Systems where control loops are closed through a real-time network.
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Airborne networking utilizes direct flight-to-to-flight communication for flexible information sharing, safe maneuvering, and coordination of time-critical missions. It is challenging because of the high mobility, stringent safety requirements, and uncertain airspace environment. This project uses a co-design approach that exploits the mutual benefits of networking and decentralized mobility control in an uncertain heterogeneous environment.
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Having a shared and accurate sense of time is critical to distributed Cyber-Physical Systems (CPS)
and the Internet of Things (IoT). Thanks to decades of research in clock technologies and
synchronization protocols, it is now possible to measure and synchronize time across distributed
systems with unprecedented accuracy. However, applications have not benefited to the same
extent due to limitations of the system services that help manage time, and hardware-OS and
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It's common in controller design to assume that the controller reads the sensors and writes to the actuators at the same time instant. This assumption is often violated in practice because the controller executes its code sequentially on a microprocessor. If the microprocessor is "fast enough," often the controller will still work. However, if the sensing and control are done by two different devices that must communicate across a network, the resulting timing uncertainty due to network delays and clock offsets will often destabilize the controller.
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This poster presents the Pulsar platform, which can achieve better than 5 nanosecond clock synchronization in an indoor environment combining wireless ultra-wideband communication with a chip-scale atomic clock. We discuss the various challenges in synchronization at nanosecond scales then propose and evaluate a proof-of-concept protocol for the same.
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This project concerns real-time implementations of networked control strategies on distributed embedded systems. Co-design of the implementation platform and control strategies for multiple control applications is addressed. Limited and shared resources among control and non-control applications introduce delays in transmitted messages. Various aspects of these delays are efficiently addressed in this research. Overrun strategies that accommodate variations in the delays have been developed.
