CPS: Medium: Hybrid Systems for Modeling and Teaching the Language of Surgery
Lead PI:
Gregory Hager
Co-PI:
Abstract
The objective of this research is to develop new principles for creating and comparing models of skilled human activities, and to apply those models to systems for teaching, training and assistance of humans performing these activities. The models investigated will include both hybrid systems and language-based models. The research will focus on modeling surgical manipulations during robotic minimally invasive surgery. Models for expert performance of surgical tasks will be derived from recorded motion and video data.
Performance Period: 09/01/2009 - 12/31/2013
Institution: Johns Hopkins University
Sponsor: National Science Foundation
Award Number: 0931805
CPS: Small: Control Design for Cyber-Physical Systems Using Slow Computing
Lead PI:
Richard Murray
Abstract
The objective of this research is to develop principles and tools for the design of control systems using highly distributed, but slow, computational elements. The approach of this research is to build an architecture that uses highly parallelized, simple computational elements incorporating nonlinearities, time delay and asynchronous computation as integral design elements. Tools for the design of non-deterministic protocols will be developed and demonstrated using an existing multi-vehicle testbed at Caltech.
Performance Period: 09/01/2009 - 08/31/2013
Institution: California Institute of Technology
Sponsor: National Science Foundation
Award Number: 0931746
Abstract
The objective of this research is to enable improved performance and application development efficiency for streaming applications. The approach is to use architecturally diverse computing engines, such as field programmable gate arrays and graphics processing units, to execute portions of an application. This approach is especially well suited to applications that process streaming data, such as from a sensor array like a telescope or other scientific instrument. Intellectual merit.
Performance Period: 10/01/2009 - 09/30/2013
Institution: Washington University in St. Louis
Sponsor: National Science Foundation
Award Number: 0931693
CPS: Small: Control Subject to Human Behavioral Disturbances
Lead PI:
Stephen Patek
Abstract
The objective of this research is to develop an integrated methodology for control system design in situations where disturbances primarily result from routine human behavior, as, for example, in future artificial pancreas systems where meals and exercise are the main disturbances affecting blood glucose concentration. The approach is to recognize that human behavioral disturbances (i) are generally random but cannot be treated as zero-mean white noise processes and (ii) occur with statistical regularity but cannot be treated as periodic due to natural variation in human behavior.
Performance Period: 09/01/2009 - 08/31/2013
Institution: University of Virginia Main Campus
Sponsor: National Science Foundation
Award Number: 0931633
CPS: Small: Collaborative Research: Distributed Coordination of Agents For Air Traffic Flow Management
Lead PI:
Kagan Tumer
Abstract
This objective of this proposal is to improve the management of the air traffic system, a cyber-physical system where the need for a tight connection between the computational algorithms and the physical system is critical to safe, reliable and efficient performance. The approach is based on an adaptive multiagent coordination algorithm with a particular emphasis on the systematic selection of the agents, their actions and the agents' reward functions.
Performance Period: 09/01/2009 - 08/31/2014
Institution: Oregon State University
Sponsor: National Science Foundation
Award Number: 0931591
CPS: Small: MPSoC based Control and Scheduling Co-design for Battery Powered Cyber-Physical Systems
Lead PI:
Fumin Zhang
Co-PI:
Abstract
The objective of this research is to develop new scientific and engineering principles, algorithms and models for the design of battery powered cyber-physical systems whose computational substrates include high-performance multiprocessor systems-on-chip. The approach is to design control tasks that guarantee performance and meet criteria for battery operation time. Task schedulers are co-designed to balance the computing load across the multiple processors, and to control the physical plant together with the control tasks.
Performance Period: 09/01/2009 - 08/31/2013
Institution: GA Tech Research Corporation - GA Institute of Technology
Sponsor: National Science Foundation
Award Number: 0931576
CPS: Medium: Vehicular Cyber-Physical Systems
Lead PI:
Hari Balakrishnan
Abstract
The objective of this research is to develop technologies to improve the efficiency and safety of the road transportation infrastructure. The approach is to develop location-based vehicular services combining on-board automotive computers, in-car devices, mobile phones, and roadside monitoring/surveillance systems.
Performance Period: 10/01/2009 - 09/30/2014
Institution: Massachusetts Institute of Technology
Sponsor: National Science Foundation
Award Number: 0931550
CPS: Small: Image Guided Autonomous Optical Manipulation of Cell Groups
Lead PI:
Satyandra Gupta
Abstract
The objective of this research is to create computational foundation, methods, and tools for efficient and autonomous optical micromanipulation using microsphere ensembles as grippers. The envisioned system will utilize a holographic optical tweezer, which uses multiple focused optical traps to position microspheres in three-dimensional space. The proposed approach will focus on the following areas. First, it will provide an experimentally validated optical-tweezers based workstation for concurrent manipulation of multiple cells.
Performance Period: 09/01/2009 - 08/31/2014
Institution: University of Maryland College Park
Sponsor: National Science Foundation
Award Number: 0931508
Abstract
The physical environment of a cyber-physical system is unboundedly complex, changing continuously in time and space. An embodied cyber-physical system, embedded in the physical world, will receive a high bandwidth stream of sensory information, and may have multiple effectors with continuous control signals. In addition to dynamic change in the world, the properties of the cyber-physical system itself ? its sensors and effectors ? change over time. How can it cope with this complexity?
Performance Period: 09/01/2009 - 08/31/2014
Institution: University of Michigan Ann Arbor
Sponsor: National Science Foundation
Award Number: 0931474
CPS: Medium: Learning for Control of Synthetic and Cyborg Insects in Uncertain Dynamic Environments
Lead PI:
Pieter Abbeel
Abstract
The objective of this research is to enable operation of synthetic and cyborg insects in complicated environments, such as outdoors or in a collapsed building. As the mobile platforms and environment have significant uncertainty, learning and adaptation capabilities are critical. The approach consists of three main thrusts to enable the desired learning and adaptation: (i) Development of algorithms to efficiently learn optimal control policies and dynamics models through sharing the learning and adaptation between various instantiations of platforms and environments.
Pieter Abbeel
Pieter Abbeel received a BS/MS in Electrical Engineering from KU Leuven (Belgium) and received his Ph.D. degree in Computer Science from Stanford University in 2008. He joined the faculty at UC Berkeley in Fall 2008, with an appointment in the Department of Electrical Engineering and Computer Sciences. He has won various awards, including best paper awards at ICML and ICRA, the Sloan Fellowship, the Air Force Office of Scientific Research Young Investigator Program (AFOSR-YIP) award, the Okawa Foundation award, the 2011's TR35, the IEEE Robotics and Automation Society (RAS) Early Career Award, and the Dick Volz Best U.S. Ph.D. Thesis in Robotics and Automation Award. He has developed apprenticeship learning algorithms which have enabled advanced helicopter aerobatics, including maneuvers such as tic-tocs, chaos and auto-rotation, which only exceptional human pilots can perform. His group has also enabled the first end-to-end completion of reliably picking up a crumpled laundry article and folding it. His work has been featured in many popular press outlets, including BBC, New York Times, MIT Technology Review, Discovery Channel, SmartPlanet and Wired. His current research focuses on robotics and machine learning with a particular focus on challenges in personal robotics, surgical robotics and connectomics.
Performance Period: 09/01/2009 - 08/31/2013
Institution: University of California-Berkeley
Sponsor: National Science Foundation
Award Number: 0931463