Abstract: This project is to develop dynamical models of distributed computation systems that are resilient to noise, unreliable communication and other source uncertainty. The key idea is centered on the development of optimization systems. These are dynamical systems that (solve) stabilize around the optimal solution of a (static) convex optimization problem. If the optimization problem is separable, then the designed dynamic system decomposes into a set of locally interacting dynamic systems.

Abstract: This project addresses architectural considerations in the design and operation of future power grids. This includes the consideration of sophisticated sensing, communication, and actuation capabilities on the system's reliability, price volatility, and economic and environmental efficiency.

Abstract: Wireless sensor-actuator networks (WSAN) are systems consisting of numerous sensing and actuation devices that interact with the environment and coordinate their activities over a wireless communication network. WSANs represent an important class of cyber-physical system (CPS) found in the national power grid and air/traffic networks. This project addresses the issue of resilience in WSANs.

Abstract:  Reinforcement Learning (RL) is a paradigm for learning decision- making tasks that could enable cyber-physical systems (CPS) to learn and adapt to situations on-line. For an RL algorithm to be practical for CPS control tasks, it must learn in very few samples, while continually taking actions in real-time. In addition, the algorithm must learn effi- ciently in the face of noise, sensor/actuator delays and continuous state features. We describe TEXPLORE, a model-based RL method that ad- dresses these issues.

Abstract: Robotic devices are excellent candidates for delivering repetitive and intensive practice that can restore functional use of the upper limbs, even years after a stroke. Rehabilitation of the wrist and hand in particular are critical for recovery of function, since hands are the primary interface with the world. However, robotic devices that focus on hand rehabilitation are limited due to excessive cost, complexity, or limited functionality.

Abstract: The electric power grid is a complex cyber-physical system (CPS), whose reliable and secure operation is of paramount importance to national security and economic vitality. There is a growing and evolving threat of cyber-based attacks, both in numbers and sophistication, on the nation’s critical infrastructures. Therefore, cyber security – encompassing attack prevention, detection, mitigation, and resilience – is critical in today’s power grid and the emerging smart grid.

Abstract: This project strikes a balance between performance considerations and power consumption in cyber-­‐physical systems through algorithms that switch among different modes of operation (e.g., low-­‐power/high-­‐power, on/off, or mobile/static) in response to environmental conditions. The computational contribution is a  hybrid optimal control framework that is connected to a number of relevant target applications where physical modeling, control design, and software architectures all constitute important components.

Abstract: An important area of cyber-physical systems research is the development of smart ground transportation systems due to their potentially significant impact on safety, the economy, and the environment. While technologies for smart transportation systems have advanced significantly over the last decade, there remain several challenges for the development of transportation systems that are collision free.

Abstract: Towards the development of robust cyber-physical systems, this project has developed solutions for planning and coordinating the motions of individual and networks of autonomous systems. This work is inspired by related challenges and techniques in algorithmic motion planning, multi-agent systems, sensor networks, learning and control. The focus of the project has been on the following tasks during the period 2012-2013: