The objective of this research is the development of methods and software that will allow robots to detect and localize objects using Active Vision and develop descriptions of their visual appearance in terms of shape primitives. The approach is bio inspired and consists of three novel components. First, the robot will actively search the space of interest using an attention mechanism consisting of filters tuned to the appearance of objects. Second, an anthropomorphic segmentation mechanism will be used. The robot will fixate at a point within the attended area and segment the surface containing the fixation point, using contours and depth information from motion and stereo. Finally, a description of the segmented object, in terms of the contours of its visible surfaces and a qualitative description of their 3D shape will be developed. The intellectual merit of the proposed approach comes from the bio-inspired design and the interaction of visual learning with advanced behavior. The availability of filters will allow the triggering of contextual models that work in a top-down fashion meeting at some point the bottom-up low-level processes. Thus, the approach defines, for the first time, the meeting point where perception happens. The broader impacts of the proposed effort stem from the general usability of the proposed components. Adding top-down attention and segmentation capabilities to robots that can navigate and manipulate, will enable many technologies, for example household robots or assistive robots for the care of the elders, or robots in manufacturing, space exploration and education.

The objective of the research is to develop tools for comprehensive design and optimization of air traffic flow management capabilities at multiple spatial and temporal resolutions: a national airspace-wide scale and one-day time horizon (strategic time-frame); and at a regional scale (of one or a few Centers) and a two-hour time horizon (tactical time-frame). The approach is to develop a suite of tools for designing complex multi-scale dynamical networks, and in turn to use these tools to comprehensively address the strategic-to-tactical traffic flow management problem. The two directions in tool development include 1) the meshed modeling/design of flow- and queueing-networks under network topology variation for cyber- and physical- resource allocation, and 2) large-scale network simulation and numerical analysis. This research will yield aggregate modeling, management design, and validation tools for multi-scale dynamical infrastructure networks, and comprehensive solutions for national-wide strategic-to-tactical traffic flow management using these tools. The broader impact of the research lies in the significant improvement in cost and equity that may be achieved by the National Airspace System customers, and in the introduction of systematic tools for infrastructure-network design that will have impact not only in transportation but in fields such as electric power network control and health-infrastructure design. The development of an Infrastructure Network Ideas Cluster will enhance inter-disciplinary collaboration on the project topics and discussion of their potential societal impact. Activities of the cluster include cross-university undergraduate research training, seminars on technological and societal-impact aspects of the project, and new course development.

The objective of this research is the creation of a coastal observing system that enables dense, in situ, 4D sensing through networked, sensor-equipped underwater drifters. The approach is to develop the technologies required to deploy a swarm of autonomous buoyancy controlled drifters, which are vehicles that can control their depth, but are otherwise carried entirely by the ocean currents. Such Lagrangian sampling promises to deliver a wealth of new data, ranging from applications in physical oceanography (mapping 3D currents), biology (observing the dispersion of larvae and nutrients), environmental science (tracking coastal pollutants and effluents from storm drains), and security (monitoring harbors and ports). This observing system fundamentally requires accurate positions of the drifters (to interpret the spatial correlations of data samples), swarm control algorithms (to achieve desired sampling topologies), and wireless communication (to coordinate between the individual drifters). This research will create distributed techniques to self-localize the drifter swarm, novel swarm control algorithms that enable topology manipulation while purely leveraging the stratified flow environment, and efficient wireless underwater communication for information sharing. This project has significant societal impact and educational elements. Underwater drifter swarms will enable novel insights into a wide array of scientific questions, including understanding plankton transport, accumulation and dispersion as well as monitoring harmful algal blooms. Undergraduates will play an active role in many aspects of this project, thereby offering them a uniquely interdisciplinary experience. Finally, outreach to high school students will occur through the UCSD COSMOS summer program.

