Numerical Algorithms for Verification, Design, Analysis and Operation of Shared Control Cyber-Physical Systems

共享控制信息物理系统验证、设计、分析和操作的数值算法

• 批准号: RGPIN-2017-04543
• 负责人: Mitchell, Ian
• 金额: $ 2.48万
• 依托单位: University of British Columbia
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2020
• 资助国家: 加拿大
• 起止时间: 2020-01-01 至 2021-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=710452
• 关键词: Numerical; Algorithms; Verification; Design; Analysis

Objectives: The proposed research is part of a multi-year program to develop numerical algorithms and implementations for the verification, synthesis and design of safe controllers and planners for cyber-physical systems subject to uncertainty arising from the influence of external agents whose behaviour is revealed at run-time. Examples of this often non-random uncertainty include human-in-the-loop control and systems using legacy or independently designed black-box controllers whose safety properties cannot be guaranteed. The techniques developed will maintain safety and support pursuit of the agent's goal in a manner that aligns with user expectations. The research will be informed by shared control applications in powered wheelchairs for cognitively impaired older adults, automated delivery of anesthesia, unmanned aerial vehicles, and collaborative manufacturing. Approach: The foundation of this research is development of numerical algorithms for approximating reachability of systems with continuous or hybrid state models, and in particular algorithms which can generate results robust to model uncertainty. The goal of this algorithm development is not just verification, but rather characterization of the set of control inputs which lead to correct behaviors. The second element of this research program will be to design interventions that use this information to maintain safety or assist the agent to attain its goal, despite uncertainty about that goal and system state. The affective outcome of these interventions on the system's user will be a key feature in their design Expected Significance: Unexpected and incorrect operation can lead to a host of negative consequences, and the potential significance of bad behaviours and/or outcomes is increasing as we transition to human-in-the-loop scenarios and/or compose controllers with poorly understood safety characteristics into complex systems. By developing formal verification methods which can treat online input sources in a black-box fashion, my research program will increase the confidence of designers and users that these systems will perform correctly. By considering how these problems are best solved in a diverse set of application areas, approaches which are more broadly applicable can be identified and subsequently extended to other domains in which cyber-physical systems are prominent. Trainees will gain experience in numerical algorithms, robust software development practices, health care technology development and/or robotics, which are all areas with positive job prospects.

目标：拟议的研究是多年计划的一部分，旨在开发数值算法和实现，用于验证、综合和设计网络物理系统的安全控制器和规划器，这些系统受到因行为被揭示的外部代理的影响而产生的不确定性在运行时。这种通常非随机不确定性的例子包括人在环控制和使用传统或独立设计的黑匣子控制器的系统，其安全特性无法得到保证。开发的技术将保持安全性并支持代理以符合用户期望的方式追求目标。该研究将通过针对认知障碍老年人的电动轮椅的共享控制应用、自动麻醉输送、无人机和协作制造来提供信息。 方法：这项研究的基础是开发数值算法，用于近似具有连续或混合状态模型的系统的可达性，特别是可以生成对模型不确定性具有鲁棒性的结果的算法。该算法开发的目标不仅仅是验证，而是表征导致正确行为的控制输入集。 该研究计划的第二个要素将是设计干预措施，利用这些信息来维护安全或协助智能体实现其目标，尽管目标和系统状态存在不确定性。 这些干预对系统用户的情感结果将是其设计中的一个关键特征 预期意义：意外和不正确的操作可能会导致一系列负面后果，并且随着我们过渡到人机交互场景和/或组成对安全性知之甚少的控制器，不良行为和/或结果的潜在意义正在增加特征转化为复杂系统。通过开发能够以黑盒方式处理在线输入源的正式验证方法，我的研究计划将增加设计者和用户对这些系统正确运行的信心。 通过考虑如何在不同的应用领域中最好地解决这些问题，可以确定更广泛适用的方法，并随后扩展到网络物理系统突出的其他领域。 学员将获得数值算法、强大的软件开发实践、医疗保健技术开发和/或机器人技术方面的经验，这些都是具有积极就业前景的领域。