CSR---EHS: Embedded Viability Computing

在过去的15年里，生存理论在最优控制、微分对策和混合系统可达性等领域取得了重大的理论成就。该理论的当前状态也使嵌入式计算取得了重大突破。该项目的重点是开发新的集值数值分析方案及其在特定应用（嵌入式）平台上的实现。本文主要研究了三个问题：（1）计算生存集的高阶数值格式。这为最优控制问题的数值解提供了更快的收敛速度。 (2)离散映射的形式化验证算法。这些使最优控制策略的创建直接适用于测量数据阵列，而不是代数函数描述的问题。(3)集值最优控制算法。这些提供了全局最优的解决方案，在经典的控制技术不能纳入状态约束。一个通用的计算核心正在开发，定制和嵌入在软件和硬件平台用于两个关键应用在土木和环境工程，并在空中交通管制。 这是集成到一个硬件平台的发展：一个积极的拉格朗日传感器网络（传感器安装在积极的漂移遵循环境流量）。该网络的目标是跟踪水中的分布式特征（盐锋和浊度羽流）。驱动应用是在河口环境中的混合监测。该网络将部署在加州的圣华金-萨克拉门托三角洲。 在美国宇航局艾姆斯，该网络正在与软件FACET接口，目的是帮助空中交通管制员在恶劣天气条件下优化风路由决策。

In the past 15 years, viability theory has enabled significant theoretical achievements in the areas of optimal control, differential games and hybrid systems reachability. The current state of the theory now enables significant breakthroughs in embedded computing as well. This project focuses on the development of novel set-valued numerical analysis schemes and their implementation on application-specific (embedded) platforms. The research addresses three key topics: (1) Higher order numerical schemes for the computation of viability sets. These provide faster convergence rates for numerical solutions of optimal control problems. (2) Formal verification algorithms on discrete maps. These enable the creation of optimal control strategies directly applicable to problems described with arrays of measured data rather than algebraic functions. (3) Set-valued optimal control algorithms. These provide globally optimal solutions for problems in which classical control techniques cannot incorporate state constraints.A generic computational core is being developed, customized and embedded in software and hardware platforms used for two key applications in Civil and Environmental Engineering, and in Air Traffic Control. This is integrated to a hardware platform in development: an active Lagrangian sensor network (sensors mounted on active drifters which follow environmental flows). The goal of this network is to track distributed features in water (salt fronts and turbidity plumes). The driving application is the monitoring of mixing in estuarine environments. The network will be deployed in the San-Joaquin - Sacramento Delta in California. At NASA Ames, the network is being interfaced with the software FACET, with the goal of helping Air Traffic Controllers to optimize wind routing decisions in severe weather conditions.