"All models are wrong, but some are useful" [George E.P. Box] - This course is about building useful models
Design of complex and reliable cyber-physical systems (CPS) requires the creation of mathematical models, both of the environment and of the system itself. Such models allow us to analyze, control, verify, and optimize a system’s performance. The modeling choice is largely dictated by the intended use of the model plus the intricacies of the underlying physical domain. This course will provide a solid foundation for understanding different modeling paradigms, and explore them through a deep dive and hands on implementation for three CPS domains: Energy, Medical, and Automotive cyber-physical systems. Students will come out of this course with advanced and transferrable knowledge of model-based design methods and tools, and will be ready for tackling multi-disciplinary systems projects. In addition, you will become domain experts in energy, medical, and automotive cyber-physical systems.
Students will work in teams to build, drive, and race 1/10th scale autonomous cars, while learning about the principles of perception, planning, and control. You will learn to use robot operating system (ROS), integrate various sensors (IMU, Cameras, LIDAR) on an embedded computer, and implement algorithms for localization, mapping, path planning, and control. The course culminates in a F1/10 ‘battle of algorithms’ race amongst the teams.
The course spana a variety of topics ranging from microcontroller basics, computer architecture through the eyes of an embedded developer, peripherals interfacing and device drivers, real-time concepts like scheduling, concurrency, synchronization and real-time controls. I mentored the folowing projects: