CSR---EHS: Embedded Viability Computing

在过去的15年里，生存理论在最优控制、微分对策和混合系统可达性等领域取得了重大的理论成就。该理论的当前状态现在也使嵌入式计算取得了重大突破。本项目致力于开发新的集值数值分析格式及其在特定应用(嵌入式)平台上的实现。这项研究涉及三个关键问题：(1)计算生存集的高阶数值格式。这为最优控制问题的数值解提供了更快的收敛速度。(2)离散映射上的形式化验证算法。这使得能够创建直接适用于用测量数据阵列而不是代数函数来描述的问题的最优控制策略。(3)集值最优控制算法。这为经典控制技术不能包含状态约束的问题提供了全局最优解决方案。正在开发、定制和嵌入通用计算核心，用于土木工程和环境工程以及空中交通管制的两个关键应用。这被集成到一个正在开发的硬件平台：主动拉格朗日传感器网络(安装在主动漂移器上的传感器，跟踪环境流动)。该网络的目标是跟踪水中的分布特征(盐锋和浑浊羽流)。驱动应用是对河口环境中混合的监测。该网络将部署在加利福尼亚州的圣华金-萨克拉门托三角洲。在NASA Ames，该网络正在与软件方面进行接口，目的是帮助空中交通管制员在恶劣天气条件下优化风向决策。

In the past 15 years, viability theory has enabled significant theoretical achievements in the areas of optimal control, differential games and hybrid systems reachability. The current state of the theory now enables significant breakthroughs in embedded computing as well. This project focuses on the development of novel set-valued numerical analysis schemes and their implementation on application-specific (embedded) platforms. The research addresses three key topics: (1) Higher order numerical schemes for the computation of viability sets. These provide faster convergence rates for numerical solutions of optimal control problems. (2) Formal verification algorithms on discrete maps. These enable the creation of optimal control strategies directly applicable to problems described with arrays of measured data rather than algebraic functions. (3) Set-valued optimal control algorithms. These provide globally optimal solutions for problems in which classical control techniques cannot incorporate state constraints.A generic computational core is being developed, customized and embedded in software and hardware platforms used for two key applications in Civil and Environmental Engineering, and in Air Traffic Control. This is integrated to a hardware platform in development: an active Lagrangian sensor network (sensors mounted on active drifters which follow environmental flows). The goal of this network is to track distributed features in water (salt fronts and turbidity plumes). The driving application is the monitoring of mixing in estuarine environments. The network will be deployed in the San-Joaquin - Sacramento Delta in California. At NASA Ames, the network is being interfaced with the software FACET, with the goal of helping Air Traffic Controllers to optimize wind routing decisions in severe weather conditions.