National CPS PI Meeting 2013
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Optical tweezers (OT) have emerged as very useful tools for manipulating cells. Biologists use them routinely for doing scientific experiments and have made many new important discoveries by utilizing them. By integrating perception, planning, and control, we have turned optical tweezers into robots for precise manipulation of microscale objects. This makes them useful tool for conducting sophisticated biology experiments that require concurrent manipulation of multiple cells.
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The collaborative NSF grant IIS-1035917 "Dynamic Routing and Robotic Coordination for Oceanographic Adaptive Sampling" aims to design innovative routing, planning and coordination strategies for robot networks, and their application to oceanography.
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The objective of this research is to investigate and implement a software architecture to improve productivity in the development of rapidly deployable, robust, real-time situational awareness and response (R3SAR) applications. The approach is to allow a commodity to device to dynamically configure itself for a pre-instrumented sensor environment, such as a truck with attached road temperature, humidity, and moisture sensors.
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We are focused on theoretical work exploring how ideas successful in cloud computing can help CPS at scale. We have two products. One is the "Virtual Vehicle" and the other the "BigActor Model." The first is a mobile counterpart of the virtual machine. There is a tension between the openness of systems, unavoidable in any system at scale, and performance guarantees.
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Advanced autonomous transportation technologies must become robust, affordable and maintainable before safe and wide public adoption. The following research challenges of cyber-physical systems must be overcome before autonomous vehicles become practical:
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The design of bug-free and safe medical device software is challenging, especially in complex implantable devices that control and actuate organs who's response is not fully understood. Safety recalls of pacemakers and implantable cardioverter defibrillators between 1990 and 2000 affected over 600,000 devices. Of these, 200,000 or 41%, were due to firmware issues (i.e. software) that continue to increase in frequency [1].
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Monitoring flow-based systems (FBS) (e.g., water distribution systems) is of paramount importance, due to their economic and health impacts. FBS monitoring has been typically achieved by strategically placed, costly and complex, static sensors. To reduce the cost of monitoring, we propose a mobile wireless sensor network (WSN) system comprised of mobile sensors (their movement aided by the inherent flow) and static beacons which aid locating sensors.
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Conventionally, structural health monitoring (SHM) routines are time-based and are carried out offline. So they cannot provide real-time situational awareness. More recently, online health monitoring systems start to appear thanks to the fast developing technologies in sensing, hardware miniature, embedded computing and communication.
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Correct functioning of cyber-physical systems is of critical importance. This is more so in the case of safety critical systems such as in medical or automotive applications. Since verification of correctness, in general, is infeasible and testing is exhaustive, it is of critical importance to monitor such system during their operation and detect erroneous behaviors to be acted on.
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The objective of this research is to develop methods for the operation and design of cyber physical systems in general, and energy efficient buildings in particular. The approach is to use an integrated framework: create models of complex systems from data; then design the associated sensing-communication-computation-control system; and finally create distributed estimation and control algorithms, along with execution platforms to implement these algorithms.
