CPS: Medium: Collaborative Research: Learning and Verifying Conformant Data-Driven Models for Cyber-Physical Systems

CPS：媒介：协作研究：学习和验证网络物理系统的一致数据驱动模型

• 批准号: 1932189
• 负责人: Sriram Sankaranarayanan
• 金额: $ 59.22万
• 依托单位: University of Colorado at Boulder
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-10-01 至 2024-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1932189&HistoricalAwards=false
• 关键词: CPS; Medium; Collaborative; Research; Learning

This project investigates fundamental techniques for building mathematical models that can be safely used to make trustworthy predictions and control decisions. Mathematical models form the foundation for modern Cyber-Physical Systems (CPS). Examples include vehicle models that predict how a car will move when brakes are applied, or physiological models that predict how the blood glucose levels change in a patient with type-1 diabetes when insulin is administered. The success of machine learning tools has yielded data-driven models such as neural networks. However, depending on how data is collected and the models are learned, it is possible to obtain models that violate fundamental physical, chemical, or physiological facts that can potentially threaten life and property. The approach of the project is to expose these model flaws through advanced analysis. The project seeks to broaden participation in computing through mentoring activities that will encourage undergraduate women and members of underrepresented minority groups to consider a career in research.The research combines falsification methods for exposing failure to conform with verification approaches for rigorously proving conformance. Furthermore, approaches for learning models of dynamical systems from data and imposing core cyber-physical domain knowledge are under investigation. The project is applying these data-driven models with conformance guarantees to the design of safe controllers for autonomous vehicles, models of human insulin glucose regulation and robotic swarms. The effort is advancing CPS education by creating a framework for distance education focused on CPS. The researchers are developing a series of low cost hardware testbeds and self-paced learning tasks that will expose students to the process of building highly reliable and safety critical CPS.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目研究构建数学模型的基本技术，这些模型可安全地用于做出可信的预测和控制决策。数学模型构成了现代网络物理系统（CPS）的基础。例如，预测汽车在刹车时将如何移动的车辆模型，或者预测 1 型糖尿病患者在注射胰岛素时血糖水平如何变化的生理模型。机器学习工具的成功产生了数据驱动的模型，例如神经网络。然而，根据数据的收集方式和模型的学习方式，有可能获得违反基本物理、化学或生理事实的模型，这些事实可能会威胁生命和财产。该项目的方法是通过高级分析揭示这些模型缺陷。该项目旨在通过指导活动扩大对计算的参与，鼓励本科女性和代表性不足的少数群体成员考虑从事研究工作。该研究结合了揭露不符合验证方法的证伪方法和严格证明一致性的验证方法。此外，从数据中学习动力系统模型和施加核心网络物理领域知识的方法正在研究中。该项目正在将这些具有一致性保证的数据驱动模型应用于自动驾驶汽车安全控制器、人类胰岛素葡萄糖调节模型和机器人群的设计。这项工作正在通过创建一个以 CPS 为重点的远程教育框架来推进 CPS 教育。研究人员正在开发一系列低成本硬件测试台和自定进度的学习任务，让学生了解构建高度可靠且安全关键的 CPS 的过程。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准。

项目成果

Safe Robot Learning in Assistive Devices through Neural Network Repair

• DOI: 10.48550/arxiv.2303.04431
• 发表时间: 2023-03
• 作者: K. Majd;Geoffrey Clark;Tanmay Khandait;Siyu Zhou;S. Sankaranarayanan;Georgios Fainekos;H. B. Amor

Counterexample-guided computation of polyhedral Lyapunov functions for piecewise linear systems

• DOI: 10.1016/j.automatica.2023.111165
• 发表时间: 2023-09
• 期刊: Autom.
• 作者: Guillaume O. Berger;S. Sankaranarayanan

Training Neural Network Controllers Using Control Barrier Functions in the Presence of Disturbances

• DOI: 10.1109/itsc45102.2020.9294485
• 发表时间: 2020-01
• 期刊: 2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)
• 作者: Shakiba Yaghoubi;Georgios Fainekos;S. Sankaranarayanan

Multi-Hour Blood Glucose Prediction in Type 1 Diabetes: A Patient-Specific Approach Using Shallow Neural Network Models

• DOI: 10.1089/dia.2020.0061
• 发表时间: 2020-10-13
• 期刊: DIABETES TECHNOLOGY & THERAPEUTICS
• 影响因子: 5.4
• 作者: Kushner, Taisa;Breton, Marc D.;Sankaranarayanan, Sriram
• 通讯作者: Sankaranarayanan, Sriram

Static analysis of ReLU neural networks with tropical polyhedra

• DOI: 10.1007/978-3-030-88806-0_8
• 发表时间: 2021-07
• 期刊: ArXiv
• 作者: É. Goubault;S'ebastien Palumby;S. Putot;Louis Rustenholz;S. Sankaranarayanan