Cyber-physical systems (CPS) encompass the next generation of computerized control for countless aspects of the physical world and interactions thereof. The typical engineering process for CPS reuses existing designs, models, components, and software from one version to the next. For example, in automotive engineering, it is common to reuse significant portions of existing model-year vehicle designs when developing the next model-year vehicle, and such practices are common across CPS industries, from aerospace to biomedical. While reuse drastically enhances efficiency and productivity, it leads to the possibility of introducing unintended mismatches between subcomponents' specifications. For example, a 2011 US National Highway Traffic Safety Administration (NHTSA) recall of over 1.5 million model-year 2005-2010 vehicles was due to the upgrade of a physical transmission component that was not appropriately addressed in software. A mismatch between cyber and physical specifications may occur when a software or hardware upgrade (in effect, a cyber or physical specification change) is not addressed by an update (in effect, a matching specification change) in the other domain. This research will develop new techniques and software tools to detect automatically if cyber-physical specification mismatches exist, and then mitigate the effects of such mismatches at runtime, with the overall goal to yield more reliable and safer CPS upon which society increasingly depends. The detection and mitigation methods developed will be evaluated in an energy CPS testbed. While the evaluation testbed is in the energy domain, the methods are applicable to other CPS domains such as automotive, aerospace, and biomedical. The educational goals will bridge gaps between computer science and electrical engineering, preparing a diverse set of next-generation CPS engineers by developing education platforms to enhance CPS engineering design and verification skills. The proposed research is to develop new techniques and tools to automatically identify and mitigate the effects of cyber-physical specification mismatches. There are three major research objectives. The first objective is to identify cyber-physical specification mismatches. To identify mismatches, a detection problem will be formalized using the framework of hybrid input/output automata (HIOA). Offline algorithms will be designed to find candidate specifications from models and implementations using static and dynamic analyses, and then identify candidate mismatches. The second objective is to monitor and assure safe CPS upgrades. As modern CPS designs are complex, it may be infeasible to determine all specifications and mismatches between all subcomponents at design time. Runtime monitoring and verification methods will be developed for inferred specifications to detect mismatches at runtime. When they are identified, a runtime assurance framework building on supervisory control and the Simplex architecture will assure safe CPS runtime operation. The third objective is to evaluate safe CPS upgrades in an example CPS. The results of the other objectives and their ability to ensure safe CPS upgrades will be evaluated in an energy CPS testbed, namely an AC electrical distribution microgrid that interfaces DC-producing renewables like photovoltaics to AC.

This project designs algorithms for the integration of plug-in hybrid electric vehicles (PEVs) into the power grid. Specifically, the project will formulate and solve optimization problems critical to various entities in the PEV ecosystem -- PEV owners, commercial charging station owners, aggregators, and distribution companies -- at the distribution / retail level. Charging at both commercial charging stations and at residences will be considered, for both the case when PEVs only function as loads, and the case when they can also function as sources, equipped with vehicle-to-home (V2H) or vehicle-to-grid (V2G) energy reinjection capability. The focus of the project is on distributed decision making by various individual players to achieve analytical system-level performance guarantees. Electrification of the transportation market offers revenue growth for utility companies and automobile manufacturers, lower operational costs for consumers, and benefits to the environment. By addressing problems that will arise as PEVs impose extra load on the grid, and by solving challenges that currently impede the use of PEVs as distributed storage resources, this research will directly impact the society. The design principles gained will also be applicable to other cyber-physical infrastructural systems. A close collaboration with industrial partners will ground the research in real problems and ensure quick dissemination of results to the marketplace. A strong educational component will integrate the proposed research into the classroom to allow better training of both undergraduate and graduate students.

