SGER: Feasible control tasks on battery powered embedded computers

目的：提出一种研究方案，为电池供电嵌入式计算机控制任务的分析和设计奠定理论基础。在现代应用中，反馈控制律通常被实现为在有限的能量预算施加的限制下在嵌入式计算机中调度和执行的控制任务。PI提出使用计算延迟和采样周期作为反馈控制机制。该定时控制以在线反馈调度算法的形式实现，该算法是受机器人导航、路径跟踪和避障等方法的启发而产生的。我们的目标是拥有一种控制规律的理论，它是正确的，也适用于真实的系统。这项研究可能会为网络物理系统的控制-计算-能力协同设计提供指导，并有助于反馈控制理论在现实生活中的成功应用。广泛的影响：PI的使命是在佐治亚州萨凡纳建立第一个控制系统和机器人学的博士水平研究和教育项目。机器人技术是嵌入式计算机控制任务应用的关键领域。PI是萨凡纳地区沿海机器人俱乐部的联合创始人，通过夏令营、研讨会和高中生参加的辅导课程为研究生和本科生提供教学经验。

SGER: Feasible control tasks on battery powered embedded computersObjective: The PI proposes a research program to establish a theoretical foundation for analysis and design of control tasks on embedded computers powered by battery. In modern day applications, feedback control laws are typically implemented as control tasks that are scheduled and executed in an embedded computer under constraints imposed by limited energy budget. The PI proposes to use computing delay and sampling period as feedback control mechanism. This timing control is implemented as online feedback scheduling algorithms generated by methods inspired by robot navigation, path following, and obstacle avoidance.Intellectual Merit:The proposed work may establish smooth transition from the mathematical design of control laws to the computational design of control tasks on embedded computers. The goal is to have a theory for a control law that is correct and also works on a real system. The research may provide guidelines in control-computing-power co-design for cyber-physical systems and contribute to the success of feedback control theory in real life applications.Broader Impacts:The PI is endowed with a mission to establish the first PhD level research and education programs in both control systems and robotics in Savannah, GA. Robotics is a key area for applications of control tasks on embedded computers. The PI is a co-founder of the coastal robotics club in the Savannah area to provide teaching experience to graduate and undergraduate students through summer camps, workshops and tutoring sessions attended by high school and middle school students.