This NSF Cyber-Physical Systems (CPS) grant will advance the state-of-the-art of Connected and Automated Vehicle (CAV) systems by innovating in the three key areas of networking, sensing, and computation, as well as the synergy among them. This work leverages several emerging technology trends that are expected to transform the ground transportation system: much higher-speed wireless connectivity, improved on-vehicle and infrastructure based sensing capabilities, and advances in machine learning algorithms. So far, most related research and development focused on individual technologies, leading to limited benefits. This project will develop an integrated platform that jointly handles networking, sensing, and computation, by addressing key challenges associated with the operating conditions of the CAVs: e.g., safety-critical, high mobility, scarce on-board computing resources, fluctuating network conditions, limited sensor capabilities. The research team will study how to use the integrated platform to enable real-world CAV applications, such as enhancement of public service personnel's safety, alleviation of congestion at bottleneck areas, and protection of vulnerable road users (VRUs). Given its interdisciplinary nature, this project will yield a broad impact in multiple research communities including transportation engineering, mobile/edge computing, and machine learning. The outcome of this research will benefit multiple stakeholders in the CAV ecosystem: drivers, pedestrians, CAV manufacturers, transportation government agencies, mobile network carriers, etc., ultimately improving the safety and mobility of the nation's transportation system. This project will also provide a platform to conduct various education and outreach activities.

To accommodate rapidly growing food demands and increase the quality and quantity of agricultural production, it is necessary to improve farming management practices and technological developments in agricultural fields. This project will synergize expertise in Control, Robotics, Remote Sensing, and Agricultural Engineering to develop new approaches for automated monitoring of smart agricultural systems as an important class of cyber-physical systems (CPSs). This award supports fundamental research to develop innovative techniques for smart agricultural systems by employing a distributed airborne networked sensor system for a team of Unmanned Aerial Vehicles (UAVs) to survey a farm. Unlike traditional crop management methods that use ground operators or vehicles for monitoring farms, the proposed approach for airborne monitoring of agricultural fields minimizes deployment of on-the-ground operations, avoiding damaging crops on healthy parts of the farms.

This project explores a new vision of cyber-physical systems (CPSs) in which computing power and control methods are jointly considered. The approach is carried out through exploration of new theories for the modeling, analysis, and design of CPSs that operate under computational constraints. The tight coupling between computation, communication, and control pervades the design and application of CPSs. Due to the complexity of such systems, advanced design procedures that cope with the variability and uncertainty introduced by computing resources are mandatory, though the design choices are across many disciplines, which may result in over-design of a system. The project will have significant impact through the reduction in design and development time for complex cyber physical systems including ground, air, and maritime vehicles.

The objective of this work is to generate new fundamental science for computer controlled complex physical systems, a broad class of cyber-physical systems (CPS) and demonstrate this science in aerial vehicles and walking robots. The new science enables autonomous planning and control in the presence of failures and abrupt changes in system variables. A framework for the design of algorithms that exploit awareness of the physical and design constraints to autonomously self-adapt their motion plan and control actions will be generated. The approach exploits elements from geometry, adaptive control, and hybrid control to advance the knowledge on modeling, planning, and design of CPS with constraints, non-smooth, and intertwined continuous and discrete dynamics. Unlike current approaches, which separate the task associated with planning the motion from the design of the algorithm used for control, the algorithms to emerge from this project self-learn and self-adapt in real time to cope with unexpected changes in motion and specification constraints so as to enable autonomous systems to perform robustly and safely, and degrade gracefully under failure conditions. Specifically, the new algorithms will learn and monitor the physical and design constraints in real time and adapt both planner and controller by selecting the appropriate constraints to enforce, with robustness and safety guarantees. The capabilities of the new tools will be demonstrated on multi-legged robots in harsh environments that make them prone to failures, and on aerial vehicles in contested/adversarial environments.

The objective of this work is to generate new fundamental science for computer controlled complex physical systems, a broad class of cyber-physical systems (CPS) and demonstrate this science in aerial vehicles and walking robots. The new science enables autonomous planning and control in the presence of failures and abrupt changes in system variables. A framework for the design of algorithms that exploit awareness of the physical and design constraints to autonomously self-adapt their motion plan and control actions will be generated. The approach exploits elements from geometry, adaptive control, and hybrid control to advance the knowledge on modeling, planning, and design of CPS with constraints, non-smooth, and intertwined continuous and discrete dynamics. Unlike current approaches, which separate the task associated with planning the motion from the design of the algorithm used for control, the algorithms to emerge from this project self-learn and self-adapt in real time to cope with unexpected changes in motion and specification constraints so as to enable autonomous systems to perform robustly and safely, and degrade gracefully under failure conditions. Specifically, the new algorithms will learn and monitor the physical and design constraints in real time and adapt both planner and controller by selecting the appropriate constraints to enforce, with robustness and safety guarantees. The capabilities of the new tools will be demonstrated on multi-legged robots in harsh environments that make them prone to failures, and on aerial vehicles in contested/adversarial environments.