The objective of this research is to develop algorithms and software for treatment planning in intensity modulated radiation therapy under assumption of tumor and healthy organs motion. The current approach to addressing tumor motion in radiation therapy is to treat it as a problem and not as a therapeutic opportunity. However, it is possible that during tumor and healthy organs motion the tumor is better exposed for treatment, allowing for the prescribed dose treatment of the tumor (target) while reducing the exposure of healthy organs to radiation. The approach is to treat tumor and healthy organs motion as an opportunity to improve the treatment outcome, rather than as an obstacle that needs to be overcome. Intellectual Merit: The leading intellectual merit of this proposal is to develop treatment planning and delivery algorithms for motion-optimized intensity modulated radiation therapy that exploit differential organ motion to provide a dose distribution that surpasses the static case. This work will show that the proposed motion-optimized IMRT treatment planning paradigm provides superior dose distributions when compared to current state-of-the art motion management protocols. Broader Impact: Successful completion of the project will mark a major step for clinical applications of intensity modulated radiation therapy and will help to improve the quality of life of many cancer patients. The results could be integrated within existing devices and could be used for training of students and practitioners. The visualization software for dose accumulation could be used to train medical students in radiation therapy treatment planning.

The objective of this research is to develop algorithms and software for treatment planning in intensity modulated radiation therapy under assumption of tumor and healthy organs motion. The current approach to addressing tumor motion in radiation therapy is to treat it as a problem and not as a therapeutic opportunity. However, it is possible that during tumor and healthy organs motion the tumor is better exposed for treatment, allowing for the prescribed dose treatment of the tumor (target) while reducing the exposure of healthy organs to radiation. The approach is to treat tumor and healthy organs motion as an opportunity to improve the treatment outcome, rather than as an obstacle that needs to be overcome. Intellectual Merit: The leading intellectual merit of this proposal is to develop treatment planning and delivery algorithms for motion-optimized intensity modulated radiation therapy that exploit differential organ motion to provide a dose distribution that surpasses the static case. This work will show that the proposed motion-optimized IMRT treatment planning paradigm provides superior dose distributions when compared to current state-of-the art motion management protocols. Broader Impact: Successful completion of the project will mark a major step for clinical applications of intensity modulated radiation therapy and will help to improve the quality of life of many cancer patients. The results could be integrated within existing devices and could be used for training of students and practitioners. The visualization software for dose accumulation could be used to train medical students in radiation therapy treatment planning.

The objective of the research is to develop tools for comprehensive design and optimization of air traffic flow management capabilities at multiple spatial and temporal resolutions: a national airspace-wide scale and one-day time horizon (strategic time-frame); and at a regional scale (of one or a few Centers) and a two-hour time horizon (tactical time-frame). The approach is to develop a suite of tools for designing complex multi-scale dynamical networks, and in turn to use these tools to comprehensively address the strategic-to-tactical traffic flow management problem. The two directions in tool development include 1) the meshed modeling/design of flow- and queueing-networks under network topology variation for cyber- and physical- resource allocation, and 2) large-scale network simulation and numerical analysis. This research will yield aggregate modeling, management design, and validation tools for multi-scale dynamical infrastructure networks, and comprehensive solutions for national-wide strategic-to-tactical traffic flow management using these tools. The broader impact of the research lies in the significant improvement in cost and equity that may be achieved by the National Airspace System customers, and in the introduction of systematic tools for infrastructure-network design that will have impact not only in transportation but in fields such as electric power network control and health-infrastructure design. The development of an Infrastructure Network Ideas Cluster will enhance inter-disciplinary collaboration on the project topics and discussion of their potential societal impact. Activities of the cluster include cross-university undergraduate research training, seminars on technological and societal-impact aspects of the project, and new course development.

The objective of the research is to develop tools for comprehensive design and optimization of air traffic flow management capabilities at multiple spatial and temporal resolutions: a national airspace-wide scale and one-day time horizon (strategic time-frame); and at a regional scale (of one or a few Centers) and a two-hour time horizon (tactical time-frame). The approach is to develop a suite of tools for designing complex multi-scale dynamical networks, and in turn to use these tools to comprehensively address the strategic-to-tactical traffic flow management problem. The two directions in tool development include 1) the meshed modeling/design of flow- and queueing-networks under network topology variation for cyber- and physical- resource allocation, and 2) large-scale network simulation and numerical analysis. This research will yield aggregate modeling, management design, and validation tools for multi-scale dynamical infrastructure networks, and comprehensive solutions for national-wide strategic-to-tactical traffic flow management using these tools. The broader impact of the research lies in the significant improvement in cost and equity that may be achieved by the National Airspace System customers, and in the introduction of systematic tools for infrastructure-network design that will have impact not only in transportation but in fields such as electric power network control and health-infrastructure design. The development of an Infrastructure Network Ideas Cluster will enhance inter-disciplinary collaboration on the project topics and discussion of their potential societal impact. Activities of the cluster include cross-university undergraduate research training, seminars on technological and societal-impact aspects of the project, and new course development.

