The objective of this research is to address fundamental challenges in the verification and analysis of reconfigurable distributed hybrid control systems. These occur frequently whenever control decisions for a continuous plant depend on the actions and state of other participants. They are not supported by verification technology today. The approach advocated here is to develop strictly compositional proof-based verification techniques to close this analytic gap in cyber-physical system design and to overcome scalability issues. This project develops techniques using symbolic invariants for differential equations to address the analytic gap between nonlinear applications and present verification techniques for linear dynamics. This project aims at transformative research changing the scope of systems that can be analyzed. The proposed research develops a compositional proof-based approach to hybrid systems verification in contrast to the dominant automata-based verification approaches. It represents a major improvement addressing the challenges of composition, reconfiguration, and nonlinearity in system models The proposed research has significant applications in the verification of safety-critical properties in next generation cyber-physical systems. This includes distributed car control, robotic swarms, and unmanned aerial vehicle cooperation schemes to full collision avoidance protocols for multiple aircraft. Analysis tools for distributed hybrid systems have a broad range of applications of varying degrees of safety-criticality, validation cost, and operative risk. Analytic techniques that find bugs or ensure correct functioning can save lives and money, and therefore are likely to have substantial economic and societal impact.

The objective of this research is to investigate the foundations, methodologies, algorithms and implementations of cyberphysical networks in the context of medical applications. The approach is to design, implement and study Carenet, a medical care network, by investigating three critical issues in the design and construction of cyberphysical networks: (1) rare event detection and multidimensional analysis in cyberphysical data streams, (2) reliable and trusted data analysis with cyberphysical networks, including veracity analysis for object consolidation and redundancy elimination, entity resolution and information integration, and feedback interaction between cyber- and physical- networks, and (3) spatiotemporal data analysis including spatiotemporal cluster analysis, sequential pattern mining, and evolution of cyberphysical networks. Intellectual merit: This project focuses on several most pressing issues in large-scale cyberphysical networks, and develops foundations, principles, methods, and technologies of cyberphysical networks. It will deepen our understanding of the foundations, develop effective and scalable methods for mining such networks, enrich our understanding of cyberphysical systems, and benefit many mission-critical applications. The study will enrich the principles and technologies of both cyberphysical systems and information network mining. Broader impacts: The project will integrate multiple disciplines, including networked cyberphysical systems, data mining, and information network technology, and advance these frontiers. It will turn raw data into useful knowledge and facilitate strategically important applications, including the analysis of patient networks, combat networks, and traffic networks. Moreover, the project systematically generates new knowledge and contains a comprehensive education and training plan to promote diversity, publicity, and outreach.

The objective of this research is to investigate the foundations, methodologies, algorithms and implementations of cyberphysical networks in the context of medical applications. The approach is to design, implement and study Carenet, a medical care network, by investigating three critical issues in the design and construction of cyberphysical networks: (1) rare event detection and multidimensional analysis in cyberphysical data streams, (2) reliable and trusted data analysis with cyberphysical networks, including veracity analysis for object consolidation and redundancy elimination, entity resolution and information integration, and feedback interaction between cyber- and physical- networks, and (3) spatiotemporal data analysis including spatiotemporal cluster analysis, sequential pattern mining, and evolution of cyberphysical networks. Intellectual merit: This project focuses on several most pressing issues in large-scale cyberphysical networks, and develops foundations, principles, methods, and technologies of cyberphysical networks. It will deepen our understanding of the foundations, develop effective and scalable methods for mining such networks, enrich our understanding of cyberphysical systems, and benefit many mission-critical applications. The study will enrich the principles and technologies of both cyberphysical systems and information network mining. Broader impacts: The project will integrate multiple disciplines, including networked cyberphysical systems, data mining, and information network technology, and advance these frontiers. It will turn raw data into useful knowledge and facilitate strategically important applications, including the analysis of patient networks, combat networks, and traffic networks. Moreover, the project systematically generates new knowledge and contains a comprehensive education and training plan to promote diversity, publicity, and outreach.

