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Minimize RSR Award Detail

Research Spending & Results

Award Detail

Awardee:UNIVERSITY OF MARYLAND
Doing Business As Name:University of Maryland College Park
PD/PI:
  • Nikhil Chopra
  • (301) 405-7011
  • nchopra@umd.edu
Award Date:08/19/2009
Estimated Total Award Amount: $ 299,705
Funds Obligated to Date: $ 299,705
  • FY 2009=$299,705
Start Date:09/01/2009
End Date:08/31/2012
Transaction Type:Grant
Agency:NSF
Awarding Agency Code:4900
Funding Agency Code:4900
CFDA Number:47.041
Primary Program Source:040101 RRA RECOVERY ACT
Award Title or Description:CPS: Small: Fundamental Advances in Control of Wireless Sensor and Robotic Networks
Federal Award ID Number:0931661
DUNS ID:790934285
Parent DUNS ID:003256088
Program:CPS-Cyber-Physical Systems
Program Officer:
  • Radhakisan Baheti
  • (703) 292-8339
  • rbaheti@nsf.gov

Awardee Location

Street:3112 LEE BLDG 7809 Regents Drive
City:COLLEGE PARK
State:MD
ZIP:20742-5141
County:College Park
Country:US
Awardee Cong. District:05

Primary Place of Performance

Organization Name:University of Maryland College Park
Street:3112 LEE BLDG 7809 Regents Drive
City:COLLEGE PARK
State:MD
ZIP:20742-5141
County:College Park
Country:US
Cong. District:05

Abstract at Time of Award

This award is funded under the American Recovery and Reinvestment Act of 2009 (Public Law 111-5). The objective of this project is to investigate fundamental issues in network control and distributed coordination of wireless sensor and robotic networks. The study of these cyber-physical systems is important as they find wide applicability in several applications areas including environmental monitoring, search and rescue, and health care. The approach is to exploit intrinsic properties of such systems to ensure stability, high performance, scalability and modularity despite the deleterious network effects. With respect to intellectual merit, the proposed effort has the potential to lead to a transformational change in the understanding of the mechanisms for delay instability and spatio-temporal synchronization in cyber-physical systems. It is expected that this understanding will help in solving the delay-instability, synchronization, and coordination problems in wireless sensor and robotic networks without sacrificing the performance, scalability, or modularity of the system. Specific expected outcomes include a framework for designing control algorithms for robotic systems with input/output communication delays, a communication management module for addressing medium access delays and data losses, synchronization algorithms for real-time coordination between robotic systems, and a scheme for ensuring clock synchronization. With respect to broader impacts, the project has the potential to impact the broad area of wireless sensor and actuator networks that are important in several domains. One graduate student and an undergraduate student directly benefit from the research and it is expected that several undergraduate and graduate students will benefit from the enriched curricula at University of Maryland. High school students from underrepresented groups are included in the research effort through the University of Maryland's ESTEEM program.

Publications Produced as a Result of this Research

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Nikhil Chopra "Output Synchronization on Strongly Connected Graphs" IEEE Transactions on Automatic Control, v.57, 2012, p.2896. doi:10.1109/TAC.2012.2193704 

Yen-Chen Liu and Nikhil Chopra "Controlled Synchronization of Heterogeneous Robotic Manipulators in the Task Space" IEEE Transactions on Robotics, v.28, 2012, p.268. doi:10.1109/TRO.2011.2168690 

Yen-Chen Liu and Nikhil Chopra "Control of Robotic Manipulators Under Input/Output Communication Delays: Theory and Experiments" IEEE Transactions on Robotics, v.28, 2012, p.742. doi:10.1109/TRO.2012.2183056 

Publications Produced as Conference Proceedings

Liu, YC;Chopra, N "Robust Controlled Synchronization of Interconnected Robotic Systems" American Control Conference, v. , 2010, p.1434 View record at Web of Science

Chopra, N "Control of Robotic Manipulators under Time-Varying Sensing-Control Delays" IEEE International Conference on Robotics and Automation (ICRA), v. , 2010, p.1768 View record at Web of Science

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