adaptive control

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Visible to the public Learning to Walk - Optimal Gait Synthesis and Online Learning for Terrain-Aware Legged Locomotion

Submitted by AAmes on Mon, 02/01/2016 - 4:35am. Contributors:

Abstract:

The goal of the proposed research is to advance the science of cyber-physical systems by more explicitly tying sensing, perception, and computing to the optimization and control of physical systems whose properties are variable and uncertain. The CPS platform to be studied is that of a bipedal robot locomoting over granular ground material with uncertain physical properties (sand, gravel, dirt, etc.).

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Visible to the public Methodologies for Engineering with Plug-and-Learn Components: Synthesis and Analysis Across Abstraction Layers

Submitted by John Gallagher on Mon, 11/10/2014 - 1:43pm. Contributors:

Abstract:

CyberPhysical Systems (CPS) that self-modify to improve performance or repair damage often rewrite the modular relationships that make system modeling or Verification and Validation (V&V) possible. In this project, we are exploring methods to create self- modifying CPS systems that, in addition to self-improving or self-repairing, are also capable of maintaining system models that support the use of V&V techniques.