Talk title: Infrastructure Enabled Autonomy - A New Paradigm for Autonomy as a ServiceSpeaker: Swaminathan Gopalswamy

Abstract: Multiple studies have illustrated the potential for dramatic societal, environmental and economic benefits from significant penetration of autonomous driving. However, all the current approaches to autonomous driving require the automotive manufacturers to shoulder the primary responsibility and liability associated with replacing human perception and decision making with automation, potentially slowing the penetration of autonomous vehicles, and consequently slowing the realization of the societal benefits of autonomous vehicles. This talk will present a new approach to autonomous driving that will re-balance the responsibility and liabilities associated with autonomous driving between traditional automotive manufacturers, private infrastructure players, and third-party players. The proposed distributed intelligence architecture leverages the significant advancements in connectivity and edge computing in the recent decades to partition the driving functions between the vehicle, edge computers on the road side, and specialized third-party computers that reside in the vehicle. Infrastructure becomes a critical enabler for autonomy. A Bayesian Network Model based framework for assessing the risk benefits of such a distributed intelligence architecture will be discussed. Results from preliminary, on-going research in developing a concept proof of IEA will be discussed also.

Bio:
Swaminathan Gopalswamy, Professor of Practice and Director of the Connected Autonomous Safe Transportation (CAST) Program at the Department of Mechanical Engineering, Texas A&M University, College Station. He is the founder and CEO of Engineered Mechatronics, Inc., a company looking at bringing the latest advances in controls and software engineering to the mechatronics systems development process. Prior to this, he was an LMS-Vice President of Controls at Siemens PL, which had acquired LMS International, where he was a VP of Model Based Systems Engineering. LMS, in turn, had acquired Emmeskay Inc., which he had co-founded and was an advanced technology solution provider focused on the automotive industry. He obtained his B.Tech. from the Indian Institute of Technology Madras, and his M.S. and Ph.D. (1991) from the University of California, Berkeley. His expertise is in Nonlinear system dynamics and control, Model Based Systems Engineering, Model Based Control System Design, Simulation based verification and validation, Powertrain architecture optimization for performance and fuel economy. He has worked on automotive systems modeling, simulation and optimization for over twenty five years.

