Spatial subscriptions have been used to specify locations of interest in Distributed Event-based Systems (DEBSs). However, current DEBSs representations to support spatial subscriptions are not expressive enough to describe some forms of subscriptions in mobile settings. For instance, users are not allowed to specify a spatial subscription that refers to other more well-known locations, in case they are not familiar with the names of their current locations. In addition, the middleware in existing DEBSs does not support changes at runtime, and modification to these middleware systems to support spatial subscriptions are highly coupled with specific DEBS infrastructures. In this thesis, I argue that by enhancing the expressiveness of spatial subscriptions, a new model of mobile spatial subscriptions for location-aware services can be defined and a reusable plug-in implementation approach that supports existing DEBSs can be developed. This thesis first summarizes the essential abstractions to specify mobile spatial subscriptions, and analyze the expressiveness of existing DEBSs to support these abstractions. Second, it proposes a three-level mobile spatial subscription model, which supports the essential abstractions used to specify spatial subscriptions. The first level of the model handles subscriptions consisting of geometric coordinates; the second level supports subscriptions with location labels; the third level interprets subscriptions which specify locations by stating their dynamic properties. Next, a plug-in implementation approach is introduced, and hence, the three-level model can be integrated with different DEBSs with minimal modification to the middleware. The subscription model is implemented as a subscriber/publisher component, instead of directly modifying the existing DEBS. Finally, I develop a prototype system, Dynamic Mobile Subscription System (DMSS), and illustrate the usefulness and applicability of the three-level model and the plug-in implementation approach.

For any crankcase scavenged two-stroke engine, the fuel dynamics is not easily predicted. This is due to the fact that the fuel has to pass the crankcase volume before it enters the combustion chamber. This thesis is about the development of a model for fuel dynamics in the crankcase of a small crankcase scavenged two-stroke engine that gives realistic dynamic behavior. The crankcase model developed in this thesis has two parts. One part is a model for wall wetting and the other part is a model for concentration of evaporated fuel in the crankcase. Wall wetting is a phenomenon where fuel is accumulated in fuel films on the crankcase walls. The wall wetting model has two parameters that have to be tuned. One is for the fraction of fuel from the carburetor that is not directly evaporated and one parameter is for the evaporation time of the fuel film. The thesis treats tuning of these parameters by running the model with input data from measurements. Since not all input data are possible to measure, models for these inputs are also needed. Hence, development of simple models for air flows, fuel flow, gas mixing in the exhaust and the behavior of the λ-probe used for measurements are also treated in this thesis. The parameter estimation for the crankcase model made in this thesis results in parameters that corresponds to constant fraction of fuel from the carburetor that evaporates directly and a wall wetting evaporation rate that increases with increasing engine speed. The parameter estimation is made with measurements at normal operation and three specific engine speeds. The validity of the model is limited to these speeds and does not apply during engine heat-up. The model is run and compared to validation data at some different operation conditions. The model predicts dynamic behavior well, but has a bias in terms of mean level of the output λ. Since this mean value depends on the relation between input air and fuel flow, this bias is probably an effect of inaccuracy in the simple models developed for these flows. / För alla tvåtaktsmotorer med bränslematning genom vevhuset är bränsledynamiken svårpredikterad. Detta beror på att bränslet måste passera vevhusvolymen innan det når förbränningskammaren. Denna uppsats handlar om utveckling av en modell som ger realistisk dynamik för bränslet i tvåtaktsmotorers vevhus. Vevhusmodellen i denna uppsats har två delar. Den ena delen är en modell för bränslefilm på motorväggar och den andra delen är en modell för koncentration av förångat bränsle i vevhusvolymen. Bränslefilmsmodellen har två parametrar som måste trimmas. Den ena är andelen bränsle från förgasaren som inte förångas direkt och den andra är tidsåtgången för förångning av bränslefilmen. Uppsatsen behandlar trimning av dessa parametrar genom körning av modellen med indata från mätningar. Eftersom inte all indata kan mätas behövs även modeller för dessa. Därför behandlar uppsatsen även utveckling av enkla modeller för luftflöde, bränsleflöde, gasblandning i avgasvolymen och beteende hos den för mätningar använda λ-sonden. Parameterestimeringen för vevhusmodellen som är gjord i denna uppsats resulterar i parametrar som svarar mot konstant andel av bränslet från förgasaren som förångas direkt och en förångningshastighet för bränslefilmen som ökar med ökande motorhastighet. Parameterestimeringen är gjord med mätdata från normal körning vid tre olika motorhastigheter. Giltigheten för modellen är begränsad till dessa hastigheter och kan inte appliceras på körning av motorn vid kallstart. Modellen är körd och jämförd med valideringsdata från olika körfall. Modellen förutser dynamiska beteenden väl, men har ett systematiskt fel gällande medelvärdet på λ. Eftersom detta medelvärde beror på förhållandet mellan luftflöde och bränsleflöde in i vevhuset är sannolikt detta systematiska fel en effekt av osäkerhet i de enkla modeller som utvecklats för dessa flöden.

Spatial subscriptions have been used to specify locations of interest in Distributed Event-based Systems (DEBSs). However, current DEBSs representations to support spatial subscriptions are not expressive enough to describe some forms of subscriptions in mobile settings. For instance, users are not allowed to specify a spatial subscription that refers to other more well-known locations, in case they are not familiar with the names of their current locations. In addition, the middleware in existing DEBSs does not support changes at runtime, and modification to these middleware systems to support spatial subscriptions are highly coupled with specific DEBS infrastructures. In this thesis, I argue that by enhancing the expressiveness of spatial subscriptions, a new model of mobile spatial subscriptions for location-aware services can be defined and a reusable plug-in implementation approach that supports existing DEBSs can be developed. This thesis first summarizes the essential abstractions to specify mobile spatial subscriptions, and analyze the expressiveness of existing DEBSs to support these abstractions. Second, it proposes a three-level mobile spatial subscription model, which supports the essential abstractions used to specify spatial subscriptions. The first level of the model handles subscriptions consisting of geometric coordinates; the second level supports subscriptions with location labels; the third level interprets subscriptions which specify locations by stating their dynamic properties. Next, a plug-in implementation approach is introduced, and hence, the three-level model can be integrated with different DEBSs with minimal modification to the middleware. The subscription model is implemented as a subscriber/publisher component, instead of directly modifying the existing DEBS. Finally, I develop a prototype system, Dynamic Mobile Subscription System (DMSS), and illustrate the usefulness and applicability of the three-level model and the plug-in implementation approach.

La théorie du contrôle a d'abord été conçue pour des contrôleurs analogiques. Il était alors pertinent de synthétiser un contrôleur dans une représentation continue. De nos jours, les systèmes numériques ont majoritairement remplacés les systèmes analogiques pour différentes raisons (coût, résistance au bruit, intégration,...). Les signaux sont alors maintenus constants entre le cadencement périodique fixé par une horloge numérique.La commande événementielle vise à améliorer l’échantillonnage périodique en proposant une méthode dans laquelle les mises à jour sont déclenchées par une fonction événement.Dans cette thèse, de nouvelles méthodes de synthèse de contrôleurs evenementiels sont présentés et testés sur des systèmes temps-réels.La contribution la plus originale étant l'utilisation d'une commande événementielle appliquée à un problème d'anticollision entre une quadrirotor et un environnement supposé connu. / Control system theory has first been built for analog controllers. In this context, it was relevant to use a continuous framework to design a control feedback function. Nowadays, digital technologies are supplanting analog solutions due to several advantages (cost, noise, resistance, integration...). Signal is held constant between periodic triggers given by a digital clock.Event-based (or event-triggered) control aims to improve the periodic sampling scheme by proposing a method in which updates are triggered by an event function.In this thesis new event-based designs are detailled and tested on real-time systems.The most original contribution of this thesis is the use of an event-triggered design for a problem of collision avoidance between a quadrotor and a known environment.

Este trabalho aborda o problema de controle baseado em eventos para sistemas em tempo discreto, considerando que o sistema possui os dispositivos atuadores e sensores em nós diferentes e separados por uma rede de comunicação. A estratégia baseada em eventos consiste em reduzir a utilização da rede ao transmitir as informações do sensor para o atuador apenas quando um evento é gerado pela violação de um determinado limiar pela função de disparo. Primeiramente, são formuladas condições para a estabilidade de um sistema linear com realimentação estática de estados sob a estratégia proposta, com base na teoria de Lyapunov. Como as condições são postas na forma de desigualdades matriciais lineares (LMIs, do inglês linear matrix inequalities), problemas de otimização convexos podem ser utilizados na determinação dos parâmetros da função de disparo, bem como na resolução do problema de co-design, ou seja, do projeto simultâneo do controlador e da função de disparo, os quais são providos na sequência. A partir deste resultado básico, a metodologia é estendida para o caso em que ocorre a saturação do atuador. A seguir, é apresentada a extensão da metodologia para o caso em que o estado da planta não está disponível para o sensor, sendo então utlizado um observador de estados, considerando-se tanto o caso em que o modelo da planta utilizado no observador corresponde exatamente à dinâmica real da planta quanto o caso em que este modelo apresenta incertezas. Exemplos numéricos são apresentados para ilustrar todas as classes de sistemas consideradas, com os quais constata-se que a estratégia proposta é eficiente na redução da utilização dos recursos da rede de comunicação. / This work approaches the problem of event-triggered control for discrete time systems, considering that the system has the actuator and sensor devices in different nodes, separated by a communication network. The event-triggered strategy consists in reducing the utilization of the network by only transmitting the information from the sensor to the actuator when an event is generated by the violation of a determined threshold by the trigger function. Firstly, conditions for the stability of a linear system with a static state feedback under the proposed strategy are formulated based on the Lyapunov theory. Since the conditions are given in the form of linear matrix inequalities (LMIs), convex optimization problems can be used for the determination of the trigger function parameters, as well as the co-design of the feedback gain and the trigger function, which are given next. From this basic result, the methodology is extended to the case where occurs the saturation of the actuator. Following, the extension of the methodlogy to the case in which the plant states are not available for measure is presented, and a state-observer is used, considering both the case that the plant model corresponds exactly to the real plant dynamics and the case where this model has uncertainties. Numeric examples are shown to illustrate all the system classes considered, with which it is found that the proposed strategy is efficient in the reduction of the network resources utilization.

Este trabalho aborda o problema de controle baseado em eventos para sistemas em tempo discreto, considerando que o sistema possui os dispositivos atuadores e sensores em nós diferentes e separados por uma rede de comunicação. A estratégia baseada em eventos consiste em reduzir a utilização da rede ao transmitir as informações do sensor para o atuador apenas quando um evento é gerado pela violação de um determinado limiar pela função de disparo. Primeiramente, são formuladas condições para a estabilidade de um sistema linear com realimentação estática de estados sob a estratégia proposta, com base na teoria de Lyapunov. Como as condições são postas na forma de desigualdades matriciais lineares (LMIs, do inglês linear matrix inequalities), problemas de otimização convexos podem ser utilizados na determinação dos parâmetros da função de disparo, bem como na resolução do problema de co-design, ou seja, do projeto simultâneo do controlador e da função de disparo, os quais são providos na sequência. A partir deste resultado básico, a metodologia é estendida para o caso em que ocorre a saturação do atuador. A seguir, é apresentada a extensão da metodologia para o caso em que o estado da planta não está disponível para o sensor, sendo então utlizado um observador de estados, considerando-se tanto o caso em que o modelo da planta utilizado no observador corresponde exatamente à dinâmica real da planta quanto o caso em que este modelo apresenta incertezas. Exemplos numéricos são apresentados para ilustrar todas as classes de sistemas consideradas, com os quais constata-se que a estratégia proposta é eficiente na redução da utilização dos recursos da rede de comunicação. / This work approaches the problem of event-triggered control for discrete time systems, considering that the system has the actuator and sensor devices in different nodes, separated by a communication network. The event-triggered strategy consists in reducing the utilization of the network by only transmitting the information from the sensor to the actuator when an event is generated by the violation of a determined threshold by the trigger function. Firstly, conditions for the stability of a linear system with a static state feedback under the proposed strategy are formulated based on the Lyapunov theory. Since the conditions are given in the form of linear matrix inequalities (LMIs), convex optimization problems can be used for the determination of the trigger function parameters, as well as the co-design of the feedback gain and the trigger function, which are given next. From this basic result, the methodology is extended to the case where occurs the saturation of the actuator. Following, the extension of the methodlogy to the case in which the plant states are not available for measure is presented, and a state-observer is used, considering both the case that the plant model corresponds exactly to the real plant dynamics and the case where this model has uncertainties. Numeric examples are shown to illustrate all the system classes considered, with which it is found that the proposed strategy is efficient in the reduction of the network resources utilization.

