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

下一代自主系统可以在没有人为干预的情况下执行社会功能（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他们如何应对不同的工作量需求，以便公众可以依靠这些系统可靠地执行指定的任务，而不管这些系统在现场使用中经历了多少磨损。这个项目的目标是使未来的这种自我意识自主系统的设计成为可能。线性和非线性控制系统可以使用状态空间表示来描述，这些状态空间表示用冗余的“检查状态”编码，在没有故障的情况下，这些状态与系统的可观察状态具有已知的关系。检查状态值与由上述已知关系预测的值之间的差异导致时变误差信号，该信号可首次用于实时检测，诊断和补偿机电系统组件中的参数故障，并且对此类系统的大量计算开销和检测延迟最少。该项目将培养研究生在电气工程和计算机科学的不同领域开发新的数学技术、仿真工具和算法。学生们将与工业界密切合作，通过暑期实习和合作项目促进技术转移。研究结果将集成到容错计算课程中。关键的研究方面将被纳入大四的本科生设计项目，同时吸引佐治亚理工学院少数民族暑期本科生研究经验项目的学生。与该项目相关的K-12教育项目的参与将通过本研究的课程进行。

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.