical, and Manufacturing Innovation ENG Directorate for Engineering
Start Date:	January 1, 2006
Expires:	December 31, 2007 (Estimated)
Awarded Amount to Date:	$71160
Investigator(s):	YangQuan Chen yqchen@ece.usu.edu (Principal Investigator)
Sponsor:	Utah State University Sponsored Programs Office Logan, UT 84322 435/797-1226
NSF Program(s):	ITR-DYNAMIC DATA DRIV APP SYS, DYNAMIC DATA DRIVEN APPL SYSTS, COLLABORATIVE RESEARCH
Field Application(s):
Program Reference Code(s):	OTHR, CVIS, 7234, 5979, 5953, 1057, 030E, 0000
Program Element Code(s):	7581, 7481, 7298

ABSTRACT

Title:

DDDAS/SEP: Optimal interlaced distributed control and distributed measurement with networked mobile actuators and sensors

Abstract:

This one-year exploratory project focuses on applying the dynamic data driven applications system (DDDAS) approach to achieve optimal interlaced distributed control and distributed measurement with networked mobile actuators and sensors. The application system is on chemical fog concentration reduction or elimination. A group of moving sensors make distributed measurements of the diffusion process to characterize the diffusion process (sniffing), meanwhile, the dynamic data sensed is fed to a group of mobile robots equipped with neutralizer dispensers (spraying) to contain the chemical fog. Fundamental research issues include sensing policy, actuation policy, formation regulation and tracking, and optimal path planning. In this one-year exploratory DDDAS project, the PI specifically attacks the optimal interlaced distributed control and distributed measurement with networked mobile actuators and sensors, which will lay a foundation for characterizing and neutralizing multiple, possibly evolving, chemical sources, on and underground, by a team of ground mobile robots equipped with networked sensors (detectors) and actuators (neutralizers).

The proposed research and educational efforts will have a significant impact on the development of mobile actuator and sensor networks for national security interests, water resources, precision agriculture, ecological and environmental monitoring; the creation of interdisciplinary research and environment; recruiting and retaining engineering students. As a motivating example, imagine that a hostile toxic diffusion source is being released and diffusing with no color and no smell. It is very desirable to send a team of mobile robots to sniff around and, meanwhile, dispatch another team of mobile robots to spray/neutralize the diffusion process. Since these robots are networked via wireless links, thus the name "mobile actuator and sensor networks." It is a hard problem to decide where to sniff and where to spray for each individual mobility node when various constraints exist such as limited battery life and obstacles. This project focuses on optimal interlaced distributed control and distributed measurement with networked mobile actuators and sensors. That is, move sensors for better measurements and in turn, move actuators for better control and neutralization. This project provides a new, unique exciting challenge to push the boundary of emerging distributed control system theories with a clear dynamic data driven flavor.

PUBLICATIONS PRODUCED AS A RESULT OF THIS RESEARCH

Christophe Tricaud; YangQuan Chen. "Cooperative Control of Water Volumes of Parallel Ponds Attached to An Open Channel Based on Information Consensus with Minimum Diversion Water Loss," Proc. of the 2007 IEEE Int. Conf. on Mechatronics and Automation (ICMA07), 2007.

Dariusz Ucinski; YangQuan Chen. "Sensor Motion Planning in Distributed Parameter Systems Using Turing's Measure of Conditioning," IEEE Int. Conference on Decision and Control, 2006, p. 759.

Haiyang Chao, YangQuan Chen* and Wei Ren. "A Study of Grouping Effect On Mobile Actuator Sensor Networks for Distributed Feedback Control of Diffusion Process Using Central Voronoi Tessellations," Int. J. of Intelligent Control Systems, v.11, 2006, p. 185.

Haiyang Chao; YangQuan Chen; Wei Ren. "Consensus of Information in Distributed Control of a Diffusion Process using Centroidal Voronoi Tessellations," IEEE Int. Conference on Decision and Control 2007, 2007.

Wei Ren; Kevin L. Moore; YangQuan Chen. "High-Order and Model Reference Consensus Algorithms in Cooperative Control of Multi-Vehicle Systems," ASME Journal of Dynamic Systems, Measurement, and Control, v.129, 2007, p. 678.

Wei Ren; YangQuan Chen. "Leaderless Formation Control for Multiple Autonomous Vehicles," AIAA Guidance, Navigation, and Control Conference and Exhibit, 2006.

William Bourgeous; Shelley Rounds; YangQuan Chen. "A Swarm Engineering Approach to Mobile Sensor Network Design Towards Collaborative Phototaxis With A Slowly Moving Light Source," Proc. of the ASME Design Engineering Technical Conferences, 3rd ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications (MESA07), 2007.

YangQuan Chen*, Zhongmin Wang and Jinsong Liang.. "Optimal Dynamic Actuator Location in Distributed Feedback Control of A Diffusion Process," International Journal of Sensor Networks, v.2, 2007, p. 169.

YangQuan Chen; Zhongmin Wang; Kevin L. Moore. "Optimal Spraying Control of A Diffusion Process Using Mobile Actuator Networks With Fractional Potential Field Based Dynamic Obstacle Avoidance," Proc. of the IEEE International Conference on Network, Systems and Control, 2006.

Zhen Song, YangQuan Chen*, JinSong Liang and Dariusz UciŽnski.. "Optimal Mobile Sensor Motion Planning Under Nonholonomic Constraints for Parameter Estimation of Distributed Systems.," Int. J. Intelligent System Tech. and Applications, v.3, 2007.

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