While substantial progress has been made in the control of electric grid considering the cyber and physical characteristics, there has been a gap in the integration of smart grid research as it integrates with human behavior -- especially in interactions with energy management systems. For example residential energy consumption has been rapidly increasing during the last decades, especially in the U.S. where 2.6 trillion kilowatt-hours were consumed during 2015, and an additional 13.5% increase is expected by 2040 . Research efforts such as demand response have been made to reduce this consumption especially in smart residential environments. Concepts such as demand response have largely overlooked the complexity of human behaviors and perceptions, and recent research in the social-science domain and recent experience has challenged the effectiveness of this approach and in some instances led to an abandonment and avoidance of such concepts. The objective of this proposal is to overcome the limitations associated with state-of-the-art energy management systems by designing novel algorithms, machine learning models, and optimization techniques that specifically consider user behaviors, perceptions, and psychological processes. This revolutionary approach will unleash the full potential of smart residential environments in reducing residential energy consumption and has the potential to transform the way in which energy management systems are designed, implemented, and used by people. This project also supports innovative educational activities such as classes, real time demonstrations, coding challenges, and research experiences for high school students. The PI will also lead a cohort of students to the diversity-oriented Grace Hopper conference and teach seminars for Hispanic elementary students. Finally, a new class on Cyber-Physical-Human System will be designed and several graduate and undergraduate students will participate in the research activities.

Collaborative robots have been widely employed to assist humans in an increasing number of areas. Just as human-human collaboration, the trust in human-robot teams has a property of bidirectional. However, few studies have been conducted on both human-trusting-robot issue and robot-trusting-human issue in a unified framework for human-robot collaboration. The project addresses this challenge by developing a new systematic Bi-Trust framework to integrate humans? trust in robots and robots? trust in humans into the human-robot collaboration process. With the established Bi-Trust framework, a trust-level-based computational collaboration model is created to optimize and plan robot actions. The proposed approaches will reduce uncertain failures and improve the collaboration-quality of human-robot shared tasks.

The goal of this proposal is to establish a framework for cascading failure abstraction and vulnerability analysis in Cyber-Physical Systems (CPSs), empowered by data. CPSs are critical to modern society, however, they are vulnerable to attacks and failures. The failures in CPSs are more destructive because of cascading failure, which means that the failure of a part of the system can cause failure in the rest of the system and result in more severe damage. However, analysis of CPS vulnerability involving cascading failure is extremely challenging, mainly because 1) it?s hard to theoretically analyze the various physical processes happen in a cascade and 2) local diffusion models applied to the CPS network cannot capture the global impact of cascades. Using simpler cascade models derived from data as media, it is possible to have a deeper understanding of how CPSs are vulnerable to cascading failure. CPSs are gaining popularity and there is an urgent need to enhance its security, hence the proposed work will greatly benefit the society and of national interest. The project will provide opportunities for undergraduate students, underrepresented minority groups and women to research in some of the society's most concerned fields like machine learning and security. Also, the outcomes of this work will be introduced in courses for undergraduate and graduate students and integrated into STEM outreach programs for K-12 students.

The increasing use of Clinical Artificial Intelligence/Machine Learning (AI/ML)-enabled Software as a Medical Device (SaMD) for healthcare applications, including medical imaging, is posing significant challenges for regulatory bodies in ensuring that these devices are valid, robust, transparent, explainable, fair, safe, and accurate. One of the major challenges is the phenomenon of data shift, which refers to a mismatch between the distribution of the data that was used for model training/testing and the distribution of the data to which the model was applied. This makes it difficult to generalize AI/ML-enabled SaMD across different healthcare institutions, different medical devices, and disease patterns, resulting in AI model performance deterioration, erroneous outputs, and adverse patient outcomes.

Despite a long-standing effort on the automation in the care of critically ill patients, prior automation capabilities have not been suitably mature for real-world use due to a few limitations: (1) the decisions/actions of the automation could not be easily interpreted by clinicians, preventing clinicians' effective interaction with and supervision of the automation for safe patient care; (2) the automation was designed to perform a particular task of interest without accounting for the overall physiological state of the patient; (3) multiple automation functions were not often coordinated to avoid possible conflicts in patient treatment; (4) automation was prone to errors in the medical devices; and (5) regulatory science for evaluation and approval of safety-critical automation capabilities was lacking. This research program seeks to address these fundamental challenges by studying novel methodologies for (1) mathematically representing the patient physiology in a way to facilitate the interpretation of clinicians and (2) designing automation capabilities that can facilitate clinician interaction and supervision, coordination of multiple treatment goals and functions, and resilience to device errors and faults. In addition, this research program will benefit society and Science, Technology, Engineering and Mathematics (STEM) education by creating a wide range of automation systems that can improve the quality of care of critically ill patients, expediting the deployment of new medical devices with advanced automation capabilities, facilitating the evaluation and approval of emerging healthcare automation capabilities, and training STEM workforce especially from underrepresented minorities.