Due to the increasing size and complexity of software systems, software architectures have become a crucial part in development projects. A lot of effort has been put into defining formal ways for describing architecture specifications using Architecture Description Languages (ADLs). Since no common ADL today offers tools for evaluating the performance, an attempt to develop such a tool based on an event-based simulation engine has been made. Common ADLs were investigated and the work was based on the fundamentals within the field of software architectures. The tool was evaluated both in terms of correctness in predictions as well as usability to show that it actually is possible to evaluate the performance using high-level architectures as models.

Cette thèse propose des contributions sur la commande événementielle pour des réseaux modélisés par une classe des systèmes de dimension infinie. Premièrement nous nous focalisons sur la modélisation et contrôle frontière des réseaux qui sont décrits par des systèmes hyperboliques de lois de conservation. En nous inspirant de modèles macroscopiques dans le cadre des réseaux de communications, nous traitons des systèmes couplés EDP-EDO, dont les noeuds (les serveurs) sont modélisés par des EDO non-linéaires alors que des lignes de transmission sont décrites par des systèmes hyperboliques lorsque des retards peuvent être pris en compte. Pour le système linéarisé resultant, autour d'un point d'équilibre optimal, on effectue aussi bien une analyse de stabilité "Input-to-state stable" que de la synthèse du contrôle pour le gain asymptotique grâce à une analyse de fonction de Lyapunov et une formulation LMI.Ensuite, nous considérons des aspects théoriques de la commande évènementielle aux frontières pour les systèmes hyperboliques. D'un côté, avec cette stratégie de contrôle, nous ciblons la réduction de la consommation d' énergie en traitant les contraintes de communication et de calcul. D' autre part, nous utilisons cette stratégie comme une manière rigoureuse pour échantillonner temporellement lorsqu' on a besoin de mettre en oeuvre les contrôleurs continus sur une plateforme numérique. Une étude mathématique sur l'existence et l' unicité des solutions ainsi que sur les aspects de stabilité est réalisée. / This thesis provides contributions on event-based control of networks model by a class of infinite dimensional systems. We first focus on the modeling and boundary control of networks described by hyperbolic systems of conservation laws. Highly inspired by macroscopic models in communication networks, we deal with a coupled PDE-ODE, where the nodes (servers) are modeled by nonlinear ODEs whereas transmission lines are described by hyperbolic equations when communication delays may be taken into account. For the resulting linearized system around an optimal equilibrium point, Input-to state stability (ISS) analysis as well as asymptotic gain control synthesis are carried out by means of Lyapunov techniques and LMI formulation.We then address some theoretical aspects of event-based boundary control of hyperbolic systems. One one hand, with this computer control strategy, we intend to reduce energy consumption when dealing with communication and computational constraints. On the other hand, we use this strategy as a rigorous way of sampling in time when implementation of continuous time controllers on a digital platform is required. A mathematical study regarding well-posedness of the solutions as well as stability issues is conducted.

