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CONTROLSThe Age of Intelligent Systems Has Arrived
…I REALLY LOVE MY JOB !
ASU EE Pathways Seminar
Wednesday, February 3rd 2016
Arizona State University
Armando A. Rodriguez
Professor of Electrical Engineering
Intelligent Embedded Systems Laboratory (IeSL)
GWC 352, [email protected]
http://aar.faculty.asu.edu
Revolutionary Times
For the first time in history, amazing new computing technologies are becomingaccessible 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?
r e udi do
K P
n
y
Controller Plant
• 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
actual outputdesired output
controlerror
sensor noise
disturbances
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
• 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!
Control System Design Process
•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?
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
Control CoursesUndergraduate Courses
Fundamentals: Circuits 1: EEE202MAT: ODE, Laplace, Linear AlgebraSignals 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!!!
• 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)
Control Systems Faculty
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!
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
Battery Technology for Electric Vehicles9-19-13 Solid state batterycould double range
Green Biofuels
Advanced Communications: Cognitive Radio
Massive Storage Density Memory; e.g. Library of Congress on a chip
Content-Rich Mobile Libraries
Early Disease Diagnosis
DNA Sequencing - cost has been dramatically reduced
Immersive Teaching Software
Online Learning for All
Advanced Super ComputersChina 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. X-43A (M7, 10, 2004), X-51 (M5, 300 sec, 5-2013)…heat driven design
Advanced Robotic Systems
Smart Energy Grid
Efficient Cost Effective Solar Cells10-9-13 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=_5YkQ9w3PJ4Prosthetic Arm: http://www.youtube.com/watch?v=_qUPnnROxvY
29
SOME VIDEOSRenewable Energyhttp://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 DOGhttp://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 Dreamlinerhttp://www.bbc.co.uk/news/business-10635444
Carbon Nanotubeshttp://www.youtube.com/watch?v=zQAK4xxPGfMhttp://vega.org.uk/video/programme/71http://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 Medicinehttp://www.technologyreview.com/video/?vid=524
Supercomputershttp://www.datacenterknowledge.com/most-popular-supercomputing-videos/ (goto 55sec)
Electronic Deviceshttp://www.youtube.com/watch?v=xPIbGq634yU (Spintronics)
Intellectual Propertyhttp://www.youtube.com/watch?v=9Yp_Xj6YshM