DESIGN AND VERIFICATION OF AUTONOMOUS SYSTEMS IN THE PRESENCE OF UNCERTAINTIES

Autonomous Systems offer hope towards moving away from mechanized, unsafe, manual, often inefficient practices. The last decade has seen several small, but important, steps towards making this dream into reality. These advancements have helped us to achieve limited autonomy in several places, such as, driving, factory floors, surgeries, wearables, and home assistants, etc. Nevertheless, autonomous systems are required to operate in a wide range of environments with uncertainties (viz., sensor errors, timing errors, dynamic nature of the environment, etc.). Such environmental uncertainties, even when present in small amounts, can have drastic impact on the safety of the system—thus hampering the goal of achieving higher degree of autonomy, especially in safety critical domains. To this end, the dissertation shall discuss formaltechniques that are able to verify and design autonomous systems for safety, even under the presence of such uncertainties, allowing for their trustworthy deployment in the real world. Specifically, the dissertation shall discuss monitoring techniques for autonomous systems from available (noisy) logs, and safety-verification techniques of autonomous system controllers under timing uncertainties. Secondly, using heterogeneous learning-based cloud computing models that can balance uncertainty in output and computation cost, the dissertation will present techniques for designing safe and performance-optimal autonomous systems.Doctor of Philosoph

Improving Safety Service Patrol Performance

Safety Service Patrols (SSPs) provide motorists with assistance free of charge on most freeways and some key primary roads in Virginia. This research project is focused on developing a tool to help the Virginia Department of Transportation (VDOT) optimize SSP routes and schedules (hereafter called SSP-OPT). The computational tool, SSP-OPT, takes readily available data (e.g., corridor and segment lengths, turnaround points, average annual daily traffic) and outputs potential SSP configurations that meet the desired criteria and produce the best possible performance metrics for a given corridor. At a high level, the main components of the developed tool include capabilities to: a) generate alternative feasible SSP beat configurations for a corridor; b)predict incidents and SSP characteristics (e.g., incident frequency, SSP service time) for a given SSP beat configuration; c) estimate performance measures (e.g., SSP response time, number of incidents responded to); and d) identify and present the best SSP configuration(s) through visual aids that facilitate decision making. To generate the incident data needed for the simulation-based SSP-OPT tool, a hierarchical negative binomial model and a hierarchical Weibull model are developed for incident frequencies and incident durations, respectively, based on the historical incident data. These models have been found to be effective in simulating the spatiotemporal distribution of incidents along highway corridors and for generating their attribute data (e.g., incident type, duration). The simulation program employs a discrete event-based approach and requires a few calibration parameters (e.g., SSP vehicle speed). After calibrating the model, the validation results show good agreement with field observations when applied to a sample SSP corridor from I-95. A user interface is created for the SSP-OPT tool in MS Excel to facilitate data entry and visualization of the output metrics for a given corridor. The output includes the list of alternative feasible beat configurations and aggregated performance measures from multiple runs for each individual beat, as well as for each alternative beat configuration spanning the entire corridor. The proposed SSP optimization model could be applied to corridors with or without existing SSP service. The tool will help identify the best beat configurations to minimize SSP response times and maximize SSP response rates for a given number of SSP vehicles on a corridor. Implementing these optimal solutions in the field will result in travel time savings and improve highway safety since the SSP resources will be more efficiently utilized, thus reducing the impacts of incidents on traffic flow

Technical accomplishments of the NASA Lewis Research Center, 1989

Topics addressed include: high-temperature composite materials; structural mechanics; fatigue life prediction for composite materials; internal computational fluid mechanics; instrumentation and controls; electronics; stirling engines; aeropropulsion and space propulsion programs, including a study of slush hydrogen; space power for use in the space station, in the Mars rover, and other applications; thermal management; plasma and radiation; cryogenic fluid management in space; microgravity physics; combustion in reduced gravity; test facilities and resources