CPS: Small: Control Design for CyberPhysical Systems Using Slow Computing

CPS：小型：使用慢速计算的网络物理系统控制设计本研究的目的是为使用高度分布式但缓慢的计算元素的控制系统设计开发原则和工具。本研究的方法是建立一个架构，该架构使用高度并行，简单的计算元素，将非线性，时间延迟和异步计算作为整体设计元素。设计非确定性协议的工具将在加州理工学院现有的多车试验台进行开发和演示。使用“慢计算”的动机是为计算能力极其有限的应用开发新的反馈控制架构。这种系统的例子是那些系统的能源使用必须保持小，要么是由于可用的电源(例如：电池或太阳能电池)或设备的物理尺寸(例如。微型和纳米级机器人)。一个长期的应用领域是使用新型计算基板（如生物电路）设计控制系统。在这两种情况下，一个关键因素是底层过程的动态和控制它的算法的时间属性之间的紧密耦合。该项目的实施计划涉及来自多个学科（包括生物工程、计算机科学、电气工程和机械工程）以及具有多个经验水平（从大二到博士生）的学生，他们共同研究一系列相互关联的研究问题。该项目以加州理工学院的控制与动力系统系为中心，该系在招收女性和少数族裔学生方面有着良好的记录。

CPS:Small:Control Design for CyberPhysical Systems Using Slow ComputingThe objective of this research is to develop principles and tools for thedesign of control systems using highly distributed, but slow, computationalelements. The approach of this research is to build an architecture thatuses highly parallelized, simple computational elements incorporatingnonlinearities, time delay and asynchronous computation as integral designelements. Tools for the design of non-deterministic protocols will bedeveloped and demonstrated using an existing multi-vehicle testbed atCaltech.The motivation for using "slow computing" is to develop new feedback controlarchitectures for applications where computational power is extremelylimited. Examples of such systems are those where the energy usage of thesystem must remain small, either due to the source of power available(e.g. batteries or solar cells) or the physical size of the device(e.g. microscale and nanoscale robots). A longer term application area isin the design of control systems using novel computing substrates, such asbiological circuits. A critical element in both cases is the tight couplingbetween the dynamics of the underlying process and the temporal propertiesof the algorithm that is controlling it.The implementation plan for this project involves students from multipledisciplines (including bioengineering, computer science, electricalengineering and mechanical engineering) as well as at multiple experiencelevels (sophomores through PhD students) working together on a set ofinterlinked research problems. The project is centered in the Control andDynamical Systems department at Caltech, which has a strong record ofrecruiting women and underrepresented minority students into its programs.