CPS: Small: Control Design for CyberPhysical Systems Using Slow Computing

CPS：小型：使用慢速计算的网络物理系统控制设计

• 批准号: 0931746
• 负责人: Richard Murray
• 金额: $ 55万
• 依托单位: California Institute of Technology
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2009
• 资助国家: 美国
• 起止时间: 2009-09-01 至 2013-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0931746&HistoricalAwards=false
• 关键词: CPS; Small; Control; Design; CyberPhysical

CPS:Small:Control Design for CyberPhysical Systems Using Slow ComputingThe objective of this research is to develop principles and tools for thedesign of control systems using highly distributed, but slow, computationalelements. The approach of this research is to build an architecture thatuses highly parallelized, simple computational elements incorporatingnonlinearities, time delay and asynchronous computation as integral designelements. Tools for the design of non-deterministic protocols will bedeveloped and demonstrated using an existing multi-vehicle testbed atCaltech.The motivation for using "slow computing" is to develop new feedback controlarchitectures for applications where computational power is extremelylimited. Examples of such systems are those where the energy usage of thesystem must remain small, either due to the source of power available(e.g. batteries or solar cells) or the physical size of the device(e.g. microscale and nanoscale robots). A longer term application area isin the design of control systems using novel computing substrates, such asbiological circuits. A critical element in both cases is the tight couplingbetween the dynamics of the underlying process and the temporal propertiesof the algorithm that is controlling it.The implementation plan for this project involves students from multipledisciplines (including bioengineering, computer science, electricalengineering and mechanical engineering) as well as at multiple experiencelevels (sophomores through PhD students) working together on a set ofinterlinked research problems. The project is centered in the Control andDynamical Systems department at Caltech, which has a strong record ofrecruiting women and underrepresented minority students into its programs.

CPS：小：控制设计的CyberPhysical系统使用慢速计算本研究的目的是开发的原则和工具，控制系统的设计使用高度分布式，但速度慢，计算元素。 本研究的方法是建立一个架构，使用高度并行化，简单的计算元素，非线性，时间延迟和异步计算作为整体设计元素。 设计非确定性协议的工具将被开发，并使用现有的多车辆测试台在Caltech。使用“慢计算”的动机是开发新的反馈控制架构的应用程序，计算能力是非常有限的。 这种系统的例子是，由于可用的电源（例如电池或太阳能电池）或设备的物理尺寸（例如微米级和纳米级机器人），机器人的能量使用必须保持很小。 一个长期的应用领域是在控制系统的设计中使用新的计算基板，如生物电路。 在这两种情况下，一个关键因素是底层过程的动力学和控制它的算法的时间属性之间的紧密耦合。该项目的实施计划涉及来自多个学科（包括生物工程，计算机科学，电子工程和机械工程）以及多个经验层次（从博士生到博士生）的学生一起工作，研究一系列相互关联的研究问题。该项目集中在加州理工学院的控制和动力系统系，该系在招收女性和少数民族学生方面有着良好的记录。