This project aims to develop innovative design automation methodologies and algorithms for software synthesis of cyber-physical systems (CPS), which have applications in key sectors such as automotive, aerospace, healthcare, and industrial automation. Software has become critical and drives future innovations for many such systems, but faces significant challenges in its development, in particular regarding the formulation, exploration and validation of timing constraints. The results from this project will address critical timing challenges in CPS software development, and lead to correct, predictable and efficient software implementations. In addition to disseminating the results through publications and workshops, the PI will collaborate with industry partners on transitioning the research findings into practice. Leveraging the research activities, the PI will develop an integrated education program that focuses on the interdisciplinary education of K-12, undergraduate and graduate students, through Lego Mindstorms labs development and contest organization, new CPS course development, and textbook writing. The project will develop, a software synthesis framework that addresses the timing challenges in CPS by quantitatively exploring timing constraints for multiple conflicting design metrics and across multiple abstraction layers, and using these timing constraints to drive the design space exploration. Developing the framework includes three closely-related research themes: (1) formulating and exploring timing contracts to co-design functionality and software architecture with respect to various design metrics (e.g., performance, security, schedulability) and to carry out hierarchical refinement across abstraction layers, (2) exploring the generation of software tasks from functional models and the mapping of those tasks onto hardware platforms with holistic timing consideration throughout the synthesis process, and (3) co-simulating functional and architectural models with explicit representation and evaluation of timing contracts to complement the proposed analytical synthesis algorithms.
The potential economic and societal impacts of realizing fully autonomous cyber-physical systems (CPS) are astounding. If the Federal Aviation Administration (FAA) allows integration of unmanned aerial vehicles (UAVs) into the national civilian airspace, the private-sector drone industry is estimated to generate more than 100K high-paying technical jobs over a ten-year span and contribute $82B to the U.S. economy. Self-driving cars are predicted to annually prevent 5M accidents and 2M injuries, conserve 7B liters of fuel, and save 30K lives and $190B in healthcare costs associated with accidents in the U.S. Successful mission pursuit of such fully autonomous CPS hinges on possessing full situational awareness including precise knowledge of its own location. Current CPS are far from possessing this capability, particularly in dynamic, uncertain, poorly modeled environments where GPS coverage may be spotty, obscured, or otherwise impaired. This necessitates developing a coherent analytical foundation to deal with this emerging class of CPS, in which situational awareness and mission planning and execution are intertwined and must be considered simultaneously to address uncertainty, model mismatch, and compensate for potential GPS coverage gaps. This project is has four main objectives: (1) Analyze the observability of unknown dynamic, stochastic environments comprising multiple agents. This analysis will establish the minimum a priori knowledge needed about the environment and/or agents for stochastic observability. (2) Develop adaptation strategies to refine the agents models of the environment, on-the-fly, as the agents build spatiotemporal maps. Adaptation is crucial, since it is impractical to assume that agents have high-fidelity models describing the environment. (3) Design optimal, computationally efficient information fusion algorithms with performance guarantees. These algorithms will consider physically realistic nonlinear dynamics and observations with colored, non-Gaussian noise, commonly encountered in CPS. (4) Synthesize optimal, real-time decision making strategies to balance the potentially conflicting objectives of information gathering and mission fulfillment. This investigation will enable autonomous CPS to navigate complex tradeoffs, leading to autonomous identification and adoption of the optimal strategy. This research has far-reaching impact- it will evolve autonomous CPS from merely sensing the environment to making sense of the environment, bringing new capabilities in environments where direct human control is not physically or economically possible. The project has a vertically-integrated education plan spanning K-12, undergraduate, and graduate students. The project will engage economically disadvantaged middle and high school students in the same UAV testbed used for research verification. Also, research outcomes will be infused into new and existing undergraduate and graduate courses.