Main /Controls

Research Interests: Embedded Systems and Controls

The Embedded Open Control Platform (EOCP)

The Open Control Platform is a Boeing-led effort to streamline the interaction between large-scale embedded systems and high-level algorithms. The EOCP is the embedded version of this software, aimed at reducing runtime overhead and improving the number of platforms on which the OCP can run.

OCP provides an insulation layer between software-based control algorithms and the testbed/platform/OS on which they run. EOCP enhances this impact by drastically reducing the cost required to deploy the OCP in a university or hobby laboratory.

Related Papers:

J. Mikael Eklund, Jonathan Sprinkle, Todd Templeton and S. Shankar Sastry. "Transitioning Intelligence to Embedded Platforms." In AVT-146 Symposium on "PlatformInnovations and System Integration forUnmanned Air, Land and Sea Vehicles". May, . NATO, 2007. (Cite)

Related Websites:

The ESCHER@Chess Website

Model-Predictive Control

MPC is useful for controlling nonlinear or unknown perturbance systems. I used this technique in conjunction with my colleagues on the SEC Capstone Demonstration.

Related Papers:

J. Mikael Eklund, Jonathan Sprinkle and S. Shankar Sastry. "Implementing and Testing a Nonlinear Model Predictive Tracking Controller for Aerial Pursuit Evasion Games on a Fixed Wing Aircraft." In Proceedings of American Control Conference (ACC) 2005. June, pages 1509-1514, 2005. (Cite)
Jonathan Sprinkle, J. Mikael Eklund, H. Jin Kim and S. Shankar Sastry. "Encoding Aerial Pursuit/Evasion Games with Fixed Wing Aircraft into a Nonlinear Model Predictive Tracking Controller." In Proceedings of the 43rd IEEE Conference on Decision and Control. December, pages 2609-2614, 2004. (Cite)
Jonathan Sprinkle, J. Mikael Eklund and S. Shankar Sastry. "Toward Design Parameterization Support for Model Predictive Control." In IEEE 4th International Conference on Intelligent Systems Design and Application. August. IEEE Press, . IEEE, 2004. (Cite)

Previous Research Efforts

The `hyper` toolbox

The hyper toolbox aims to apply the lessons learned in the Hybrid Systems Interchange Format (HSIF, see references below). The next step is to develop a standard or package which will work well with commercial (or otherwise mature)

    * simulators,
    * development environments,
    * verification/validation engines, and
    * code generators.

The development of this tool is the goal of the hyper group.

Related Papers:

Jonathan Sprinkle, Aaron D. Ames, Alessandro Pinto, Haiyang Zheng and S. Shankar Sastry. "On the Partitioning of Syntax and Semantics For Hybrid Systems Tools." In 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005 (CDC-ECC'05). December, pages 4694-4699, 2005. (Cite)

HSIF

Hybrid Systems Interchange Format (HSIF). I helped develop a visual modeling language for this format, which grew out of the DARPA MoBIES project, managed by Dr. John Bay. I worked under Prof. Gábor Karsai, at Vanderbilt University, during this research.

Related Papers:

Jonathan Sprinkle. "Generative Components for Hybrid Systems Tools." Journal of Object Technology, 4(3):35-40, 2005. (Cite)
Jonathan Sprinkle, Omid Shakernia, Robert Miller and S. Shankar Sastry. "Using the Hybrid Systems Interchange Format to Input Design Models to Verification \& Validation Tools." In IEEE Aerospace Conference, Verification and Validation. March, 2005. (Cite)