Rahul Mangharam's research while affiliated with University of Pennsylvania and other places

Publications (10)

Article
Full-text available
This article elaborates the approaches that can be used to verify an autonomous vehicle (AV) before giving it a driver’s license. Formal methods applied to the problem of AV verification include theorem proving, reachability analysis, synthesis, and maneuver design. Theorem proving is an interactive technique in which the computer is largely respon...
Chapter
Cyber-physical systems, with their focus on creating closed-loop systems, have transformed a wide range of areas (e.g., flight systems, industrial plants, robotics, etc.). However, even after a century of health research we still lack dynamic computational models of human health and its interactions with the environment, let alone a full closed-loo...
Article
Bringing new safety-critical medical devices to market faces several major challenges, but modeling and formal methods can facilitate this process from early system requirements verification to platform-level testing to late-stage clinical trials.
Article
Full-text available
Ventricular Fibrillation is a disorganized electrical excitation of the heart that results in inadequate blood flow to the body. It usually ends in death within seconds. The most common way to treat the symptoms of fibrillation is to implant a medical device, known as an Implantable Cardioverter Defibrillator (ICD), in the patient's body. Model-bas...
Conference Paper
Full-text available
Control software of autonomous robots has stringent real-time requirements that must be met to achieve the control objectives. One source of variability in the performance of a control system is the execution time and accuracy of the state estimator that provides the controller with state information. This estimator is typically perception-based (e...
Article
Full-text available
The design of bug-free and safe medical device software is challenging, especially in complex implantable devices. This is due to the device's closed-loop interaction with the patient's organs, which are stochastic physical environments. The life-critical nature and the lack of existing industry standards to enforce software validation make this an...
Article
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The articles in this special issue focus on cyber physical systems for medical applications.
Conference Paper
Full-text available
The design of bug-free and safe medical device software is challenging, especially in complex implantable devices that control and actuate organs who’s response is not fully understood. Safety recalls of pacemakers and implantable cardioverter defibrillators between 1990 and 2000 affected over 600,000 devices. Of these, 200,000 or 41%, were due to...
Article
Networked Cyber-Physical Systems (CPS) are fundamentally constrained by the tight coupling and closed-loop control and actuation of physical processes. To address actuation in such closed-loop wireless control systems there is a strong need to re-think the communication architectures and protocols for maintaining stability and performance in the pr...

Citations

... Second, formal specifications enable automated testing and monitoring for AV, e.g, see [8]- [15], for requirements based testing. Third, formal specifications on the perception system can also function as a requirements language between original equipment manufacturers (OEM) and suppliers. ...
... In addition to the data collection benefits, EMA can provide significant development in the modeling of health data, which is thought to be essential to realize the mHealth care systems. A major issue with modeling health data has been the lack of high-resolution data on changes in both predictor and outcome variables in everyday settings [12]. Recent advances in mobile technology have brought enormous opportunities for improving data collection with optimal timescale and appropriate granularity. ...
... The time perspective also plays a key role in a broad range of concurrent systems. The proper functioning of real-life concurrent systems is critically dependent on time taken by activities and also the ability to manage with delays and safety distances of time between these activities [27]. The two main extensions of time-dependent Petri nets, describing temporal properties, are timed Petri nets [28] and time Petri nets [23]. ...
... However, it lowers the controlling rate and reduces the system reliability. This trade-off between latency and estimation error plays an important rule in the design of robust networked control system [15]. In a recent study [16], we have also investigated this problem in scope of MEC task offloading regarding queue management. ...
... Closed-loop medical devices are lifecritical and in a feedback loop with the organ they effect. The software works autonomously but needs to give confidence in its ability to work correctly [6]. Certification in the form of validation and verification is imperative [7]. ...
... UPenn [16] UPenn [1] Oxford-NL Cell [9] UoA-NL Cell [24] Proposed Timed Automata (TA) [16] and linear Hybrid Automata (HA) models [1] of cells have been developed by University of Pennsylvania researchers and they have combined these models with TA based path models. ese models primarily target formal veri cation [1,14,16]. ...
... But because the URI is the minimum constraint value for a cardiac cycle, the system must wait for the ends of the URI interval before sending a VP event. e principle of cardiac pacemaker is very complicated, which is explained in detail in the literature [31]. We will not repeat it here but only give the modeling requirements of each event and time interval as shown in Table 3. ...
... Each autonomous subsystem comprises of CPS devices and computing technologies that enable CPSoS to offer need applicational features like scalability, decentralized/networked control and monitoring, autonomous operations, continuous system configuration and evolution [33]. Example technologies include robotic systems [34], autonomous systems [35], networked control systems [36], etc. ...