CPS: Small: MPSoC based Control and Scheduling Co-design for Battery Powered Cyber-Physical Systems

CPS：小型：基于MPSoC的电池供电网络物理系统的控制和调度协同设计本研究的目标是为电池供电的网络物理系统的设计开发新的科学和工程原理、算法和模型，其计算基板包括高性能的多处理器片上系统。方法是设计控制任务，以保证性能并满足电池运行时间的标准。任务调度器是共同设计的，用于平衡多个处理器上的计算负载，并与控制任务一起控制物理对象。控制器和调度器将通过系统论的方法与电池管理算法集成在一起，从而使这些方法被证明是正确的，并具有合理的性能。智能优点：该计划将创造数字和混合控制理论的进步，跟上最近使用多处理器片上系统进行控制和机器人应用的趋势。在多个处理器之间迁移控制任务的机制将考虑物理和热性能。开发了一种新的电池动态放电模型，该模型可以应用于现有静态电池模型无法预测电池放电电流的情况。该项目提供网络物理系统的多学科培训。一个教学和外展实验室已经到位，接待参加机器人比赛的K-12学生团队，并已成为美国童子军的探险岗位。

CPS: Small: MPSoC based Control and Scheduling Co-design for Battery Powered Cyber-Physical SystemsThe objective of this research is to develop new scientific and engineering principles, algorithms and models for the design of battery powered cyber-physical systems whose computational substrates include high-performance multiprocessor systems-on-chip. The approach is to design control tasks that guarantee performance and meet criteria for battery operation time. Task schedulers are co-designed to balance the computing load across the multiple processors, and to control the physical plant together with the control tasks. The controller and scheduler will be integrated with battery management algorithms through a systems theory approach so that the methods are provably correct with justfiable performance. Intellectual Merit: The program will create progress in digital and hybrid control theory that keeps up with the recent trend of using multiprocessor systems-on-chips for control and robotic applications. The mechanism for the migration of control tasks between multiple processors will respect physical and thermal performance. A novel battery dynamic discharge model is developed, which may be applied to context when the discharge current of batteries cannot be predicted by existing static battery models.Broader Impacts: Collaborations with industrial partners have been set up. The program offers multidisciplinary training in cyber-physical systems. A teaching and outreach lab is in place to host K-12 student teams that participate in robot competitions, and has become an Explorer Post for Boy Scout of America.