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Cyber-Physical Systems (CPS) revolutionize various application domains with integration and interoperability of networking, computing systems, and mechanical devices. Due to its scale and variety, CPS faces a number of challenges and opens…
Safety filters constructed from control barrier functions (CBFs) are commonly appended to pre-trained neural network controllers to enforce safety requirements. However, this decoupled design with hand-tuned, fixed CBF parameters often…
Given one open-loop measured trajectory of a single-input single-output discrete-time linear time-invariant system, we present a framework for data-driven controller design for closed-loop finite-horizon dissipativity. First, we parametrize…
Heterogeneous computing platforms consisting of general purpose processors (GPPs) and graphics processing units (GPUs) have become commonplace in personal mobile devices and embedded systems. For years, programming of these platforms was…
Embedded, smart, and IoT devices are increasingly popular in numerous everyday settings. Since lower-end devices have the most strict cost constraints, they tend to have few, if any, security features. This makes them attractive targets for…
The exponential growth in mobile broadband usage [1] has catalyzed the need for high data rate communication systems. In this regard, activities for standardizing the next generation mobile broadband system, known as the Fifth…
Improvements in software defined networking allow for policy to be informed and modified by data-driven applications that can adjust policy to accommodate fluctuating requirements at line speed. However, there is some concern that…
This paper proposes a framework for automatic development of control systems from a high level specification based in Grafcet formalism. Grafcet, or Sequential Function Charts (SFC), is a special class of Petri Nets and is becoming the…
It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…
This paper presents our approach for making FPGA accelerators accessible to software (SW) programmers. It is intended as a starting point for collaborations with other groups pursuing similar objectives. We report on our current SAccO…
The capacity and programmability of reconfigurable hardware such as FPGAs has improved steadily over the years, but they do not readily provide any mechanisms for monitoring or debugging running programs. Such mechanisms need to be written…
MiMiC is a flexible and efficient framework for multiscale simulations in which different subsystems are treated by individual client programs. In this work, we present a new interface with OpenMM to be used as an MM client program and we…
TCP and its variants have suffered from surprisingly poor performance for decades. We argue the TCP family has little hope to achieve consistent high performance due to a fundamental architectural deficiency: hardwiring packet-level events…
This whitepaper proposes a unified framework for hardware design tools to ease the development and inter-operability of said tools. By creating a large ecosystem of hardware development tools across vendors, academia, and the open source…
The focus of this thesis is developing a framework for designing correct-by-construction controllers using control certificates. We use nonlinear dynamical systems to model the physical environment (plants). The goal is to synthesize…
Automated driving systems can be helpful in a wide range of societal challenges, e.g., mobility-on-demand and transportation logistics for last-mile delivery, by aiding the vehicle driver or taking over the responsibility for the dynamic…
We present the design, implementation, and evaluation of FineIBT: a CFI enforcement mechanism that improves the precision of hardware-assisted CFI solutions, like Intel IBT, by instrumenting program code to reduce the valid/allowed targets…
Although software and firmware co-simulation is gaining popularity, it is still not widely used in the FPGA designs. This work presents easy and structured approach for software and firmware co-simulation for bus centric designs. The…
In order to interface the DESY fieldbus adapter, SEDAC (SErial Data Acquisition and Control system), a full duplex device driver was developed for the Windows NT, Linux, VxWorks, and Solaris operating systems. Detailed driver development…
This paper presents the design of a robust controller for a vehicle air suspension system using Quantitative Feedback Theory (QFT). This study is primarily focused on control of linearized active air suspension system. For the purpose of…