WO2024255932A1 - Procédé de conception et de placement de capteurs avec des objectifs liés à la commande et système comprenant un agencement de capteurs - Google Patents

Procédé de conception et de placement de capteurs avec des objectifs liés à la commande et système comprenant un agencement de capteurs Download PDF

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Publication number
WO2024255932A1
WO2024255932A1 PCT/CZ2023/000026 CZ2023000026W WO2024255932A1 WO 2024255932 A1 WO2024255932 A1 WO 2024255932A1 CZ 2023000026 W CZ2023000026 W CZ 2023000026W WO 2024255932 A1 WO2024255932 A1 WO 2024255932A1
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Prior art keywords
control
sensors
sensor
model
optimal control
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Ceased
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PCT/CZ2023/000026
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English (en)
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Jakub MAREČEK
Vyacheslav KUNGURTSEV
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Czech Technical University In Prague
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Czech Technical University In Prague
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric

Definitions

  • the invention relates to a method of optimizing the placement and design of sensors, including maximally reducing the number of sensors to be deployed to measure desired data, in order to realize the efficient collection of relevant data by targeted elimination of redundant and non-representative data that have no or minimal relevance to the desired monitoring objective.
  • Present method involves implementation of steps that consist in evaluating the correct design and placement of specific sensors for data collection with the highest degree of prioritization, their subsequent verification and validation, and then adjusting the design and placement to achieve the desired data output.
  • the invention is utilizable in various applications, for example for measuring water levels to obtain data usable for efficient hydroelectric power generation.
  • the method includes receiving a description of a control problem and a specification of properties of sensors, information capacity and cost, and deciding on the deployment of sensors and their adjustable properties so as to optimize the control performance by providing the most saliently relevant data.
  • the invention relates to a system comprising a set of sensors designed and deployed according to present method steps and conditions proposed, wherein the system is configured to provide relevant output data based on the ultimate control objective.
  • Document US10686804B2 describes a method which includes detecting, using sensors, packets throughout a datacenter.
  • the sensors can then send packet logs to various collectors which can then identify and summarize data flows in the datacenter.
  • T he collectors can then send flow logs to an analytics module which can identify the status of the datacenter and detect an attack.
  • a system can receive messages from sensors deployed around a network, each of the messages reporting a respective flow captured by a reporting sensor from the sensors. Next, the system can identify flows reported in the messages and, for each of the flows, generate a respective list of sensors that reported that flow. Based on the respective list of sensors, the system can infer a respective placement of the sensors within the network and a topology of the sensors.
  • present method utilizes sensitivity analysis, except in a mixed-integer oi-level problem, not considered in standard references [25, 26].
  • Engineering practice in water systems is captured, e.g., by [30. 15, 10], related to common models such as [2, "i 3]
  • Present invention relates to a method of optimizing the placement of sensors in the environment and their particular design, including maximally reducing the number of sensors to be placed to measure desired data, in order to maximize the collection of relevant data by targeted elimination of redundant and non-representative data that have no relevance to the desired monitoring objective,
  • the invention relates to a system comprising a set of sensors designed and deployed according to present method steps, wherein the system is configured to provide relevant output data based on the monitoring objective.
  • a human agent is able to control the dynamics, with the aim to achieve some overall desiderata with respect to the performance of the dynamics. For example, consider the opening and closing of channels in a river network, with the river flow dynamics modeled by the Saint Venant equations fi ll.
  • a further component provides estimates of states of the underlying physical system using the processed measurements. This is often implemented using assimilation of the processed measurements in an a priori model of the physical system, with the objective capturing the statistical performance of the assimilation, such as using the empirical-risk objective.
  • the a priori model of the physical system is often continuoustime, continuous-parameter, but one wishes to assimilate finite-precision measurements captured at discrete points in time.
  • the state estimation is often implemented in a general- purpose computing system. There is substantial literature on data assimilation and so- called inverse problems.
  • a further component provides a control signal, utilizing the estimated state, and a reference signal to regulate the signal to (in the so-called regulation problem), or an objective to optimize (in the so-called optimal control problem), possibly with constraints.
  • the optimal control problem which, in general, is an infinitedimensional optimization problem.
  • a model-predictive control for a particular optimal control problem one truncates the time horizon considered in the optimal control problem to a finite value, often to capture seconds to days of operations, and then solves the finitedimensional problem corresponding to the truncated time horizon.
  • the controlled system sometimes known as the plant
  • changes its state such that the sensor readings may change.
  • sensors are placed with the objective of improving the statistical performance of the state-estimation problem in par. 0021 , such as improving the empirical risk. Instead, we consider the sensor placement with objectives of the control problem in par. 0022.
  • the data acquired in turn is used to perform estimation of parameters pt with associated uncertainty of.
  • the method comprises following essential steps:
  • the method comprises a definition of a model- predictive controller for the optimal control problem, wherein the model-predictive controller first estimates the state of the system utilizing sensor readings, and subsequently chooses the control signal so as to optimize the objective function of the optimal control problem over a certain finite time horizon, and wherein the control performance of the model-predictive controller is expressed in terms of the objective 'unction of the optimal control problem over a time horizon,
  • Figure 1 suggests the traditional view of sensor-placement problems, wherein the data from the sensors are used in a state-estimation problem, e.g., with an empirical-risk objective.
  • the sensors take measurements, in step 102, these values are assimilated in a model with an objective capturing the statistical performance of the model, such as using the empirical-risk objective.
  • Sensors are placed in step 103 with the objective of improving the statistical performance of the state-estimation problem according to step such as improving the empirical risk.
  • Figure 2 suggests the closed-ioop view of the sensor-placement, problems, wherein the sensors are used to Improve the performance of model-predictive control for a particular optimal control problem, with respect to the objective of the optimal-control problem.
  • the sensors take measurements, in step 202. these values are assimilated in a model with an objective capturing the statistical performance of the model, such as using the empirical-risk objective.
  • the control signal is computed, assuming the model estimated in step 202 is correct or correct up to some uncertainty set. The latter Is known as robust model predictive control.
  • the application of the control signal changes the state of the system under control (also known as plant).
  • the objective of the sensor placement is to improve the objective of the optimal-control problem over a suitably long horizon, such as the life time of the sensors.
  • Figure 3 shows a scheme with a lower-level suggestion of the use of sensors in an inner control-estimation loop.
  • Figure 4 shows a scheme with an outer loop for sensor placement and sensor resource utilization adjustments.
  • step 201 one retrieves data from river gauges.
  • step 202 the data from the river gauges are assimilated in a model comprising differential equations of shallow-water flow, also known as Saint Venant equations.
  • step 203 the decisions are made as to the operations of the turbines and spill-overs.
  • step 204 the aperations of the turbines and spill-overs affect the state of the river flow, and closing the loop.
  • the objective for the placement of the sensors would be the change in the revenue generated from the cascade of dams over a suitably long horizon, e.g,, life time of the sensors.
  • step 201 one retrieves data from phasar measurement units.
  • step 202 the data from the phasor measurement units are assimilated in a model of alternating-current optima! power flaws, also known as ACOPF.
  • the decisions are made as to the activation of ancillary services (e.g., secondary voltage regulation) and related “redispatching”, in step 204, the use of ancillary services and "redispatching" affect the state of the power flow, closing the loop.
  • ancillary services e.g., secondary voltage regulation
  • redispatching the use of ancillary services and "redispatching" affect the state of the power flow, closing the loop.
  • the •objective for the placement of the phasor measurement units would be to minimize the integral of the deviation of the current from the prescribed bounds,
  • a matrix channel (data rate) between a mobile subscriber and a mobile carrier network in a so-called closed-loop multiple-input-multiple-output (MIMO) system.
  • MIMO closed-loop multiple-input-multiple-output
  • Such a matrix channel utilizes a number of antennas for each mobile subscriber.
  • MIMO is utilized by a number of standards, for example, IEEE 802.11n (Wi-Fi 4), IEEE 802,11ac (Wi-Fi 5), HSPA+ (3G), WiMAX, and Long Term Evolution (LTE).
  • Wi-Fi 4 Wi-Fi 4
  • IEEE 802,11ac Wi-Fi 5
  • HSPA+ Third Generation
  • WiMAX Long Term Evolution
  • LTE Long Term Evolution
  • step 201 one receives signal from each of the antennas, in step 202, one estimates (or updates) a model of multipath propagation, known as MIMO channel matrix. This is also known as channel estimation, in step 203, one decides on the changes to the phase and amplitude of each antenna to form a beam. This step is known as the beamforming. In step 204, this beamforming changes the multi-path propagation of the signal in the matrix channel.
  • the goal of the placement of the antennas is not to improve the data rate for a fixed MIMO channel matrix and phase and amplitude of each antenna, but rather to improve the data rate of the closed-loop MIMO system.
  • Present invention is utilizable, for example, in the field of hydroelectric power generation by measuring water levels to obtain data usable for efficient water management.
  • the invention can also be utilized in the positioning of antennas on a mobile device so as to improve beam forming capabilities or in the positioning of phasor measurement units in a transmission systems so as to optimize the ability to balance the supply and demand of energy.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)