Using the newly introduced idea of a sensor lattice, this project conducts a systematic study of the "granularity'' at which the world can be sensed and how that affects the ability to accomplish common tasks with cyber-physical systems (CPSs). A sensor is viewed as a device that partitions the physical world states into measurement-invariant equivalence classes, and the sensor lattice indicates how all sensors are related. Several distinctive characteristics of the pursued approach are: 1) Virtual sensor models are developed, which correspond to minimal information requirements of common tasks and are independent of particular physical sensor implementations. 2) Uncertainty is decoupled into disturbances and pre-images, the latter of which yields the measurement-invariant equivalence classes and sensor lattice. 3) The development of particular spatial and temporal filters that are based on minimal information requirements of a task. 4) Formally establishing the conditions that enable sensors in a CPS to be interchanged, and then determining the relative complexity tradeoffs. The intellectual merit is to understand how mappings from the physical world to sensor outputs affect the solvability and complexity of commonly occurring tasks. This is a critical step in the development of mathematical and computational CPS foundations. Broader impact is expected by improving design methodologies for CPS solutions to societal problems such as assisted living, environmental monitoring, and automated agriculture. The sensor lattice approach is transformative because it represents a new paradigm with which to address basic sensor-based inference issues, which extend well beyond the traditional academic boundaries.

The objective of this research is to establish a foundational framework for smart grids that enables significant penetration of renewable DERs and facilitates flexible deployments of plug-and-play applications, similar to the way users connect to the Internet. The approach is to view the overall grid management as an adaptive optimizer to iteratively solve a system-wide optimization problem, where networked sensing, control and verification carry out distributed computation tasks to achieve reliability at all levels, particularly component-level, system-level, and application level. Intellectual merit. Under the common theme of reliability guarantees, distributed monitoring and inference algorithms will be developed to perform fault diagnosis and operate resiliently against all hazards. To attain high reliability, a trustworthy middleware will be used to shield the grid system design from the complexities of the underlying software world while providing services to grid applications through message passing and transactions. Further, selective load/generation control using Automatic Generation Control, based on multi-scale state estimation for energy supply and demand, will be carried out to guarantee that the load and generation in the system remain balanced. Broader impact. The envisioned architecture of the smart grid is an outstanding example of the CPS technology. Built on this critical application study, this collaborative effort will pursue a CPS architecture that enables embedding intelligent computation, communication and control mechanisms into physical systems with active and reconfigurable components. Close collaborations between this team and major EMS and SCADA vendors will pave the path for technology transfer via proof-of-concept demonstrations.

Body Area Sensor Networks: A Holistic Approach from Silicon to Users The objective of this research is to develop new principles and techniques for adaptive operation in highly dynamic physical environments, using miniaturized, energy-constrained devices. The approach is to use holistic cross-layer solutions that simultaneously address all aspects of the system, from low-level hardware design to higher-level communication and data fusion algorithms to top-level applications. In particular, this work focuses on body area sensor networks as emerging cyber-physical systems. The intellectual merit includes producing new principles regarding how cyber systems must be designed in order to continually adapt and respond to rapidly changing physical environments, sensed data, and application contexts in an energy-efficient manner. New cross-layer technologies will be created that use a holistic bottom-up and top-down design -- from silicon to user and back again. A novel system-on-a-chip hardware platform will be designed and fabricated using three cutting-edge technologies to reduce the cost of communication and computation by several orders of magnitude. The broad impact of this project will enable the wide range of applications and societal benefits promised by body area networks, including improving the quality and reducing the costs of healthcare. The technology will have broad implications for any cyber physical system that uses energy constrained wireless devices. A new seminar series will bring together experts from many fields (including domain experts, such as physicians and healthcare professionals). The key aspects of this work that deal with healthcare have the potential to attract women and minorities to the computer field.