Abstract The objective of this research is to develop advanced distributed monitoring and control systems for civil infrastructure. The approach uses a cyber-physical co-design of wireless sensor-actuator networks and structural monitoring and control algorithms. The unified cyber-physical system architecture and abstractions employ reusable middleware services to develop hierarchical structural monitoring and control systems. The intellectual merit of this multi-disciplinary research includes (1) a unified middleware architecture and abstractions for hierarchical sensing and control; (2) a reusable middleware service library for hierarchical structural monitoring and control; (3) customizable time synchronization and synchronized sensing routines; (4) a holistic energy management scheme that maps structural monitoring and control onto a distributed wireless sensor-actuator architecture; (5) dynamic sensor and actuator activation strategies to optimize for the requirements of monitoring, computing, and control; and (6) deployment and empirical validation of structural health monitoring and control systems on representative lab structures and in-service multi-span bridges. While the system constitutes a case study, it will enable the development of general principles that would be applicable to a broad range of engineering cyber-physical systems. This research will result in a reduction in the lifecycle costs and risks related to our civil infrastructure. The multi-disciplinary team will disseminate results throughout the international research community through open-source software and sensor board hardware. Education and outreach activities will be held in conjunction with the Asia-Pacific Summer School in Smart Structures Technology jointly hosted by the US, Japan, China, and Korea.

The objective of this research is to develop a new approach for composition of safety-critical cyber-physical systems from a small code base of verified components and a large code base of unverified commercial off-the-shelf components. The approach is novel in that it does not require generating the entire code base from formal languages, specifications, or models and does not require verification to be applied to all code. Instead, an explicit goal is to accommodate large amounts of legacy code that is typically too complex to verify. The project introduces a set of verified component wrappers around existing unverified code, such that specified global system properties hold. The intellectual merit of the project lies in its innovative approach for managing component interactions. Unexpected interactions are the primary source of failure in cyber-physical systems. A fundamental conceptual challenge is to understand the different interaction spaces of cyber-physical system components and determine a set of trigger conditions when certain interactions must be restricted to prevent failure. The project develops analysis techniques that help understand the different interaction types and provides component wrappers to restrict them when necessary. Broader impact lies in significantly reducing the design and composition effort for the next generation of safety-critical embedded systems. A variety of student projects are being offered to undergraduates and graduate students. The researchers especially encourage women and minorities to participate. Outreach activity, such as hosting K-12 students on school field/science days, further strengthen the educational component. Technology transfer to John Deere is expected.

This project has two closely related objectives. The first is to design and evaluate new Cyber Transportation Systems (CTS) applications for improved traffic safety and traffic operations. The second is to design and develop an integrated traffic-driving-networking simulator. The project takes a multi-disciplinary approach that combines cyber technologies, transportation engineering and human factors. While transportation serves indispensible functions to society, it does have its own negative impacts in terms of accidents, congestion, pollution, and energy consumption. To improve traffic safety, the project will develop and evaluate novel algorithms and protocols for prioritization, delivery and fusion of various warning messages so as to reduce drivers? response time and workload, prevent conflicting warnings, and minimize false alarms. To improve traffic operations, the project will focus on the design of next generation traffic management and control algorithms for both normal and emergency operations (e.g. during inclement weather and evacuation scenarios). Both human performance modeling methods and human subjects? experimental methods will be used to address the human element in this research. As the design and evaluation of CTS applications requires an effective development and testing platform linking the human, transportation and cyber elements, the project will also design and develop a simulator that combines the main features of a traffic simulator, a networking simulator and a driving simulator. The integrated simulator will allow a human driver to control a subject vehicle in a virtual environment with realistic background traffic, which is capable of communicating with the driver and other vehicles with CTS messages. Background traffic will be controlled by a realistic driver model based on our human factors research that accounts for CTS messages? impact on driver behavior. Intellectual Merits: The project explicitly considers human factors in the design and evaluation of CTS safety and operations applications, a topic which has not received adequate attention. Moreover, the proposed integrated simulator represents a first-of-a-kind simulator with unique features that can reduce the design and evaluation costs of new CTS applications. Broader Impacts: The proposed research can improve the safety, efficiency and environmental-friendless of transportation systems, which serve as the very foundation of modern societies and directly affects the quality of life. The integrated simulator will be used as a tool for teenage and elderly driver education and training, and to inspire minority, middle and high school students to pursue careers in math, science, and computer-related fields

