S&AS: FND: Real-Time Self-Diagnosis and Correction in Linear and Nonlinear Control of Autonomous Systems Using Encoded State Space Error Signatures

能够在没有人类干预的情况下执行社会功能的下一代自主系统（如智能建筑、机器人、无人机和自动驾驶汽车）将需要了解组成它们的核心机电子系统的健康状况。这种自我意识将决定它们如何应对不同的工作量需求，以便公众可以依赖这些系统可靠地执行指定的任务，而不管这些系统在实地使用中经历了多少磨损。该项目的目标是使未来的自我意识自治系统的设计。线性和非线性控制系统可以使用状态空间表示来描述，这些状态空间表示被编码有冗余的“检查状态”，这些状态与系统的可观察状态之间存在已知的关系。 检查状态值与由上述已知关系预测的其值之间的差导致时变误差信号，该时变误差信号可以首次用于实时地检测、诊断和补偿机电系统部件中的参数故障，对于广泛的一类这样的系统具有最少量的计算开销和检测延迟。该项目将培养研究生开发新的数学技术，仿真工具和算法跨越电气工程和计算机科学的不同领域。学生将与行业密切合作，通过暑期实习和合作社促进技术转让。研究结果将被整合到一个类的容错计算。关键的研究方面将被纳入高年级的本科设计项目，同时从夏季本科研究经验计划的少数民族在格鲁吉亚技术吸引学生。与本项目相关的K-12教育计划参与将在本研究过程中进行。

Next generation autonomous systems that can perform societal functions without human intervention (such as intelligent buildings, robots, drones and self-driven cars) will need to be aware of the health of the core electro-mechanical subsystems of which they are composed. Such self-awareness will dictate how they respond to different workload demands so that the general public can depend on these systems for reliable execution of designated tasks irrespective of how much wear and tear these systems have experienced through field use. The goal of this project is to enable the design of such self-aware autonomous systems of the future.Linear and nonlinear control systems can be described using state-space representations that are encoded with redundant "check states" that bear a known relationship with the observable states of the system in the absence of failures. The difference between the check state value and its value as predicted by the known relationship above, results in a time-varying error signal that can be used for the first time to detect, diagnose and compensate for parametric failures in the electro-mechanical system components in real-time with the least amount of computational overhead and detection latency for a wide class of such systems. The project will train graduate students to develop new mathematical techniques, simulation tools and algorithms across diverse domains of electrical engineering and computer science. The students will work closely with industry, facilitating technology transfer through summer internships and co-ops. The research findings will be integrated into a class on fault-tolerant computing. Key research aspects will be incorporated into senior year undergraduate design projects while engaging students from the summer undergraduate research experience program for minorities at Georgia Tech. K-12 education program engagements relevant to this project will be pursued through the course of this research.