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Award Abstract #1239037

CPS: Frontier: Collaborative Research: Correct-by-Design Control Software Synthesis for Highly Dynamic Systems

NSF Org: CNS
Division Of Computer and Network Systems
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Initial Amendment Date: March 29, 2013
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Latest Amendment Date: August 26, 2014
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Award Number: 1239037
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Award Instrument: Continuing grant
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Program Manager: David Corman
CNS Division Of Computer and Network Systems
CSE Direct For Computer & Info Scie & Enginr
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Start Date: April 1, 2013
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End Date: March 31, 2017 (Estimated)
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Awarded Amount to Date: $1,600,000.00
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Investigator(s): Jessy Grizzle grizzle@umich.edu (Principal Investigator)
Kevin Galloway (Former Co-Principal Investigator)
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Sponsor: University of Michigan Ann Arbor
3003 South State St. Room 1062
Ann Arbor, MI 48109-1274 (734)763-6438
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NSF Program(s): INFORMATION TECHNOLOGY RESEARC
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Program Reference Code(s): 7918, 8236
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Program Element Code(s): 1640

ABSTRACT

This CPS Frontiers project addresses highly dynamic Cyber-Physical Systems (CPSs), understood as systems where a computing delay of a few milliseconds or an incorrectly computed response to a disturbance can lead to catastrophic consequences. Such is the case of cars losing traction when cornering at high speed, unmanned air vehicles performing critical maneuvers such as landing, or disaster and rescue response bipedal robots rushing through the rubble to collect information or save human lives. The preceding examples currently share a common element: the design of their control software is made possible by extensive experience, laborious testing and fine tuning of parameters, and yet, the resulting closed-loop system has no formal guarantees of meeting specifications.

The vision of the project is to provide a methodology that allows for complex and dynamic CPSs to meet real-world requirements in an efficient and robust way through the formal synthesis of control software. The research is developing a formal framework for correct-by-construction control software synthesis for highly dynamic CPSs with broad applications to automotive safety systems, prostheses, exoskeletons, aerospace systems, manufacturing, and legged robotics.

The design methodology developed here will improve the competitiveness of segments of industry that require a tight integration between hardware and highly advanced control software such as: automotive (dynamic stability and control), aerospace (UAVs), medical (prosthetics, orthotics, and exoskeleton design) and robotics (legged locomotion). To enhance the impact of these efforts, the PIs are developing interdisciplinary teaching materials to be made freely available and disseminating their work to a broad audience.


PUBLICATIONS PRODUCED AS A RESULT OF THIS RESEARCH

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R. Postoyan, P. Tabuada, D. Nesic, A. Anta. "A Framework for the Event-Triggered Stabilization of Nonlinear Systems," IEEE Transactions on Automatic Control, v.60, 2015, p. 982.

 

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