Les neurosciences computationnelles sont une grande source d'inspiration pour le traitement de données. De nos jours, aussi bon que soit l'état de l'art de la vision par ordinateur, il reste moins performant que les possibilités offertes par nos cerveaux ou ceux d'autres animaux ou insectes. Cette thèse se base sur cette observation afin de développer de nouvelles méthodes de calcul pour la vision par ordinateur ainsi que pour le calcul de manière générale reposant sur les données issues de capteurs événementiels tels que les "rétines artificielles". Ces capteurs copient la biologie et sont utilisés dans ces travaux pour le caractère épars de leurs données ainsi que pour leur précision temporelle : l'information est codée dans des événements qui sont générés avec une précision de l'ordre de la microseconde. Ce concept ouvre les portes d'un paradigme complètement nouveau pour la vision par ordinateur, reposant sur le temps plutôt que sur des images. Ces capteurs ont été utilisés pour développer des applications comme le suivi ou la reconnaissance d'objets ou encore de l'extraction de motifs élémentaires. Des plate-formes de calcul neuromorphiques ont aussi été utilisées pour implémenter plus efficacement ces algorithmes, nous conduisant à repenser l'idée même du calcul. Les travaux présentés dans cette thèse proposent une nouvelle façon de penser la vision par ordinateur via des capteurs événementiels ainsi qu'un nouveau paradigme pour le calcul. Le temps remplace la mémoire permettant ainsi des opérations complètement locales, ce qui permet de réaliser des machines hautement parallèles avec une architecture non-Von Neumann. / Computational Neurosciences are a great source of inspiration for data processing and computation. Nowadays, how great the state of the art of computer vision might be, it is still way less performant that what our brains or the ones from other animals or insects are capable of. This thesis takes on this observation to develop new computational methods for computer vision and generic computation relying on data produced by event-based sensors such as the so called “silicon retinas”. These sensors mimic biology and are used in this work because of the sparseness of their data and their precise timing: information is coded into events which are generated with a microsecond precision. This opens doors to a whole new paradigm for machine vision, relying on time instead of using images. We use these sensors to develop applications such as object tracking or recognition and feature extraction. We also used computational neuromorphic platforms to better implement these algorithms which led us to rethink the idea of computation itself. This work proposes new ways of thinking computer vision via event-based sensors and a new paradigm for computation. Time is replacing memory to allow for completely local operations, enabling highly parallel machines in a non-Von Neumann architecture.

State estimation problem for power systems has long been a fundamental issue that demands a variety of methodologies dependent on the system settings. With recent introduction of advanced devices of phasor measurement units (PMUs) and dedicated communication networks, the infrastructure of power grids has been greatly improved. Coupled with the infrastructure improvements are three emerging issues for the state estimation problems, namely, the coexistence of both traditional and PMU measurements, the incomplete information resulting from delayed, missing and quantized measurements due to communication constraints, and the cyber-attacks on the communication channels. Three challenging problems are faced when dealing with the three issues in the state estimation program of power grids: 1) how to include the PMU measurements in the state estimator design, 2) how to account for the phenomena of incomplete information occurring in the measurements and design effective state estimators resilient to such phenomena, and 3) how to identify the system vulnerability in state estimation scheme and protect the estimation system against cyber-attacks. In this thesis, with the aim to solve the above problems, we develop several state estimation algorithms which tackle the issues of mixed measurements and incomplete information, and examine the cyber-security of the dynamic state estimation scheme. • To improve the estimation performance of power grids including PMU measurements, a hybrid extended Kalman filter and particle swarm optimization algorithm is developed, which has the advantages of being scalable to the numbers of the installed PMUs and being compatible with existing dynamic state estimation software as well. • Two kinds of network-induced phenomena, which leads to incomplete information of measurements, are considered. Specifically, the phenomenon of missing measurements is assumed to occur randomly and the missing probability is governed by a random variable, and the quantized nonlinear measurement model of power systems is presented where the quantization is assumed to be of logarithmic type. Then, the impact of the incomplete information on the overall estimation performance is taken into account when designing the estimator. Specifically, a modified extended Kalman filter is developed which is insensitive to the missing measurements in terms of acceptable probability, and a recursive filter is designed for the system with quantized measurements such that an upper bound of the estimation error is guaranteed and also minimized by appropriately designing the filter gain. • With the aim to reduce or eliminate the occurrence of the above-mentioned network-induced phenomena, we propose an event-based state estimation scheme with which communication transmission from the meters to the control centre can be greatly reduced. To ensure the estimation performance, we design the estimator gains by solving constrained optimization problems such that the estimation error covariances are guaranteed to be always less than a finite upper bound. • We examine the cyber-security of the dynamic state estimation system in power grids where the adversary is able to inject false data into the communication channels between PMUs and the control centre. The condition under which the attacks cause unbounded estimation errors is found. Furthermore, for system that is vulnerable to cyber-attacks, we propose a system protection scheme through which only a few (rather than all) communication channels require protection against false data injection attacks.