The objective of this research is to develop numerical techniques for solving partial differential equations (PDE) that govern information flow in dense wireless networks. Despite the analogy of information flow in these networks to physical phenomena such as thermodynamics and fluid mechanics, many physical and protocol imposed constraints make information flow PDEs unique and different from the observed PDEs in physical phenomena. The approach is to develop a systematic method where a unified framework is capable of optimizing a broad class of objective functions on the information flow in a network of a massive number of nodes. The objective function is defined depending on desired property of the geometric paths of information. This leads to PDEs whose form varies depending on the optimization objective. Finally, numerical techniques will be developed to solve the PDEs in a network setting and in a distributed manner. The intellectual merits of this project are: developing mathematical tools that address a broad range of design objectives in large scale wireless sensor networks under a unified framework; initiating a new field on numerical analysis of information flow in dense wireless networks; and developing design tools for networking problems such as transport capacity, routing, and load balancing. The broader impacts of this research are: helping the development of next generation wireless networks; encouraging involvement of undergraduate students and underrepresented groups, and incorporating the research results into graduate level courses. Additionally, the research is interdisciplinary, bringing together sensor networking, theoretical physics, partial differential equations, and numerical optimization.

The objectives of this research are to design a heterogeneous network of embedded systems so that faults can be quickly detected and isolated and to develop on-line and off-line fault diagnosis and prognosis methods. Our approach is to develop functional dependency models between the failure modes and the concomitant monitoring mechanisms, which form the basis for failure modes, effects and criticality analysis, design for testability, diagnostic inference, and the remaining useful life estimation of (hardware) components. Over the last few years, the electronic explosion in automotive vehicles and other application domains has significantly increased the complexity, heterogeneity, and interconnectedness of embedded systems. To address the cross-subsystem malfunction phenomena in such networked systems, it is essential to develop a common methodology that: (i) identifies the potential failure modes associated with software, hardware, and hardware-software interfaces; (ii) generates functional dependencies between the failure modes and tests; (iii) provides an on-line/off-line diagnosis system; (iv) computes the remaining useful life estimates of components based on the diagnosis; and (iv) validates the diagnostic and prognostic inference methods via fault injection prior to deployment in the field. The development of functional dependency models and diagnostic inference from these models to aid in online and remote diagnosis and prognosis of embedded systems is a potentially novel aspect of this effort. This project seeks to improve the competitiveness of the U.S. automotive industry by enhancing vehicle reliability, performance and safety, and by improving customer satisfaction. Other representative applications include aerospace systems, electrification of transportation, medical equipment, and communication and power networks, to name a few.

The objective of this research is to bring high levels of system reliability and integrity to application domains that cannot afford the cost, power, weight, and size associated with physical redundancy. The approach is to develop complementary monitoring algorithms and novel computing architectures that enable the detection of faults. In particular, there is a significant opportunity to reduce the reliance on physical redundancy by combining model-based and data-driven monitoring techniques. Implementing this approach to fault detection would be difficult with existing software and computing architectures. This motivates the development of a general purpose monitoring framework through monitoring-aware compilers coupled with enhancements to multi-core architectures. The intellectual merit of the project is twofold. First, it has the potential to lead to a novel fault detection approach that blends complementary monitoring algorithms. Second, advances in multi-core processors are leveraged to enable implementation of these fault detection approaches. This addresses key themes in cyber-physical systems by investigating the fundamental issue of fault detection for physical systems and by developing a generic processor architecture for monitoring. With respect to broader impact, project offers the potential for positive influences on industrial practice and education. If successful, the design ideas from this project can be incorporated into low-cost multi-core architectures suitable for embedded systems. The potentially transformative performance improvement offered by this framework could also impact current research in run-time verification and on-line monitoring. The research is to be incorporated into the course "Design, Build, Simulate, Test and Fly Small Uninhabited Aerial Vehicles" for senior undergraduate and first-year graduate students.

The objective of this research is to develop energy-efficient integrity establishment techniques for dynamic networks of cyber physical devices. In such dynamic networks, devices connect opportunistically and perform general-purpose computations on behalf of other devices. However, some devices may be malicious in intent and affect the integrity of computation. The approach is to develop new trust establishment mechanisms for dynamic networks. Existing trusted computing mechanisms are not directly applicable to cyber physical devices because they are resource-intensive and require devices to have special-purpose hardware. This project is addressing these problems along three research prongs. The first is a comprehensive study of the resource bottlenecks in current trust establishment protocols. Second, the insights from this study are being used to develop resource-aware attestation protocols for cyber physical devices that are equipped with trusted hardware. Third, the project is developing new trust establishment protocols for cyber physical devices that may lack trusted hardware. A key outcome of the project is an improved understanding of the tradeoffs needed to balance the concerns of security and resource-awareness in dynamic networks. Dynamic networks allow cyber physical devices to form a highly-distributed, cloud-like infrastructure for computations involving the physical world. The trust-establishment mechanisms developed in this project encourage devices to participate in dynamic networks, thereby unleashing the full potential of dynamic networks. This project includes development of dynamic networking applications, such as distributed gaming and social networking, in undergraduate curricula and course projects, thereby fostering the participation of this key demographic.