Abstract

L'invention concerne un procédé de conception et de placement de capteurs avec un objectif lié à la commande, qui concerne la mise en œuvre d'étapes qui consistent à évaluer la conception et le placement corrects de capteurs spécifiques pour une collecte de données avec le degré de priorisation le plus élevé, leur vérification et validation ultérieures, puis à régler la conception et le placement pour obtenir la sortie de données souhaitée. Le procédé consiste à définir un problème de commande optimal suivi par la spécification des propriétés de capteurs qui pourraient être déployés et à décider du déploiement de capteurs et à décider des propriétés ajustables des capteurs déployés de façon à optimiser les performances de commande, en termes de la fonction objective du problème de commande optimal. Avantageusement, le procédé utilise la définition d'un dispositif de commande prédictive basée sur un modèle pour le problème de commande optimal, le dispositif de commande prédictive basée sur un modèle estimant d'abord l'état du système à l'aide de données de capteur, et choisit ensuite le signal de commande de façon à optimiser la fonction objective du problème de commande optimal sur un certain horizon temporel fini, et dans l'étape finale, les performances de commande du dispositif de commande prédictive basée sur un modèle sont exprimées en termes de la fonction objective du problème de commande optimal sur un certain horizon temporel.
PCT/CZ2023/000026 2023-06-16 2023-06-16 Procédé de conception et de placement de capteurs avec des objectifs liés à la commande et système comprenant un agencement de capteurs Ceased WO2024255932A1 (fr)

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Citations (3)

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US9935851B2 (en) 2015-06-05 2018-04-03 Cisco Technology, Inc. Technologies for determining sensor placement and topology
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Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9935851B2 (en) 2015-06-05 2018-04-03 Cisco Technology, Inc. Technologies for determining sensor placement and topology
US10686804B2 (en) 2015-06-05 2020-06-16 Cisco Technology, Inc. System for monitoring and managing datacenters
CN110186538A (zh) 2019-05-31 2019-08-30 重庆交通大学 一种河工试验水位计及其参数标定方法

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