CPS: Frontier: Collaborative Research: Correct-by-Design Control Software Synthesis for Highly Dynamic Systems

CPS：前沿：协作研究：高动态系统的设计正确控制软件综合

• 批准号: 1239037
• 负责人: Jessy Grizzle
• 金额: $ 160万
• 依托单位: Regents of the University of Michigan - Ann Arbor
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2013
• 资助国家: 美国
• 起止时间: 2013-04-01 至 2018-03-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1239037&HistoricalAwards=false
• 关键词: CPS; Frontier; Collaborative; Research; Correct

This CPS Frontiers project addresses highly dynamic Cyber-Physical Systems (CPSs), understood as systems where a computing delay of a few milliseconds or an incorrectly computed response to a disturbance can lead to catastrophic consequences. Such is the case of cars losing traction when cornering at high speed, unmanned air vehicles performing critical maneuvers such as landing, or disaster and rescue response bipedal robots rushing through the rubble to collect information or save human lives. The preceding examples currently share a common element: the design of their control software is made possible by extensive experience, laborious testing and fine tuning of parameters, and yet, the resulting closed-loop system has no formal guarantees of meeting specifications.The vision of the project is to provide a methodology that allows for complex and dynamic CPSs to meet real-world requirements in an efficient and robust way through the formal synthesis of control software. The research is developing a formal framework for correct-by-construction control software synthesis for highly dynamic CPSs with broad applications to automotive safety systems, prostheses, exoskeletons, aerospace systems, manufacturing, and legged robotics. The design methodology developed here will improve the competitiveness of segments of industry that require a tight integration between hardware and highly advanced control software such as: automotive (dynamic stability and control), aerospace (UAVs), medical (prosthetics, orthotics, and exoskeleton design) and robotics (legged locomotion). To enhance the impact of these efforts, the PIs are developing interdisciplinary teaching materials to be made freely available and disseminating their work to a broad audience.

这个CPS Frontiers项目解决了高度动态的网络物理系统（CPS），即几毫秒的计算延迟或对干扰的错误计算响应可能导致灾难性后果的系统。 例如，汽车在高速转弯时失去牵引力，无人驾驶飞行器执行着陆等关键动作，或灾难和救援响应双足机器人在瓦砾中冲过收集信息或拯救人类生命。 上述例子目前有一个共同点：其控制软件的设计通过丰富的经验、艰苦的测试和参数的微调而成为可能，然而，由此产生的闭环系统没有满足规范的正式保证。该项目的愿景是提供一种方法，允许复杂和动态的CPS满足真实的-通过控制软件的形式化综合，以高效和稳健的方式满足世界需求。该研究正在开发一个正式的框架，用于高度动态的CPS的正确的结构控制软件合成，广泛应用于汽车安全系统，假肢，外骨骼，航空航天系统，制造业和腿式机器人。这里开发的设计方法将提高需要硬件和高度先进的控制软件之间紧密集成的行业领域的竞争力，例如：汽车（动态稳定性和控制），航空航天（无人机），医疗（假肢，矫形器和外骨骼设计）和机器人（腿部运动）。为了加强这些努力的影响，方案执行机构正在编写免费提供的跨学科教材，并向广大受众传播其工作成果。