The objective of this research is to establish a new development paradigm that enables the effective design, implementation, and certification of medical device cyber-physical systems. The approach is to pursue the following research directions: 1) to support medical device interconnectivity and interoperability with network-enabled control; 2) to apply coordination between medical devices to support emerging clinical scenarios; 3) to ?close the loop? and enable feedback about the condition of the patient to the devices delivering therapy; and 4) to assure safety and effectiveness of interoperating medical devices. The intellectual merits of the project are 1) foundations for rigorous development, which include formalization of clinical scenarios, operational procedures, and architectures of medical device systems, as well as patient and caregiver modeling; 2) high-confidence software development for medical device systems that includes the safe and effective composition of clinical scenarios and devices into a dynamically assembled system; 3) validation and certification of medical device cyber-physical systems; and 4) education of the next-generation of medical device system developers who must be literate in both computational and physical aspects of devices. The broader impacts of the project will be achieved in three ways. Novel design methods and certification techniques will significantly improve patient safety. The introduction of closed-loop scenarios into clinical practice will reduce the burden that caregivers are currently facing and will have the potential of reducing the overall costs of health care. Finally, the educational efforts and outreach activities will increase awareness of careers in the area of medical device systems and help attract women and under-represented minorities to the field.

The objective of this research is to define programming abstractions with temporal semantics for distributed cyber-physical systems. The approach is to create a coordination language for distributed embedded software that blends naturally with models of physical dynamics. The coordination language is based on a rigorous discrete-event concurrent model of computation. It will be used by system designers to construct models from which software implementations are derived. The objective is distributed software that, if it compiles for a platform, delivers precisely the temporal semantics specified in the model. Intellectual merit: This project addresses the core abstractions of computing, which throughout the 20th century, have abstracted away time, and of physical dynamics, which have omitted software and network behaviors. For cyber-physical systems, both are inappropriate. This project is developing new time-centric abstractions for software, programming models, analysis techniques, and integration of software and network models with physical dynamics. Broader impacts: Besides the considerable economic and societal impact of CPS in general, the project is expected to have considerable impact on engineering and computer science education. Its focus on engineering applications and on sound computer science methods will erode the boundaries between these disciplines that hamper competitiveness of our students. A new generation of students is needed to dramatically improve our energy efficiency, manufacturing capabilities, transportation efficiency, instrumentation prowess (and hence, scientific knowledge), and infrastructure robustness. Because of the broad societal implications of the work, it will help attract to engineering and computer science a more diverse talent pool.

The objective of this research is to develop methods and tools for designing, implementing and verifying medical robotics. The approach is to capture the computational work-flow of systems with cyber, physical and biological components, to verify that work-flow and to synthesize systems from the work-flow model. The focusing application of this research is MRI-guided, high-frequency ultrasonic tumor ablation. MRI-guided ultrasonic tumor ablation poses challenges beyond the scope of current verification techniques. Medicine is filled with highly non-linear biological systems, which puts them at the frontier of mathematically rigorous correctness checking and verification. For instance, in this research, guaranteeing the safety of a cancer patient undergoing treatment will require verifying against Pennes bioheat equation, a non-linear differential equation with dozens of environmental factors. This research tackles such complexity using tiers of abstractions to efficiently, precisely and safely approximate the behavior of each component of a system. To ensure a faithful implementation of controllers, this research will investigate synthesizing the control code directly from the verified model in a correct by construction manner. The project will help develop the most appropriate family of formal methods for handling the safety and correctness challenges in the area of medical robotics. It directly addresses the CPS agenda of methods and tools by proposing formal techniques that bridge the gap between the cyber and physical elements. It will train manpower in cross-disciplinary areas through new seminars, workshops and courses. And, last but not least, the project will make a direct humanitarian impact on the well-being of society.

The objective of this research is to develop new foundations of composition in heterogeneous systems, to apply these foundations in a new generation of tools for system integration, and to validate the results in experiments using automotive and avionics System-of-Systems experimental platforms. The approach exploits simplification strategies: develop theories, methods, and tools to assist in inter-layer decoupling. The research program has three focus areas: (1) theory of compositionality in heterogeneous systems, (2) tools and tool architectures for system integration, and (3) systems/experimental research. The project develops and deploys theories and methods for inter-layer decoupling that prevent or decrease the formation of intractable system-wide interdependences and maintain compositionality at each layer for carefully selected, essential system properties. Compositionality in tools is sought by exploring semantic foundations for model-based design. Systems/experimental research is conducted in collaboration with General Motors Global R&D (GM) and focuses on electric car platforms. The project is contributing to the cost effective development and deployment of many safety and security-critical cyber-physical systems, ranging from medical devices to transportation, to defense and avionics. The participating institutions seek to complement the conventional curriculum in systems science with one that admits computation as a primary concept. The curriculum changes will be aggressively promoted through a process of workshops and textbook preparation.

