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Award Abstract #0923518

MRI Development: Heterogeneous, Autonomic Wireless Control Networks for Scalable Cyber-Physical Systems

NSF Org: CNS
Division Of Computer and Network Systems
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Initial Amendment Date: August 24, 2009
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Latest Amendment Date: August 1, 2014
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Award Number: 0923518
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Award Instrument: Standard Grant
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Program Manager: Rita V. Rodriguez
CNS Division Of Computer and Network Systems
CSE Direct For Computer & Info Scie & Enginr
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Start Date: September 1, 2009
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End Date: October 31, 2014 (Estimated)
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Awarded Amount to Date: $1,620,059.00
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Investigator(s): Walter Leon-Salas wleonsal@purdue.edu (Principal Investigator)
Anneliese Andrews (Former Principal Investigator)
Maciej Kumosa (Former Principal Investigator)
Richard Voyles (Former Principal Investigator)
Kimon Valavanis (Former Co-Principal Investigator)
Siavash Pourkamali Anaraki (Former Co-Principal Investigator)
Rahul Mangharam (Former Co-Principal Investigator)
Matthew Rutherford (Former Co-Principal Investigator)
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Sponsor: University of Denver
2199 S. University Blvd.
Denver, CO 80210-4711 (303)871-2000
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NSF Program(s): MAJOR RESEARCH INSTRUMENTATION,
INFORMATION TECHNOLOGY RESEARC,
SPECIAL PROJECTS - CISE
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Program Reference Code(s): 1189, 9178, 9218, 9251, HPCC
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Program Element Code(s): 1189, 1640, 1714

ABSTRACT

Proposal #: CNS 09-23518 Institution: University of Denver

PI(s): Voyles, Richard M.; Denver, CO 80208-0000 Mangharam, Rahul; Anaraki Siavash Pourkamali; Rutherford, Matthew J.; Valavanis, Kimon P.

Title: MRI/Dev.: Heterogeneous, Autonomic Wireless Control Networks for Scalable Cyber-Physical Systems

Project Proposed:

This collaborative project, creating an instrument consisting of a new class of heterogeneous wireless sensor-actuator-controller platforms, facilitates a wide range of experimental research on Networked CyberPhysical Systems (CPS). A key aim is to arrive at standardization for hardware and software interfaces over the platform categories that will support protocols for time- and safety-critical applications. Involving four universities (U Denver, Notre Dame U., U Penn, and UT-Arlington), three categories of Networked CPS research platforms are developed across a wide range of hardware- and software-based runtime re-configuration. The goals also include developing standardized hardware and software interfaces across these platforms so that nodes may be plug-n-play, evolve parametrically and programmatically at runtime, and maintain timeliness and reliability as connected objects for control and actuation. Existing computational node prototypes from Penn and U Denver will be refined and harmonized to provide a suite of interoperable nodes. These nodes will have dual radios for the data-plane and a passive analog radio for fine-grained hardware-based global time synchronization to add determination. An Embedded Virtual Machine (EVM), a powerful distributed runtime system where virtual components and their properties are maintained across node boundaries, is introduced to maintain a set of functional invariants, such as control law and para-functional invariants such as timeliness constraints, fault tolerance and safety standard across a set of controllers given the spatio-temporal changes in the physical network. The EVM software allows tightly coupled communication and runtime control across the different hardware categories. Programming mechanisms treat the set of physical sensors, actuators, and controllers as a single virtual component and allow tasks to be assigned at runtime since the links, nodes, and topology of wireless systems are inherently unreliable. The system is expected to lower the barriers for research into reconfigurable computing across hardware, software, and virtual autonomic computing structures, heterogeneous sensor network timing, synchronization and task allocation strategies, and also serve as a springboard to applications in biomedical modeling, human surveillance and monitoring, and search and rescue robotics. Each node will interface to a suite of modular I/O devices with attendant sensors and actuators. Recent research activity on future wireless sensor networks and applications has been limited to open-loop sensing and monitoring giving rise to predominantly event-based, asynchronous platforms and systems software. Not much research has been devoted to heterogeneous wireless sensor networks that integrate across a range of computational and communication capabilities. When networks are integrated with higher-rate sensors (e.g., video surveillance), actuators with timeliness and safety constraints (e.g., real-time control), and networks requiring significant distributed in-network processing (e.g., video analytics and autonomous systems), investigators have to go beyond the platforms for low-rate sensors and applications for which time-stamping is sufficient. Consequently, heterogeneous wireless sensor networks that integrate computational and communication capabilities are necessary.

Broader Impacts:

The project, involving four institutions, provides a range of interoperable control nodes to develop applications from the MEMS/NEMS (Micro/Nano ElectroMechanical Systems) scale to the macro scale, develops building blocks for wireless control networks with applications in search and rescue, industrial automation, medical devices and vehicular control. Students are involved in developing the instrumentation.


PUBLICATIONS PRODUCED AS A RESULT OF THIS RESEARCH

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Nawrocki, R.A., Galiger, E.M., Bailey, B.A., Ostrowski, D., Jiang, X., Voyles, R.M., Kopidakis, N., Olson, D.C., Shaheen, S.E.. "An Inverted, Organic WORM Device Based on PEDOT:PSS with Very Low Turn-On Voltage," Organic Electronics, v.15, 2014, p. 1791.

