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
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, AT&T
• My Students!
Outline
• What Is Controls?
• Where Is Controls Used?
• Courses
• Controls Faculty
• Job Opportunities
• Ongoing Technological Revolution
What is Controls?
What Is Controls?
error
r
desired output
e
control
di
disturbances
u
K
Controller
do
y
P
actual output
Plant
sensor noise
n
• 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
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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!
Where is
Controls Used?
CLAIM:
Controls Is Everywhere…
…It is InherentlyMultidisciplinary
... 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?
Courses
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
Get Your MS…
…it will open many doors!
…more $$$
…flexibility
…will permit you to work on
much cooler problems!!!
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)
Job Opportunities
Job Opportunities
• Aerospace:
Boeing, Lockheed Martin, NASA, Orbital Sciences,
Raytheon, United Technologies, etc.
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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!
Thank You
Very Much!!!
…GO CONTROLS !!!!!
Participate
in Ongoing
Technological Revolution!!!
New Technologies are Coming!
• New Propulsion Technologies
• Smart Materials and Structures
• Miniature Electromechanical Systems (MEMs),
Nanotechnology, Spintronics
• Optical, Biological, and Quantum Computing
Machines
•
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Distributed Computation
New Sensing and Actuation Technologies
Regenerative and Personalized Medicine
System-on-a-Chip Solutions
Battery Technology for
Electric Vehicles
9-19-13 Solid state battery
could double range
Content-Rich Mobile
Libraries
Early Disease Diagnosis
Green Biofuels
Advanced
Communications:
Cognitive Radio
Massive Storage Density
Memory; e.g. Library of
Congress on a chip
DNA Sequencing - cost
has been dramatically
reduced
Immersive Teaching
Software
Online Learning for All
Advanced Super
Computers
China Tianhe-2
33.86 petaFlops (10^15)
High Speed Rail
Vaccines for Every Flu
Strain
Advanced Prosthetics
Personalized
Prescriptions – medicine
is become personalized!
Disposal of
Toxic/Radioactive Waste
Real-Time Language
Translation - currently ~
5Kwords/day, $0.12/word
Regenerative Medicine Organ Growth, testing
medicines on human cells
Air Traffic Control
Self-Sufficient Buildings
Cell-Targeting Medicine
Advanced Armour
Hypersonic Vehicles; e.g. X43A (M7, 10, 2004), X-51 (M5,
300 sec, 5-2013)…heat driven
design
Advanced Robotic Systems
Smart Energy Grid
Efficient Cost Effective
Solar Cells
10-9-13 44.7% efficiency
Nanotechnology; e.g.
carbon nanotubes
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
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
31
Thank You
Very Much!!!
…GO CONTROLS !!!!!
Select Research
Projects!
(stuff I’ve worked on)
Specific Areas of Research
• Optimization Based Control System Design for
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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
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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
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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
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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 of
Multi-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:
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Significant mass changes
Flexible structure
Nuclear reactor
Precision pointing
Honeywell Satellite Systems
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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
Helicopter Instability:
Unstable Backflapping Mode
Twin Lift Helicopter System
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)
Laboratory Test Bed for Hover
Hover Test Bed:
Open Loop Pitch & Yaw Test
FAME @ ASU
• ROVER (EE/MAE)
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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-foruncertain-natural-resource-systems-application-to-the-classic-gordon-s/
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Partners: Jeff Dickeson (PhD student)
Marty Anderies (School of Sustainability)
Marco Jansen (School of Sustainability)
Elinor Ostrom (Nobel Prize in Economics, 2009)
Irrigation System
Management
• 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:
Oguzhan Cifdaloz (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 macroeconomic models
Thank You
Very Much!!!
…GO CONTROLS !!!!!
EXTRA
SLIDES
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
Result 2
• Problem Solved
– Given a controller K which offers acceptable global
performance for external commands, disturbances, and
sensor noise, how can we modify it to accommodate
actuator control limits and other hard limits?
• Solution exploits ideas from the theory of nondifferentiable Lyapunov functions
• Applications: Aircraft, spacecraft, missiles,
robotic systems
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