Tens of thousands of the nation?s bridges are structurally deficient. This project proposes to design a self sustaining, wireless structural monitoring system. The novel low-power Flash FPGA-based hardware platform and the corresponding software architecture offer a radically new approach to CPS design. A soft multi-core platform where software modules that run in parallel will be guaranteed to have dedicated single-threaded soft processor cores enables flexible power management by running only the necessary cores at any given time at the slowest clock rate mandated by the observed/controlled physical phenomena. As bridges tend to vibrate due to wind and dynamic load conditions, we are developing a novel vibration-based energy harvesting device that is capable of automatically adjusting its resonant response in order to capture much more energy than the current techniques can. Moreover, the PIs are developing structural health assessment techniques involving quantitative analysis of signals to determine crack type, location and size. The technology will indicate structural problems before they become critical potentially saving human lives and averting late and extensive repairs. The impact of the vibration harvesting technique and the soft multi-core architecture will go beyond structural monitoring. A separate soft core dedicated to each software component that interacts with the physical world will make CPS more responsive while saving power at the same time. The education plan focuses on outreach toward underrepresented minorities by recruiting such undergraduates to participate in the research. To facilitate the dissemination of our results, all hardware designs and software developed under this project will be open source.

The objective of this research is to develop a prototype programmable microfluidic laboratory-on-chip that concurrently executes assays (chemical algorithms) in an on-line fashion. A chemist specifies an assay (chemical algorithm) using a text-based language. Assays arrive at the device in real-time and an operating system/virtual machine running on an attached microcontroller interprets them. The approach is to develop a software simulation infrastructure for the laboratory-on-chip and to build the operating system/virtual machine on top of it. The intellectual merit of this activity is due to the fact that no type of runtime support system has yet been proposed for microfluidic devices. The key challenges to be solved in this project include: deadlock-free deterministic and adaptive routing algorithms; real-time constraints for routing droplets in the system; routing wash droplets for decontamination; scheduling assay operations on the devices; congestion estimation; and fault diagnosis and recovery. In terms of broader impact, advances in laboratory-on-chip technology will improve public health worldwide and lead to significant advances in clinical diagnostics and medicine. Laboratory-on-chips are commercially available from established companies such as Agilent Technologies as well as startup companies such as Advanced Liquid Logic, Silicon Biosystems, and Ayanda Biosystems; thus, the economic impact of this research is tremendous. The University of California, Riverside is a Minority-Serving Institution. The PI is committed to the introduction of laboratory-on-chip technology in both undergraduate and graduate education and will make every possible effort to recruit underrepresented minorities (including women) at the graduate and undergraduate level to work on the project.

Complex surgical procedures in hospitals are increasingly aided by robotic surgery systems, often at the request of patients. These systems allow greatly increased precision, reach and flexibility to the surgeon. However, their powerful capabilities entail substantial system complexity in both hardware and software. The high probability of serious injuries should a malfunction occur calls for rigorous assessment and monitoring of the reliability and safety of these cyber-physical systems. In this research project, a framework for assessing and monitoring the reliability and safety of robotic surgery systems during development, field testing, and general deployment is being developed. The proposed framework complements existing techniques used in earlier phases of validation by taking into account how surgeons actually use a robotic surgery system, how it is affected by operating conditions, and how its observable behavior is related to its hardware and software dynamics. Before deployment, this framework uses accurate simulations to assess pre-clinical reliability. After deployment, the framework uses data collection through online monitoring of the system as it is being used in the field, followed by analysis to obtain assessments of operational reliability and safety. The collected data is also used to improve the simulations for future testing. The framework also aims to support post-market surveillance of these systems by providing a workable basis for reassessing reliability and safety properties after system maintenance. The developed tools and methods will also have applications in the validation of safety and reliability of other medical devices with embedded software and other cyber-physical systems in general.