ICyPhy: Industrial Cyber-Physical Systems
The Industrial Cyberphysical Systems Center (iCyPhy) is a university-industrial consortium including Caltech, IBM, UC Berkeley and United Techologies Corporation (UTC). This page primarily describes the work done in Richard Murray's group.
Cyber-Physical Systems (CPS) are integrations of computation, networking, and physical processes. Embedded computers and networks monitor and control the physical processes, with feedback loops where physical processes affect computations and vice versa. The economic and societal potential of such systems is vastly greater than what has been realized, and major investments are being made worldwide to develop the technology. The technology builds on the older (but still very young) discipline of embedded systems, computers and software embedded in devices whose principle mission is not computation, such as cars, toys, medical devices, and scientifi c instruments. CPS integrates the dynamics of the physical processes with those of the software and networking, providing abstractions and modeling, design, and analysis techniques for the integrated whole.
Caltech portion of the project is focused on developing new tools for modeling, specification and synthesis of control laws and control protocols for cyber- physical systems, replacing current techniques that rely on text-based requirements and manual design, followed by time-consuming, difficult, and costly V&V and redesign. We will demonstrate new algorithms for automated synthesis of decision-making logic in representative application areas, including aircraft, vehicle management systems, building management systems, mixed-domain, software-controlled cyber-physical systems.
- Extend temporal logic planning (TuLiP) toolbox to allow conversion from multiple specification and modeling language formats, use of alternative model-checking and synthesis tools, and output in SysML, SIMULINK and other standard formats.
- Extend and integrate preliminary work that includes use of cost/reward functions, probabilistic guarantees and "on the fly" synthesis into TuLiP, test these methods on representative problems of interest to sponsoring industries, and evaluate applicability and gaps.
- Synthesis of Control Protocols for Switched Electrical Power Systems for Commercial Applications with Safety Specifications. Benson Christalin, Michele Colledanchise, Petter Ogren, Richard M. Murray. 2016 IEEE Symposium on Computational Intelligence in Control and Automation.
- Multi-dimensional state estimation in adversarial environment. Yilin Mo and Richard M. Murray. Submitted, 2015 Chinese Control Conference (CCC).
- An Iterative Abstraction Algorithm for Reactive Correct-by-Construction Controller Synthesis. Robert Mattila, Yilin Mo and Richard M. Murray. Submitted, 2015 International Conference on Hybrid Systems: Computation and Control (HSCC).
- Cross-entropy Temporal Logic Motion Planning. Scott C. Livingston, Eric M. Wolff, Richard M. Murray. Submitted, 2015 International Conference on Hybrid Systems: Computation and Control (HSCC).
- Privacy Preserving Average Consensus. Yilin Mo and Richard M. Murray. 2014 Conference on Decision and Control (CDC).
- A Contract-Based Methodology for Aircraft Electric Power System Design. P. Nuzzo, H. Xu, N. Ozay, J. B. Finn, A. L. Sangiovanni-Vincentelli, R. M. Murray, A. Donze, S. A. Seshia. IEEE Access, 2014. DOI 10.1109/ACCESS.2013.2295764.
- Specification and Synthesis of Reactive Protocols for Aircraft Electric Power Distribution. Huan Xu, Ufuk Topcu, and Richard M. Murray. Submitted, IEEE T. Control of Networked Systems (14 Nov 2013).
- Efficient control synthesis for augmented finite transition systems with an application to switching protocols. Fei Sun, Necmiye Ozay, Eric M. Wolff, Jun Liu and Richard M. Murray. Submitted, 2014 American Control Conference (ACC).
- Synthesis of Correct-by-construction Control Protocols for Hybrid Systems Using Partial State Information. Oscar Mickelin, Necmiye Ozay and Richard M. Murray. Submitted, 2014 American Control Conference (ACC).
- Synthesis and Validation of Control Software For A Vehicular Electric Power Distribution Testbed. Robert Rogersten, Huan Xu, Necmiye Ozay, Ufuk Topcu and Richard M. Murray. Submitted, AIAA J. Aerospace Information Systems (Aug 2013).
- Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity. Quentin Maillet Huan Xu, Necmiye Ozay and Richard M. Murray. Submitted, 2013 Conference on Decison and Control (CDC).
- Dynamic State Estimation in Distributed Aircraft Electric Control Systems via Adaptive Submodularity, Quentin Maillet Huan Xu, Necmiye Ozay and Richard M. Murray. Conference on Decison and Control (CDC), 2013. Submitted