CONTROLS The Age of Intelligent Systems Has Arrived …I REALLY LOVE MY JOB !

1. CONTROLS The Age of Intelligent Systems Has Arrived …I REALLY LOVE MY JOB ! Armando A. Rodriguez Professor of Electrical Engineering Intelligent Embedded Systems Laboratory (IeSL) GWC 352, aar@asu.edu ASU EE Pathways Seminar Thursday, October 17th 2013 Arizona State University http://aar.faculty.asu.edu

2. 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!

3. Acknowledgements • Sponsors • White House, NSF, NASA, DARPA, AFOSR, WAESO • CEINT, Honeywell, Intel, Microsoft, Boeing, Xilinx, SEMY, Mathworks, Tektronix, AT&T • My Students!

4. Outline • What Is Controls? • Where Is Controls Used? • Courses • Controls Faculty • Job Opportunities • Ongoing Technological Revolution

5. What is Controls?

6. 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

7. 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

8. 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

9. 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!

10. Where is Controls Used?

11. CLAIM: Controls Is Everywhere……It is InherentlyMultidisciplinary ... it touches all disciplines…

12. 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

13. 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

14. 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

15. Pretty Amazing List!Does the list help you understand what control engineers do?

16. Courses

17. Control Courses Undergraduate Courses Fundamentals: Circuits 1: EEE202 MAT: ODE, Laplace, Linear Algebra Signals and Systems: EEE 203, 304 (Frequency domain) Classical Feedback Theory: EEE 480 (Basic concepts, simple designs) Computer Controlled Systems: : EEE 481 (Discrete, embedded control) Graduate EE Courses: Linear (582) & Nonlinear (586) Systems, Transform Theory (550) Robust Multivariable (588), Optimal (587), Neural Nets (511) Filtering of Stochastic Processes (581), Adaptive Control (686) Other Courses: System Identification, Applied Optimization, Numerical Analysis MSE Exam: 480-481-581-582-586-587; + selection from 588, 511

18. Get Your MS……it will open many doors!…more $$$…flexibility…will permit you to work on much cooler problems!!!

19. Control Systems Faculty • EE Faculty: Lai, Rodriguez, Si, Tsakalis • Topics: System Modeling, Control Systems Design, Neural Networks, Adaptive and Learning Systems, Fault Detection, Real-Time Control Applications • Applications: Aerospace (aircraft/missile design/control, optimal path planning) Semiconductor Manufacturing (process control, scheduling) Power Systems (design, generation, distribution, control) Biomedical Applications (prosthetics, neuroscience, design, control) Robotics (design, control, path planning)

20. Job Opportunities

21. Job Opportunities • Aerospace: Boeing, Lockheed Martin, NASA, Orbital Sciences, Raytheon, United Technologies, etc. • Automotive: Chrysler, Ford, GM, etc. • Chemical: Exxon Mobil, Pfizer, Proctor and Gamble, etc. • Communications: AT&T, Verizon, etc. • Energy: General Electric, Honeywell, SRP, etc. • Financial: Goldman Sachs, JPMorgan, etc. • Medical: Medtronics, etc. • Networks: Cisco, etc. • Robotics: Boston Dynamics, Caterpillar, Sandia, etc. • Semiconductors: AMD, Applied Materials, Intel, IBM, TI, etc. • Software: MathWorks, Microsoft, etc. • Etc… ...think multidisciplinary…do NOT close doors unnecessarily!

22. Thank You Very Much!!!…GO CONTROLS !!!!!

25. Participate in Ongoing Technological Revolution!!!

26. New Technologies are Coming! • New Propulsion Technologies • Smart Materials and Structures • Miniature Electromechanical Systems (MEMs), Nanotechnology, Spintronics • Optical, Biological, and Quantum Computing Machines • Distributed Computation • New Sensing and Actuation Technologies • Regenerative and Personalized Medicine • System-on-a-Chip Solutions

27. Early Disease Diagnosis

29. Advanced Robotic Systems

30. 2012 (Nature) – IBM spintronics memory breakthrough 10-11-2013 – “Iron Man” Tactical Assault Light Operator Suit (Talos) - US Army, MIT, nanotechnology, msec liquid armour, on board computer, enhanced situational awareness, night vision, enhanced strength, walk through stream of bullets, life support, etc. USAF Flapping Wing MAVs: http://www.youtube.com/watch?v=_5YkQ9w3PJ4 Prosthetic Arm: http://www.youtube.com/watch?v=_qUPnnROxvY

31. SOME VIDEOS Renewable Energy http://videos.howstuffworks.com/science-channel/34234-ecopolis-biofuel-video.htm (Algae, goto 1:20) http://www.youtube.com/watch?v=1cysaOnlv_E (20% Renewable Energy by 2020) http://www.youtube.com/watch?v=-XSr5BhAXSw (ASU Biodesign Institute) http://www.youtube.com/watch?v=oy8dzOB-Ykg (Hydrogen fuel cells for cars) Boston Dynamics’ BIG DOG http://www.youtube.com/watch?v=W1czBcnX1Ww NASA X-43A Scramjet-Powered Hypersonic Vehicle – Mach 7, 10 (2004) http://www.youtube.com/watch?v=IiBsD-cafH8 Boeing 787 Dreamliner http://www.bbc.co.uk/news/business-10635444 Carbon Nanotubes http://www.youtube.com/watch?v=zQAK4xxPGfM http://vega.org.uk/video/programme/71 http://www.youtube.com/watch?v=ikYhyjPjKBs Regenerative Organs/Medicine http://interactmd.com/content/organ-regeneration-talk-video (goto 11 min) http://www.youtube.com/watch?v=M7eM3zOffI4 Personalized Medicine http://www.technologyreview.com/video/?vid=524 Supercomputers http://www.datacenterknowledge.com/most-popular-supercomputing-videos/ (goto 55sec) Electronic Devices http://www.youtube.com/watch?v=xPIbGq634yU (Spintronics) Intellectual Property http://www.youtube.com/watch?v=9Yp_Xj6YshM

32. Thank You Very Much!!!…GO CONTROLS !!!!!

35. Select Research Projects!(stuff I’ve worked on)

36. 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

37. 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)

38. 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

39. 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!

40. Modeling and Simulation is just getting started!The Age of Intelligent Systems is Upon Us!

41. 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

42. 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

43. 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

44. 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

45. Hypersonic Vehicle Design • NASA Ames, Langley, Glenn • Mach 5-15 • unstable, aero-thermo-elastic-propulsive, nonlinear coupling/dynamics • Two-stage-to-orbit (TSTO) vision

46. Honeywell Transport Systems • Glendale, AZ • High Speed Civil Transport (HSCT) • Mach 2.2, 300+ passengers • Automatic Landing System • Issues: • Long, thin, flexible

47. 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

48. 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

49. 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

50. 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