Abstract: Human motion-capture and computational analysis tools have played a significant role in a variety of  product-design  and  ergonomics  settings  for  over  a  quarter-century.  In  moving  beyond traditional kinematic (and its dual-static) settings, advances in biomechanics and multibody dynamics have led up to computational analysis tools that can provide significant insights into the functional performance.

Abstract: This project focuses on the formal design of semi-autonomous automotive Cyber Physical Systems (CPS). Rather than disconnecting the driver from the vehicle, the goal is to obtain a vehicle where the degree of autonomy is continuously changed in real-time as a function of certified uncertainty ranges in driver behavior and environment reconstruction.

Abstract: We propose a dual expert algorithm (DEA) to assist a mobile robot in learning a person’s preference of moving direction when the human encounters the robot in a typical hallway. When in use in hospital and office environments, a mobile robot will routinely encounter people who are not its primary user. These people need to feel comfortable around the robot for its implementation to be a success.

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 our national civil infrastructure. This project addresses the issue of resilience in WSANs.

Abstract: The aim of this project is to lay down the foundations of a novel approach to real-time control of networked cyber-physical systems (CPS) that leverages their cooperative  nature. Most networked controllers  are not implementable over embedded digital computer systems because they rely on continuous time or synchronous executions that are costly to enforce.

Abstract: The goal of this project is to demonstrate that new cyber physical architectures will enable closed-­‐loop sensor networks to be shared among multiple applications and to dynamically allocate sensing and computing resources  necessary to analyze sensor data and perform sensor actuation.

Abstract: Optimization algorithms used in a real-time and safety-critical context offer the potential for considerably advancing robotic and autonomous systems by improving their ability to execute complex missions. However, this promise cannot happen without proper attention to the considerably stronger operational constraints that real time, safety-critical applications must meet, unlike their non-real-time, desktop counterparts.

Abstract: The objective of this project is to develop a science of integration for cyber physical systems (CPS). The proposed research program has three focus areas: (1) foundations,  (2) tools and tool architectures, (3) systems/experimental research. The project has pushed along several frontiers towards these overall objectives. In the following, we describe selected accomplishments:

Abstract: As part of our CPS project, we have focused on the problem of model repair for cyber-physical systems. This work involves identifying constraints caused due to physical components during revision. We consider four types of constraints cyber-cyber, cyber-physical, physical-cyber and  physical-physical. Based on the complexity limitations caused by these constraints we are developing efficient heuristics to mitigate the cost of model repair. We have also focused on extending revision to code level.

Abstract: Our objective is to engineer vehicles that can collaborate on the use of a  roadway.  The protocols that define the collaboration must be provably safe, and the implementations of the protocols by different manufacturers must be guaranteed to inter­‐operate. As an example we are using a collaborative merge protocol, that assists a driver merging between two vehicles in an adjacent lane.