The objective of this research is to discover new fundamental principles, design methods, and technologies for realizing distributed networks of sub-cm3, ant-sized mobile micro-robots that self-organize into cooperative configurations. The approach is intrinsically interdisciplinary and organized along four main thrusts: (1) Algorithms for distributed coordination and control under severe power, communication, and mobility constraints. (2) Electronics for robot control using event-based communication and computation, ultra-low-power radio, and adaptive analog-digital integrated circuits. (3) Locomotion devices and efficient actuators using rapid-prototyping and MEMS technologies that can operate robustly under real-world conditions. (4) Integration of the algorithms, electronics, and actuators into a fleet of ant-size micro-robots. No robots at the sub-cm3 scale exist because their development faces a number of open challenges. This research will identify and determine means for solving these challenges. In addition, it will provide new solutions to outstanding questions about resource-constrained algorithms, architectures, and actuators that can be widely leveraged in other applications. The PIs will adopt a co-design philosophy that promotes cross-disciplinary research and tight collaboration. Networks of ant-sized robots are expected to be useful in disaster relief, manufacturing, warehouse management, and ecological monitoring, as well as in new unforeseen applications. In addition, the new methods and principles proposed here can be transitioned to other highly-distributed and resource-constrained engineering problems, such as air-traffic control systems. This research program will train Ph.D. students with unique skills in the design of hybrid distributed networks and it will involve undergraduate students, particularly underrepresented minorities and women.

The objective of this research is to create interfaces that enable people with impaired sensory-motor function to control interactive cyber-physical systems such as artificial limbs, wheelchairs, automobiles, and aircraft. The approach is based on the premise that performance can be significantly enhanced merely by warping the perceptual feedback provided to the human user. A systematic way to design this feedback will be developed by addressing a number of underlying mathematical and computational challenges. The intellectual merit lies in the way that perceptual feedback is constructed. Local performance criteria like stability and collision avoidance are encoded by potential functions, and gradients of these functions are used to warp the display. Global performance criteria like optimal navigation are encoded by conditional probabilities on a language of motion primitives, and metric embeddings of these probabilities are used to warp the display. Together, these two types of feedback facilitate improved safety and performance while still allowing the user to retain full control over the system. If successful, this research could improve the lives of people suffering from debilitating physical conditions such as amputation or stroke and also could protect people like drivers or pilots that are impaired by transient conditions such as fatigue, boredom, or substance abuse. Undergraduate and graduate engineering students will benefit through involvement in research projects, and K-12 students and teachers will benefit through participation in exhibits presented at the Engineering Open House, an event hosted annually by the College of Engineering at the University of Illinois.

The objective of this research is to develop a theory of ActionWebs, that is, networked embedded sensor-rich systems, which are taskable for coordination of multiple decision-makers. The approach is to first identify models of ActionWebs using stochastic hybrid systems, an interlinking of continuous dynamical physical models with discrete state representations of interconnection and computation. Second, algorithms will be designed for tasking individual sensors, based on information objectives for the entire system. Third, algorithms for ActionWebs will be developed using multi-objective control methods for meeting safety and efficiency objectives. Two grand challenge applications for this research are in Intelligent Buildings for optimal heating, ventilation, air conditioning, and lighting based on occupant behavior and external environment; and Air Traffic Control for mobile vehicle platforms with sensor suites for environmental sensing to enable safe, convenient, and energy efficient routing. The intellectual merit of this research stems from a conceptual shift of ActionWebs away from passive information gathering to an action-orientation. This involves: modeling of ActionWebs using stochastic hybrid systems; taskable, multi-modal, and mobile sensor webs; and multi-scale action-perception hierarchies. The broader impact of the research is in two grand challenge national problems: energy efficient air transportation, and energy efficient, high productivity buildings, and will tackle social, privacy, economic, and usability issues. Integrated with the research is a program of coursework development in networked embedded systems, across stove pipes in EECS, Aero-Astro, Civil, and Mechanical Engineering departments. Outreach objectives include new course design at San Jose State University, and recruiting more women researchers.