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Stuff I’ve Worked On The Age of Intelligent Systems Has Arrived …I REALLY LOVE MY JOB !. Armando A. Rodriguez Professor, Department of Electrical Engineering Intelligent Embedded Systems Laboratory (IeSL) GWC 352, aar@asu.edu. WAESO and NSF Bridge to the Doctorate
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Stuff I’ve Worked On The Age of Intelligent Systems Has Arrived …I REALLY LOVE MY JOB ! Armando A. Rodriguez Professor, Department of Electrical Engineering Intelligent Embedded Systems Laboratory (IeSL) GWC 352, aar@asu.edu WAESO and NSF Bridge to the Doctorate Friday, February 14th 2012 Arizona State University http://aar.faculty.asu.edu
Revolutionary Times For the first time in history, amazing new computing technologies are becoming accessible to the masses! - Intelligent Systems Are Coming…. - Intelligent Systems Require Feedback… - This is what controls is about!
Acknowledgements • Sponsors • White House, NSF, NASA, DARPA, AFOSR, WAESO • CEINT, Honeywell, Intel, Microsoft, Boeing, Xilinx, SEMY, Mathworks, Tektronix. • My Students!
Outline • What Is Controls? • Where Is Controls Used? • Prior and Current Research • Summary
di do e u y r K P Plant Controller n What Is Controls? disturbances error control desired output actual output sensor noise • Design K s.t. closed loop system exhibits stability and high performance. (Want y = r) • - P : Physical System/Process to be Controlled • - K : System to be Designed
Example: Vehicle Cruise Control • P - Vehicle • r - Speed reference command (desired speed) • y - Actual speed • u - Fuel flow to engine • K - Controller • Want y = r • Actual speed to follow speed commands
Issues • Nonlinear Dynamics • Ordinary/partial differential equations • Saturating actuators (hard control limits); Rate limits • Noninvertible Dynamics • Instabilities (unbounded solutions, characteristic roots in open right half plane) • Time delays and other lag effects • Uncertainty – only nominal models are available • Dynamic • Actuator and sensor dynamics • High frequency parasitics • Structural modes (e.g. flexible spacecraft); Time delays (e.g. CVD furnace) • Parametric: Masses, aerodynamic coefficients, friction coefficients, etc. • Stochastic Disturbances and Sensor Noise • Amplitude, mean, variance, and spectral content • Digital Implementation Issues • Sampling and actuation rates • Analog-to-digital and Digital-to-analog - speed, resolution, quantization/reconstruction error • Measurement noise, time delays (phase lag), and nonlinearities Research: Need Systematic Control System Design Methodology
Control System Design Process • Modeling, Simulation, Analysis • - Determination of Realistic Design Specifications • Design Control System (via Model-Based Optimization) • - typically on the basis of linearized models • - gain scheduling (“glue” control design together) • Evaluate design using hi-fidelity simulator • Design Implementation (Rapid prototyping) • - computer, microprocessor, DSP, FPGAs • Hardware Evaluation • NOTE: Control system design process is highly iterative!
CLAIM: Controls Is Inherently Multidisciplinary ... it touches all disciplines…
What Needs To Be Controlled? • Acoustic - acoustic cancellation for a concert hall; intelligent hearing devices • Aerospace - altitude hold system for aircraft; all-weather landing system; control of remotely piloted vehicles; launch vehicles; control of reconfigurable aircraft • Automation and Manufacturing – coordination of autonomous robots; resource allocation within a semiconductor fabrication facility • Biological - neuromuscoloskeletal control systems; cardiovascular control systems; disease and epidemic containment
What Needs To Be Controlled? • Capital Investment - variable risk securities portfolio risk/return; asset management • Defense - high performance fighters; tactical missiles; ballistic missile theatre defense; guidance and navigation; combat assault helicopters • Ecological- global warming and ozone depletion policy • Economics- money supply and interest rate management • Electrical/Chemical - diffusion furnaces; semiconductor processes; read/write head control for storage • Mechanical - active suspension for mobile laboratory • Materials - control of smart composite (deformable) materials
What Needs To Be Controlled? • Medical - control of telemedical robotic systems (e.g. microscope positioning and vibration suppression) for precision surgery • Nuclear - temperature control for nuclear reactor • Ocean - depth control for underwater exploration vehicle; submarine • Public Policy- resource allocation for urban planning and homeland security • Space Based Surveillance - pointing control system for telescopic imaging, weather, surveillance, monitoring system; satellites • Space Exploration – interplanetary probes, crew exploration vehicle, robotic vehicles (e.g. Mars rovers) • Structural - active earthquake control for skyscrapers
Pretty Amazing List!Does the list help you understand what control engineers do?
Specific Areas of Research • Optimization Based Control System Design for • MIMO Nonlinear Systems • Distributed Parameter Systems • Systems with Multiple Hard Nonlinearities • Sampled Data and Multi-Rate Systems • Application Areas • Aerospace and robotic systems, space structures, semiconductors, low power electronics, advanced vehicles and transportation systems
Research Focal Areas • Modeling, Simulation Animation, and Real-Time Control (MoSART) • Flexible Autonomous Machines operating in an uncertain Environment (FAME) • Intelligent Embedded Systems • Integrated Real-Time Health Monitoring, Modeling, and Fault-Tolerant Control • Fault detection, classification, and control law adaptation • Reconfigurable hardware (FPGAs)
Select Control Projects • Semiconductor Manufacturing Facility (e.g. fab scheduling) • Molecular Beam Epitaxy (MBE), Chemical Vapor Deposition (CVD) • Missile Guidance and Control Systems (e.g. Patriot, EMRAAT) • High Performance Jets (e.g. JSF, High Speed Civil Transport) • Rotorcraft (e.g. Blackhawk, Apache, TLHS), Tilt-wing Rotorcraft (TWRC) • Unpilotted Air Vehicles (UAVs), Micro Air Vehicles (MAVs) • Scramjet-Powered Hypersonic Vehicle Control and Design • Jet Engines (e.g. GE turbofan) • Submarines • Automotive (e.g. cruise, engine emissions, suspension, noise cancellation) • Flexible Space Structure (e.g. SPICE: Laser Weapon, Telescope) • Satellites, Spacecraft, and space probes (e.g. JIMO) • Intelligent Robotic Systems (e.g. Astronaut Personal Satellite Assistant -PSA) • Intelligent Fault-Tolerant Embedded Systems • Power Conversion (e.g. DC-DC converters) • Fishery & Irrigation System Management, Sustainable Systems
A Message • Modeling and Simulation is used everywhere! • You don’t build a • 787 Dreamliner • Pentium Chip • F22 Raptor, Joint Strike Fighter, etc… • Space Shuttle without investing a few billion in M&S!
Modeling and Simulation is just getting started!The Age of Intelligent Systems is Upon Us!
New Technologies are Coming! • New Propulsion Technologies • Smart Materials and Structures • Miniature Electromechanical Systems (MEMs), Nanotechnology, Spintronics • Optical and Biological Computing Machines • Distributed Computation • New Sensor and Actuation Technologies • Regenerative and Personalized Medicine
Intel • Chandler, AZ • Allocation of Resources within a Reentrant Semiconductor Manufacturing Line (e.g. Pentium Fab) • Maximize $$ in presence of machine/customer/process uncertainty • Minimize average throughput time • make promises • Minimize variance of throughput time • keep promises
Molecular Beam Epitaxy (MBE) • ASU • Method for depositing single crystals • Source material heated to produce evaporated beam of particles - travel through ultra-high vacuum onto substrate • Slow deposition rate ~1000 nm/hr • Used for growing III-V semi crystals • Thin filmed semiconductor materials • Control thickness – single layer of atoms
Thermal Management ofMulti-Core Processors • Intel • Maximize performance per watt • Dynamic voltage and frequency scaling (DVFS) • Increase voltage or frequency (CPU throttling) to increase performance • In progress
Hypersonic Vehicle Design • NASA Ames, Langley, Glenn • Mach 5-15 • unstable, aero-thermo-elastic-propulsive, nonlinear coupling/dynamics • Two-stage-to-orbit (TSTO) vision
Honeywell Transport Systems • Glendale, AZ • High Speed Civil Transport (HSCT) • Mach 2.2, 300+ passengers • Automatic Landing System • Issues: • Long, thin, flexible
Integrated Real-Time Health Monitoring, Modeling, and Controls for Future NASA Missions • Next generation general “avionics” (C4) box for • Crew exploration vehicle • Rovers • Astronaut life support
Integrated Real-Time Health Monitoring, Modeling, and Controls for Future NASA Missions • Partners • NASA Ames, JPL, Kennedy Space Center • Rockwell, Nuvation • Carnegie Mellon, Iowa State • Fault Tolerance • 3 Levels: 1. Chip level - Reconfigurable fault-tolerant hardware (FPGAs) 2. Board level 3. System/Actuator/Sensor level
NASA’s Astronaut Personal Satellite Assistant (PSA) • NASA Ames • Designed to hover around spacecraft • Accelerometers, gyros, Video, infrared • Monitors critical parameters/signals (e.g. air temperature and composition, supplies) ; detect structural/tile flaws • Assists astronauts with day-to-day tasks, reduce work load, communicates with Mission Control
NASA Jupiter Icy Moons Orbiter (JIMO) • Explore 3 planet-sized moons of Jupiter - Callisto, Ganymede and Europa • May harbor vast oceans beneath icy surfaces; Date: 2015 or later??? • Galileo spacecraft found evidence that Jupiter's large icy moons appear to have 3 ingredients considered essential for life: • water, energy, other essential chemical contents • Evidence suggests melted water on Europa in contact with surface (geologically recent times); might still lie close to surface • Issues: • Significant mass changes • Flexible structure • Nuclear reactor • Precision pointing
Honeywell Satellite Systems • Glendale, AZ • Space Integrated Controls Experiment (SPICE) • Laser Beam Expander (Missile Defense) • Space Telescope • Control System Design • Rapid Slewing and Precision Pointing of Flexible Structrure
Raytheon Missile Systems • Beford, MA • Patriot Missile Autopliot Design • Surface to Air Missile (SAM) • Skid to turn (STT) Missile
Eglin AFB • Pensacola, FL • Extended Medium Range Air-to-Air Technology (EMRAAT) Missile Autopilot Design • Focus on control saturation prevention strategies during endgame • Missile Defense Systems are Here! Secret Security Clearance Required
Sikorsky Aircraft • UH-60 Blackhawk Helicopter Flight Control System Design • AFCS Design for a Twin Lift Helicopter System (TLHS) • Sponsors: DOD, Sikorsky, MIT/Princeton NASA, NSF, Bell Labs
Helicopters: Open Loop Unstable Data: UH-60A Blackhawk Near Hover
Boeing Space and Defense Systems • Seattle, WA • Boeing A.D. Welliver Fellowship - Battle Management M&S of Two Major Regional Conflicts (MRCs) Command, Control, Communications (C3) - Joint Strike Fighter (F-35) - Unmanned Aerial Vehicles (UAVs)
Tilt-Wing Rotorcraft • Cruises like airplane; Hovers like helicopter • High-speed Autonomous Rotorcraft Vehicle (HARVEE) • With Professor Valana Wells (MAE)
FAME @ ASU • ROVER (EE/MAE) • Autonomous Vehicle • Real Time Vision System • On board Pentium Class CPU • Wireless Communication • Suite of Networked Stations (Brain) • search, rescue, reconnaissance, exploration, etc.
FAME @ ASU • ARVID - Robotic Projector • Track Performers • 2 DOF Pointing Systems • Mechanical Bull • Interactive Media and Protoyping (IMaP) Laboratory • Collaboration between EE and Institute for Studies in the Arts (ISA)
Low Power DC-DC Converters • Regulates voltage in presence of line voltage variations and load variations • Issues • high frequency operation – excessive power consumption, sensitivity to finite word length arithmetic • low frequency operation – lower power consumption, considerable phase lag within loop, design is hard • Developed direct digital design methodology which takes into account sampled-data nature of problem • Patent pending • With Professor David Allee (ASU, EE)
Fishery Management • World fisheries are over exploited • Gordon-Schaefer bioeconomic models (Clark, 1970) • Maximize profit subject to fish biomass constraint • Maximize fish biomass subject to economic constraint • Need effective regulatory policies; e.g. taxes, quotas, etc. • Design of Robust Policies for Uncertain Natural Resource Systems: Application to Classic Gordon-Schaefer Model http://www.intechopen.com/articles/show/title/design-of-robust-policies-for-uncertain-natural-resource-systems-application-to-the-classic-gordon-s/ • Partners: Jeff Dickeson (PhD student) Marty Anderies (School of Sustainability) Marco Jansen (School of Sustainability) ElinorOstrom (Nobel Prize in Economics, 2009)
Irrigation SystemManagement • Best Paper Award Robustness, vulnerability, and adaptive capacity in small-scale social-ecological systems: The Pumpa Irrigation System in Nepal http://www.ecologyandsociety.org/vol15/iss3/art39/ • Partners: OguzhanCifdaloz (former PhD student, Post Doc) Ashok Regmi (Post Doc) Marty Anderies (School of Sustainability)
Portfolio Management • Financial Engineering • Maximize return subject to risk constraint • Minimize risk subject to minimum return constraint • Diversification • Asset/sector allocation based on national/global macro-economic models
Summary • You MUST get a PhD • You MUST Become A Professor ! …the Nation needs you …You will have lots of fun! … There is so much to do! Visit: http://aar.faculty.asu.edu/lapdp.html
Result 1 • Problem Solved • Given an plant P (possibly infinite-dimensional) described by a linear time invariant (LTI) model, how can we approximate it by a finite-dimensional model Pn to ensure that the resulting optimization-based control design Kn stabilizes P and meets an apriori performance tolerance? • Solution based on convexification of the problem; can exploit convex optimization (e.g. polynomial-time interior point algorithms) • Applications: Semiconductor processes, flexible structures, aerospace