Z. Jiang, M. Pajic, and R. Mangharam. "Cyber-Physical Modeling of Implantable Cardiac Medical Devices," Proceedings of the IEEE, v.100, 2012. 

R. Mangharam and M. Pajic. "Distributed Control for Cyber-Physical Systems," Journal of the Indian Institute of Science, Special Issue on Cyber-Physical Systems, v.93, 2013. 

M. Pajic and R. Mangharam. "Spatio-Temporal Techniques for Anti-Jamming in Embedded Wireless Networks," EURASIP Journal on Wireless Communications and Networking, v.2010, 2010. 

M. Pajic, R. Mangharam, G. J. Pappas, and S. Sundaram. "Topological Conditions for In-Network Stabilization of Dynamical Systems," IEEE Journal on Selected Areas in Communications, v.31, 2013. 

M. Pajic, A. Chernoguzov and R. Mangharam. "Robust Architectures for Embedded Wireless Network Control and Actuation," ACM Transactions of Embedded Computing Systems (TECS), v.11, 2012. 

M. Pajic, S. Sundaram, G. J. Pappas and R. Mangharam. "The Wireless Control Network: A New Approach for Control over Networks," IEEE Transactions in Automatic Control (TAC), v.56, 2011. 

Cui, Y; Voyles, R.M.; Nawrocki, R.A.; Jiang, G.. "Morphing Bus: A New Paradigm in Peripheral Interconnect Bus," IEEE Transactions on Components, Packaging and Manufacturing Technology, v.4, 2014. 

M. Pajic, R. Mangharam, O. Sokolsky, D. Arney, J. M. Goldman and I. Lee. "Model-Driven Safety Analysis of Closed-Loop Medical Systems," IEEE Transactions of Industrial Informatics (TII), v.10, 2014. 

M. Pajic, Z. Jiang, I. Lee, O. Sokolsky and R. Mangharam. "Safety-critical Medical Device Development using the UPP2SF Model Translation Tool," ACM Transactions of Embedded Computing Systems (TECS)., v.13, 2014. 


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BOOKS/ONE TIME PROCEEDING

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X. Yang. "Toward a Distributed Actuation and Cognition Means for a Miniature Soft Robot", 09/01/2009-08/31/2010, "MS Thesis",  2010, "DU MS Thesis".

K Li. "RecoNode: Towards Autonomous Multi-Robot Team Agent for USAR", 09/01/2009-08/31/2010,  2010, "DU MS Thesis".

M. Pajic and R. Mangharam. "Embedded Virtual Machines for Robust Wireless Control and Actuation", 09/01/2009-08/31/2010, "16th IEEE Real-Time and Embedded Technology and Applications Symposium (IEEE RTAS)",  2010, "16th IEEE Real-Time and Embedded Technology and Applications Symposium (IEEE RTAS).".

R. Mangharam and M. Pajic. "Embedded Virtual Machines for Robust Wireless Control Systems", 09/01/2009-08/31/2010, "Proc. of the 29th IEEE International Conference on Distributed Computing Systems Workshops",  2009, "Proc. of the 29th IEEE International Conference on Distributed Computing Systems Workshops".

M. Pajic, S. Sundaram, J. Le Ny, G. J. Pappas and R. Mangharam. "The Wireless Control Network: Synthesis and Robustness", 09/01/2009-08/31/2010, "49th IEEE Conference on Decision and Control",  2010, "49th IEEE Conference on Decision and Control".

S. Sundaram, M. Pajic, C. N. Hadjicostis, R. Mangharam and G. J. Pappas. "The Wireless Control Network: Monitoring for Malicious Behavior", 09/01/2009-08/31/2010, "49th IEEE Conference on Decision and Control",  2010, "49th IEEE Conference on Decision and Control".

Hajjam, J. Pandiyan, A. Rahafrooz, and S. Pourkamali. "MEMS Resonant Sensors for Detection of Gasoline Vapor", 09/01/2009-08/31/2010, "IEEE Sensors Conference proceedings",  2010, "IEEE Sensors Conference proceedings".

B. Tousifar, and S. Pourkamali. "Characterization of a very low-cost silicon cathode-zinc electrolyte solar cell", 09/01/2009-08/31/2010, "Proceedings, IEEE Photovoltaic Specialists Conference",  2010, "Proceedings, IEEE Photovoltaic Specialists Conference".

Richard M. Voyles, Sam Povilus, Rahul Mangharam and Kang Li. "RecoNode: A Reconfigurable Node for Heterogeneous Multi-Robot Search and Rescue", 09/01/2009-08/31/2010, "Proc. of the IEEE Intl Workshop on Safety, Security and Rescue Robots",  2010, "Proc. of the IEEE Intl Workshop on Safety, Security and Rescue Robots".

R.A. Nawrocki, R.M. Voyles, and S.E. Shaheen,. "Simulating Hardware Neural Networks with Organic Memristors and Organic Field Effect Transistors", 09/01/2010-08/31/2011, , Cihan H. Dagli 2010, "Intelligent Engineering Systems through Artificial Neural Networks, Volume 20, ASME Press".


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