CPS: Synergy: Collaborative Research: Towards Effective and Efficient Sensing-Motion Co-Design of Swarming Cyber-Physical Systems

CPS：协同：协作研究：实现集群网络物理系统的有效和高效的传感-运动协同设计

• 批准号: 1936599
• 负责人: Animesh Chakravarthy
• 金额: $ 10.77万
• 依托单位: University of Texas at Arlington
• 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: 2019-05-22 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1936599&HistoricalAwards=false
• 关键词: CPS; Synergy; Collaborative; Research; Towards; CPS; Synergy; Collaborative; Research; Towards

The project focuses on swarming cyber-physical systems (swarming CPS) consisting of a collection of mobile networked agents, each of which has sensing, computing, communication, and locomotion capabilities, and that have a wide range of civilian and military applications. Different from conventional static CPS, swarming CPS rely on mobile computing entities, e.g., robots, which collaboratively interact with phenomena of interest at different physical locations. This unique feature calls for novel sensing-motion co-design solutions to accomplish a variety of increasingly complex missions. Towards this, the overall research objective of this project is to establish and demonstrate a generic motion-sensing co-design procedure that will significantly reduce the complexity of the mission design for swarming CPS, and greatly facilitate the development of effective, efficient and adaptive control and sensing strategies under various environment uncertainties. This project aims to offer comprehensive scientific understanding of the dynamic nature of swarming CPS, contribute to generic engineering principles for designing collaborative control and sensing algorithms, and advance the enabling technologies of practically applying CPS in the challenging environment. The research solutions of this project aim to bring significant advance in the environmental sustainability, homeland security, and human well-being. The project provides unique interdisciplinary training opportunities for graduate and undergraduate students through both research work and related courses that the PIs will develop and offer. The project significantly advances the state of the art in cooperative control and sensing and provide an enabling technology for swarming CPS through highly interrelated thrusts: (1) a generic sensing and motion co-design procedure, which reveals the fundamental interplay between the sensing dynamics and motion dynamics of swarming CPS, will be proposed to facilitate the development of effective and efficient control and sensing strategies; (2) by following such co-design procedure, provable correct, computation efficient, and communication light control and sensing strategies will be developed for swarming CPS with constrained resources to accomplish specific missions, e.g., locating pollutants, in an unknown field, while navigating through uncertain spaces; (3) to provide an enabling mobile platform to verify the proposed strategies, innovative small, highly 3D maneuverable, noiseless, energy-efficient, and robust robotic fish fully actuated by smart material will be designed to meet the maneuvering requirements of the proposed algorithms; (4) novel Magnetic Induction (MI)-based underwater communication and localization solutions will be developed, which allows robotic fish to timely and reliably exchange messages, while simultaneously providing accurate inter-fish localization in the harsh 3D underwater environment; and (5) the proposed sensing-motion co-design strategies will be verified and demonstrated using a school of wirelessly interconnected robotic fish in both lab-based experiments and field experiments.

该项目着重于由移动网络代理集合组成的蜂群网络物理系统（CPS），每个网络代理具有感应，计算，通信和运动功能，并且具有广泛的平民和军事应用。与传统的静态CP不同，群CP依赖于移动计算实体，例如机器人，该机器人与不同物理位置的感兴趣现象进行了协作。这一独特的功能要求新颖的传感 - 运动共同设计解决方案来完成各种日益复杂的任务。为此，该项目的总体研究目标是建立和展示一种通用的运动感应共同设计程序，该程序将大大降低CPS群的任务设计的复杂性，并大大促进在各种环境下开发有效，有效，适应性控制和感应策略的有效，高效和适应性控制和感应策略。该项目旨在提供对CPS的动态性质的全面科学理解，促进了设计协作控制和感知算法的通用工程原则，并促进了实际应用CPS在挑战性环境中的能力技术。该项目的研究解决方案旨在为环境可持续性，国土安全和人类福祉带来重大进步。该项目通过研究工作以及PIS将开发和提供的相关课程为研究生和本科生提供独特的跨学科培训机会。该项目在合作控制和传感方面可以显着提高艺术的状态，并通过高度相互关联的推力为蜂拥而至的CP提供促进技术：（1）一种通用的感应和运动共同设计程序，该程序揭示了Swarming CPS的感应动态和运动动态的基本相互作用，以使CPS的感应动态和动态之间的提议能够构成策略，并能够控制有效的策略，并有效地进行有效的和有效的效果和有效性地进行，并有效地有效地进行了; （2）通过遵循此类共同设计程序，可证明的正确，计算效率以及通信控制和传感策略将用于蜂拥而至的CP，以有限的资源来完成特定的任务，例如在未知领域中找到污染物，同时通过不确定的空间导航； （3）提供一个有能力的移动平台来验证拟议的策略，创新的小型，高度3D机动，无嘈杂，能源效率和健壮的机器人鱼完全由智能材料驱动，以满足拟议算法的机动要求； （4）将开发基于新型的磁性感应（MI）的水下通信和定位解决方案，这使机器人鱼可以及时可靠地交换消息，同时在苛刻的3D水下环境中提供准确的互间定位； （5）在基于实验室的实验和现场实验中，将使用无线相互连接的机器人鱼类学派验证和证明所提出的感应运动共同设计策略。