CSR-EHCS(EHS), SM: Collaborative Research: An Anytime Approach to Real-Time Embedded Control

CSR-EHCS(EHS)，SM：协作研究：实时嵌入式控制的随时方法

• 批准号: 0834661
• 负责人: Vijay Gupta
• 金额: $ 20.11万
• 依托单位: University of Notre Dame
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2008
• 资助国家: 美国
• 起止时间: 2008-09-15 至 2012-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0834661&HistoricalAwards=false
• 关键词: CSR; EHCS; EHS; SM; Collaborative

Cyber-physical systems will soon become ubiquitous. One of the major challenges that such systems pose is that the control algorithms that modulate the interaction with the physical world have traditionally assumed availability of unlimited computational resources. However, in cyber-physical systems, control tasks are executed on shared processors that can only provide time-varying and uncertain computational resources. Moreover, the real-time scheduling of control tasks provides new difficulties in this context given the sensitivity of control performance to jitter and latency caused by the time varying availability of computational resources. These are new problems that reside at the interface between control algorithms and real-time scheduling policies. This research provides a new joint control and task scheduling approach that maintaining a guaranteed control performance under time-varying processor availability while optimally utilizing the available computational resources. More specifically, this project aims at the design of novel anytime receding horizon control algorithms that provide progressively better performance as more computational time is provided and redistribute the available computational resources online based on the control performance and on the quality of service of other real-time tasks.By addressing a fundamental bottleneck in the design of cyber-physical systems, this project directly impacts the society in profound ways. New classes of applications of receding horizon control in real-time environments, such as networked vision-based control and complex SCADA systems will become possible with economic and societal benefits. This project also focuses attention at the challenges at the intersection of control and real-time computation, and thus fosters collaboration between researchers in these two communities, also leading to new educational material.

网络物理系统将很快变得无处不在。此类系统带来的主要挑战之一是，调节与物理世界交互的控制算法传统上假设无限计算资源的可用性。然而，在信息物理系统中，控制任务是在共享处理器上执行的，这些处理器只能提供时变且不确定的计算资源。此外，考虑到控制性能对由计算资源的时变可用性引起的抖动和延迟的敏感性，控制任务的实时调度在这种情况下提供了新的困难。这些是存在于控制算法和实时调度策略之间的接口的新问题。这项研究提供了一种新的联合控制和任务调度方法，该方法可以在时变处理器可用性下保持有保证的控制性能，同时最佳地利用可用的计算资源。更具体地说，该项目旨在设计新颖的随时后退控制算法，随着提供更多的计算时间，该算法逐渐提供更好的性能，并根据控制性能和其他实时的服务质量在线重新分配可用的计算资源通过解决网络物理系统设计中的基本瓶颈，该项目对社会产生直接深远的影响。实时环境中后退地平线控制的新型应用，例如基于网络视觉的控制和复杂的 SCADA 系统，将成为可能，并带来经济和社会效益。该项目还关注控制和实时计算交叉点的挑战，从而促进这两个社区的研究人员之间的合作，也产生了新的教育材料。