Motivated by the fact that the 2014 Ebola outbreak is the largest in history and there is a pressing need to understand how to improve delivery of care with the right technological interventions at the right place, this Rapid Response Research is aimed at realizing a human-in-the-loop medical cyber-physical system (CPS) for monitoring patients, insuring compliance with relevant safety protocols, and collecting data for advancing multidisciplinary research on infectious disease control. The ultimate goal is to enhance safety of Ebola workers by minimizing their contact with potentially contaminated surfaces and materials through integration of methods and technologies to realize smart and connected treatment clinics. This project could impact the response to infectious disease outbreaks by augmenting existing treatment clinics with cost-effective, modular, reconfigurable and
 open-design CPS technologies. The project will train a new cadre of engineering students, researchers and innovators to be 
sensitive to societal needs and national priorities by involving K-Gray, undergraduate and graduate students in all aspects of the project, especially at the co-ideation and co-design stages. The project will bring together a multidisciplinary team of engineers, scientists, technologists, medical experts, and humanitarian aid workers to develop holistic solutions to infectious disease control. The broader impacts also include operational cost savings in treatment clinics by reducing the need and use of the personal protective equipment and preserve resources such as water by reducing consumption. In order to prevent, detect and respond to current Ebola outbreak and future similar infectious disease outbreaks, this research plan has the following interconnected aims: (1) contribute new knowledge, methods, and tools to better understand the operational procedures in an infectious disease treatment clinic, (2) design, implement and validate a treatment ward augmented with a medical CPS for patient monitoring, (3) apply intuitive control interfaces and data visualization tools for practical human-robot interaction, (4) realize traded, coordinated and collaborative shared control techniques for safe and effective mobile robot navigation inside a treatment facility, (5) assess acceptability and effectiveness of the technology among health care workers and patients. The team will develop a self-contained, modular and reconfigurable system composed of a connected sensor network for patient monitoring and a mobile robot platform for telemedicine that will primarily focus on the interoperability and integration of existing standardized 
hardware and software systems to realize a testbed for verification and validation of a medical CPS. Medical, emergency response and humanitarian aid experts will be engaged to critically assess user-experiences and acceptability among medical staff to develop pathways for fielding the system in a treatment clinic. This RAPID project will lead the way in designing the next generation of human-in-the-loop medical CPS for empowering health care workers worldwide in treating patients during infectious disease outbreaks.

Inadequate system understanding and inadequate situational awareness have caused large-scale power outages in the past. With the increased reliance on variable energy supply sources, system understanding and situational awareness of a complex energy system become more challenging. This project leverages the power of big data analytics to directly improve system understanding and situational awareness. The research provides the methodology for detecting anomalous events in real-time, and therefore allow control centers to take appropriate control actions before minor events develop into major blackouts. The significance for the society and for the power industry is profound. Energy providers will be able to prevent large-scale power outages and reduce revenue losses, and customers will benefit from reliable energy delivery with service guarantees. Students, including women and underrepresented groups, will be trained for the future workforce in this area. The project includes four major thrusts: 1) real-time anomaly detection from measurement data; 2) real-time event diagnosis and interpretation of changes in the state of the network; 3) real-time optimal control of the power grid; 4) scientific foundations underpinning cyber-physical systems. The major outcome of this project is practical solutions to event or fault detection and diagnosis in the power grid, as well as prediction and prevention of large-scale power outages.

Equipment operation represents one of the most dangerous tasks on a construction sites and accidents related to such operation often result in death and property damage on the construction site and the surrounding area. Such accidents can also cause considerable delays and disruption, and negatively impact the efficiency of operations. This award will conduct research to improve the safety and efficiency of cranes by integrating advances in robotics, computer vision, and construction management. It will create tools for quick and easy planning of crane operations and incorporate them into a safe and efficient system that can monitor a crane's environment and provide control feedback to the crane and the operator. Resulting gains in safety and efficiency will reduce fatal and non-fatal crane accidents. Partnerships with industry will also ensure that these advances have a positive impact on construction practice, and can be extended broadly to smart infrastructure, intelligent manufacturing, surveillance, traffic monitoring, and other application areas. The research will involve undergraduates and includes outreach to K-12 students. The work is driven by the hypothesis that the monitoring and control of cranes can be performed autonomously using robotics and computer vision algorithms, and that detailed and continuous monitoring and control feedback can lead to improved planning and simulation of equipment operations. It will particularly focus on developing methods for (a) planning construction operations while accounting for safety hazards through simulation; (b) estimating and providing analytics on the state of the equipment; (c) monitoring equipment surrounding the crane operating environment, including detection of safety hazards, and proximity analysis to dynamic resources including materials, equipment, and workers; (d) controlling crane stability in real-time; and (e) providing feedback to the user and equipment operators in a "transparent cockpit" using visual and haptic cues. It will address the underlying research challenges by improving the efficiency and reliability of planning through failure effects analysis and creating methods for contact state estimation and equilibrium analysis; improving monitoring through model-driven and real-time 3D reconstruction techniques, context-driven object recognition, and forecasting motion trajectories of objects; enhancing reliability of control through dynamic crane models, measures of instability, and algorithms for finding optimal controls; and, finally, improving efficiency of feedback loops through methods for providing visual and haptic cues.