Stuff I’ve Worked On The Age of Intelligent Systems Has Arrived …I REALLY LOVE MY JOB !

1. 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

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. • My Students!

4. Outline • What Is Controls? • Where Is Controls Used? • Prior and Current Research • Summary

5. 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

6. 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

7. 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

8. 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!

9. CLAIM: Controls Is Inherently Multidisciplinary ... it touches all disciplines…

10. 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

11. 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

12. 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

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

14. 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

15. 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)

16. 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

17. 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!

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

19. 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

20. 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

21. 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

22. 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

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

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

25. 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

26. 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

27. 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

28. 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

29. 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

30. Raytheon Missile Systems • Beford, MA • Patriot Missile Autopliot Design • Surface to Air Missile (SAM) • Skid to turn (STT) Missile

31. 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

32. 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

33. Helicopters: Open Loop Unstable Data: UH-60A Blackhawk Near Hover

34. Helicopter Instability:Unstable Backflapping Mode

35. Twin Lift Helicopter System

36. 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)

37. Tilt-Wing Rotorcraft • Cruises like airplane; Hovers like helicopter • High-speed Autonomous Rotorcraft Vehicle (HARVEE) • With Professor Valana Wells (MAE)

38. Laboratory Test Bed for Hover

39. Hover Test Bed:Open Loop Pitch & Yaw Test

40. 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.

41. 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)

42. 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)

43. 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)

44. 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)

45. 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

46. 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

47. THANK YOU VERY MUCH !

50. 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