CPS: Synergy: Collaborative Research: Towards Effective and Efficient Sensing-Motion Co-Design of Swarming Cyber-Physical Systems

CPS：协同：协作研究：实现集群网络物理系统的有效和高效的传感-运动协同设计

• 批准号: 1936599
• 负责人: Animesh Chakravarthy
• 金额: $ 10.77万
• 依托单位: University of Texas at Arlington
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-05-22 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1936599&HistoricalAwards=false
• 关键词: CPS; Synergy; Collaborative; Research; Towards

The project focuses on swarming cyber-physical systems (swarming CPS) consisting of a collection of mobile networked agents, each of which has sensing, computing, communication, and locomotion capabilities, and that have a wide range of civilian and military applications. Different from conventional static CPS, swarming CPS rely on mobile computing entities, e.g., robots, which collaboratively interact with phenomena of interest at different physical locations. This unique feature calls for novel sensing-motion co-design solutions to accomplish a variety of increasingly complex missions. Towards this, the overall research objective of this project is to establish and demonstrate a generic motion-sensing co-design procedure that will significantly reduce the complexity of the mission design for swarming CPS, and greatly facilitate the development of effective, efficient and adaptive control and sensing strategies under various environment uncertainties. This project aims to offer comprehensive scientific understanding of the dynamic nature of swarming CPS, contribute to generic engineering principles for designing collaborative control and sensing algorithms, and advance the enabling technologies of practically applying CPS in the challenging environment. The research solutions of this project aim to bring significant advance in the environmental sustainability, homeland security, and human well-being. The project provides unique interdisciplinary training opportunities for graduate and undergraduate students through both research work and related courses that the PIs will develop and offer. The project significantly advances the state of the art in cooperative control and sensing and provide an enabling technology for swarming CPS through highly interrelated thrusts: (1) a generic sensing and motion co-design procedure, which reveals the fundamental interplay between the sensing dynamics and motion dynamics of swarming CPS, will be proposed to facilitate the development of effective and efficient control and sensing strategies; (2) by following such co-design procedure, provable correct, computation efficient, and communication light control and sensing strategies will be developed for swarming CPS with constrained resources to accomplish specific missions, e.g., locating pollutants, in an unknown field, while navigating through uncertain spaces; (3) to provide an enabling mobile platform to verify the proposed strategies, innovative small, highly 3D maneuverable, noiseless, energy-efficient, and robust robotic fish fully actuated by smart material will be designed to meet the maneuvering requirements of the proposed algorithms; (4) novel Magnetic Induction (MI)-based underwater communication and localization solutions will be developed, which allows robotic fish to timely and reliably exchange messages, while simultaneously providing accurate inter-fish localization in the harsh 3D underwater environment; and (5) the proposed sensing-motion co-design strategies will be verified and demonstrated using a school of wirelessly interconnected robotic fish in both lab-based experiments and field experiments.

该项目的重点是群集网络物理系统（群集CPS），由一组移动的联网代理组成，每个代理都具有传感，计算，通信和运动能力，并具有广泛的民用和军用应用。与传统的静态CPS不同，群集CPS依赖于移动的计算实体，例如，机器人，它们与不同物理位置的感兴趣现象进行协作互动。这一独特的功能需要新颖的传感-运动协同设计解决方案来完成各种日益复杂的任务。为此，本项目的总体研究目标是建立和演示一个通用的运动传感协同设计程序，将显着降低的使命设计的复杂性，群集CPS，大大促进有效的，高效的和自适应的控制和传感策略的发展，在各种环境的不确定性。该项目旨在提供对群集CPS动态性质的全面科学理解，为设计协同控制和传感算法提供通用工程原理，并推进在具有挑战性的环境中实际应用CPS的使能技术。该项目的研究解决方案旨在为环境可持续性，国土安全和人类福祉带来重大进步。该项目通过研究工作和PI将开发和提供的相关课程为研究生和本科生提供独特的跨学科培训机会。该项目通过以下高度相关的目标，显著推进了协同控制和传感的最新技术水平，并为群集CPS提供了一种使能技术：（1）将提出一种通用的传感和运动协同设计过程，揭示群集CPS的传感动力学和运动动力学之间的基本相互作用，以促进有效和高效的控制和传感策略的开发;（2）通过遵循这样的协同设计过程，将开发可证明正确的、计算高效的和通信的光控制和感测策略，用于具有有限资源的群集CPS以完成特定任务，例如，（3）为了提供一个移动的平台来验证所提出的策略，将设计一种创新的小型、高度三维可伸缩、无噪声、节能和鲁棒的机器鱼，完全由智能材料驱动，以满足所提出的算法的机动要求;（4）将开发基于磁感应（MI）的新型水下通信和定位解决方案，使机器鱼能够及时可靠地交换信息，同时在恶劣的3D水下环境中提供精确的鱼间定位;以及（5）将使用一群无线互连的机器鱼在基于实验室的实验和现场实验中验证和演示所提出的感知-运动协同设计策略。