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Modern Cyber-Physical Systems (CPS) often exhibit both relaxed real-time constraints and a mode-dependent execution. Relaxed real-time constraints mean that only a subset of the processes of a CPS have real-time constraints, and a…

The Ingenuity helicopter test flights on Mars in April 2021 marked the first time a powered aircraft has flown on another world. Students who have access to model helicopters and drones may wonder, how well could those hover on the Red…

This study compares aerodynamic performance of the CLF5605 rotor airfoil -- which flew on Ingenuity from 2021 to 2024 -- with that of a new optimized roamx-0201 airfoil designed for Martian conditions at NASA Ames. Specifically, performance…

We used attitude data from the Mars Ingenuity helicopter with a simple steady-state model to estimate windspeeds and directions at altitudes of 3 meters up to 24 meters, the first time winds at such altitudes have been probed on Mars. We…

The performance of large-scale computing systems often critically depends on high-performance communication networks. Dynamically reconfigurable topologies, e.g., based on optical circuit switches, are emerging as an innovative new…

In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…

This work focuses on autonomous contingency planning for scientific missions by enabling rapid policy computation from any off-nominal point in the state space in the event of a delay or deviation from the nominal mission plan. Successful…

Operating a fleet of remote robotic systems with intermittent communications requires scheduling limited contact opportunities to maintain fleet health awareness, complete mission objectives, and intervene on faulted assets before their…

Neural-networks-driven intelligent data-plane (NN-driven IDP) is becoming an emerging topic for excellent accuracy and high performance. Meanwhile we argue that NN-driven IDP should satisfy three design goals: the flexibility to support…

Timing guarantees are crucial to cyber-physical applications that must bound the end-to-end delay between sensing, processing and actuation. For example, in a flight controller for a multirotor drone, the data from a gyro or inertial sensor…

Dataflow Model of Computation and Communications (DF MoCCs) is a formalism used to specify the behavior of Cyber-Physical Systems (CPSs). DF MoCCs are widely used in the design of CPSs, as they provide a high-level of abstraction to specify…

Any rotorcraft on Mars will fly in a low pressure and dusty environment. It is well known that helicopters on Earth become highly-charged due, in part, to triboelectric effects when flying in sandy conditions. We consider the possibility…

This paper presents a time-efficient scheme for Mars exploration by the cooperation of multiple drones and a rover. To maximize effective coverage of the Mars surface in the long run, a comprehensive framework has been developed with joint…

Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…

Safe, reliable navigation in extreme, unfamiliar terrain is required for future robotic space exploration missions. Recent generative-AI methods learn semantically aware navigation policies from large, cross-embodiment datasets, but offer…

In this thesis first we propose an intermediate data management scheme for a SWfMS. In our second attempt, we explored the possibilities and introduced an automatic recommendation technique for a SWfMS from real-world workflow data (i.e…

Many scientific workflows can be modeled as a Directed Acyclic Graph (henceforth mentioned as DAG) where the nodes represent individual tasks, and the directed edges represent data and control flow dependency between two tasks. Due to the…

The ability to traverse an unknown environment is crucial for autonomous robot operations. However, due to the limited sensing capabilities and system constraints, approaching this problem with a single robot agent can be slow, costly, and…

We introduce Mars 2.0 for modeling, analysis, verification and code generation of Cyber-Physical Systems. Mars 2.0 integrates Mars 1.0 with several important extensions and improvements, allowing the design of cyber-physical systems using…

This paper presented a robust integrated navigation algorithm based on a special robust desensitized extended Kalman filtering with analytical gain (ADEKF) during the Mars atmospheric entry. The robust ADEKF is designed by minimizing a new…