Swaminathan  Gopalswamy
Education :
Ph. D. 1991 –  Mechanical Engineering, University  of  California, Berkeley.  “Adaptive  Control  of Nonlinear
Non-minimum  Phase Systems”.
One key  contribution  was a  methodology  to address the impact of  unstable zero-dynamics  of
nonlinear systems (i.e. non-minimum  phase  systems)  when doing  input-output fee dba ck  l i nea r i za ti on .
An “ideal  internal  dynamics” that is a subset of possible  solutions  on the manifold  corresponding  to
the  zerodynamics  is  identified.  Then an output  redefinition  is  proposed  that renders the actual  internal
dynamics stably converging  to the ideal  internal dynamics,  while simultaneously  rendering  the actual
output  converging  to the desired  trajectory.  This  methodology  could then be directly  extended  to
robust  nonlinear techniques  such as sliding control.
A second  contribution  was the  extension  of the robust control above to include adaptation of a class
of parametric  uncertainties  for  Multi-Input-Multi-Output Nonlinear  systems.
Thesis Advisor: Prof. J. Karl Hedrick
M.S. 1989 –  Mechanical Engineering,  University of  California, Berkeley.  “Longitudinal  Control  of High
Performance  Aircraft”
High  Performance  aircraft have  highly nonlinear  dynamics, are statically  unstable,  and in fact exhibit
non-minimum  phase  behavior.  The focus of this  effort  was to develop a strategy to control the
longitudinal dynamics  of the aircraft to pull “high g's”  coordinated  with the pitching. This was
achieved  by  re-defining  the  location  of  calculation  of the g's from the c.g. of the aircraft to the pilot
location.  This intuitive approach was  subsequently generalized  as part of the PhD thesis.
B.Tech 1987 –  Mechanical Engineering,  Indian Institute of  Technology,  Madras  (Chennai),  India. “Design
and Build of an RCR 0 CR (3D crank-rocker)  mechanism  for  maximum  rock angle”
Work Experience :
June 1991 – Dec 1991 –  Integrated  Motions Inc,  Berkeley,  CA. Student Engineer.
Supporting  development  of  embedded real-time  software for various  microprocessor  based
applications.
Feb 1992 – June 1998:  General  Motors, MI.  (Finished  my career there as Staff  Research  Engineer).
Development  of new control  techniques  for  novel transmission  concepts,  development  of Magneto-
Rheological  Fluid Based Actuators, Hybrid Electric  Vehicle architectural  optimization, Powertrain
Performance  and Fuel  Economy  Analysis
June 1998 – July 2010:  Emmeskay,  Inc, MI.  Founder  and CEO.
Emmeskay  was an advanced  technology solutions  provider  leveraging  Model Based Systems
Engineering,  primarily for the global  automotive industry.  Our  business  was primarily from the
automotive  industry,  spanning  OEMs and Tier-1s across the globe. We also had  effective
Swaminathan  Gopalswamy
Curriculum  Vitae  2 Of 4
collaborations  with  governmental organizations  and  universities, with  a  note-worthy partnership
with Carnegie-Melon University  through  the DARPA funded Mobies project.
Emmeskay  was acquired by LMS  International  in July 2010.
July 2010 – Dec 2012: LMS  International, Belgium.  Vice  President  – Model Based  Systems  Engineering,
Controls
Managed a global team with  members  drawn from the US, France,  Belgium,  Japan and India. We
were at the  fore-front  of  Mechatronics Systems  development using MBSE. Our  customers  included
automotive, aerospace  as well as  mechanical industries.  The value  proposition  of the  technology
was  reflected  in the robust and  profitable year-on-year  growth in the  business  of this division.
LMS was acquired by  Siemens  PL in Jan 2013.
Jan 2013 –  July 2014: Siemens  PL, Detroit, MI. LMS Vice  President  – MBSE Controls
Synchronous  with the acquisition by  Siemens  PL, a deeper  technology  focus by  developing  a
brand new product for  embedded  software engineering.
Aug 2014 –  present: Engineered Mechatronics, Inc. Founding Director
Process consulting (enabling customers adopt MBSE Best Practices) and Solution consulting
(specific solution development) in the area of MBSE .
Development of “DRIP” a product that supports concurrent engineering of Requirements,
Design and Knowledge.
.
July 2016 –  Present: Texas A&M University
Professor of Practice, Department of Mechanical Engineering
Director, Connected Autonomous Safe Transportation (CAST) Program
Co-Director, Center for Autonomous Vehicles and Sensor Systems (CANVASS)
Senior Research Scientist, Texas A&M Transportation Institute
Pat e nts :
Magnetorheological  Fluid  Technology  Based Actuators:
Swaminathan Gopalswamy,  Gary Lee  Jones: Magnetorheological transmission  clutch. General
Motors  Corporation  October 20, 1998: US058233
Swaminathan Gopalswamy, Samuel  Miller Linzell, Gary Lee Jones, William  Charles  Kruckemeyer,
Gary Lee  Johnston: Magnetorheological  fluid fan clutch.  General  Motors  Corporation  April 27, 1999:
US05896965
Swaminathan Gopalswamy, Samuel  Miller Linzell, Gary Lee  Jones: Magnetorheological  fluid clutch
with  minimized reluctance. General  Motors  Corporation December  8, 1998: US05845752
Gary Lee  Johnston,  William  Charles Kruckemeyer,  Michael Leslie Oliver, Swaminathan
Gopalswamy, Samuel  Miller Linzell, Gary Lee  Jones:  Split rotor  cooling  fan clutch.  General  Motors
Swaminathan  Gopalswamy
Curriculum  Vitae  3Of4
Corporation  April 27, 1999: US05896964
Proton  Exchange Membrane  Fuel Cell Control:
Donald  H Keskula, Bruce J  Clingerman, Swaminathan Gopalswamy,  Shankar  Akella:  Air distribution
method  and  controller  for a fuel cell  system. General  Motors  Corporation September  13, 2005:
US06942937; March 25, 2008: US07348084; October 2, 2003: US20030186096-A1; November
17, 2005: US20050255343-A1
Wind  Energy  Harnessing:
Swaminathan Gopalswamy,  Ravindra Dixit, John Jad  Batteh: Continuously Variable  Transmission
Ratio  Device  with Optimized  Primary  Path Power Flow.  Emmeskay September  30, 2010:
US20100244447-A1 Pending
Swaminathan Gopalswamy, Sundaresan  A  Sorakayalpet:  Hydrostatic linear wind mill for wind
energy harnessing applications.  NewWindTech  February  10, 2011: US20110030361-A1
Pending
Pub l ications :
Journals:
J. Karl Hedrick and  Swaminathan Gopalswamy, "Nonlinear  flight control design via sliding
methods",  Journal of  Guidance, Control,  and  Dynamics, Vol.  13, No. 5 (1990), pp. 850-858. doi:
10.2514/3.25411
Swaminathan Gopalswamy  and J. Karl Hedrick, “Tracking  nonlinear non-minimum  phase systems
using sliding control”,  International  Journal of  Control  - INT J CONTR 01/1993; 57(5):1141-1158.
DOI:10.1080/00207179308934436
Ohata, Akira; Ito,  Hisashiro; Gopalswamy, Swaminathan;  Furuta,  Katsuhisa,  “Plant Modeling
Environment  Based on  Conservation  Laws and Projection Method for  Automotive Control  Systems”,
SICE Journal of Control,  Measurement,  and System  Integration, Volume  1, Issue 3, pp. 227-234
(2011).
Conferences:
S. Gopalswamy, S. Rathinam, “Infrastructure Enabled Autonomy: A Distributed Intelligence
Architecture for Autonomous Vehicles”, IEEE Intelligent Vehicles Symposium, Chang Shu,
China, June 2018.
G.  Raghav,  S.  Gopalswamy,  K.  Radhakrishnan,  J.  Delange  and J.  Hugues,  “Model Based Code
Generation  for  Distributed Embedded  Systems”, in  Proceedings  of  European Conference  on
Embedded  Real Time Software and  Systems, Toulouse,  France, May 2010.
G.  Raghav,  S.  Gopalswamy,  K.  Radhakrishnan,  J.  Delange,  J.  Hugues,  “Architecture Driven
Generation  of Distributed  Embedded  Software from  Functional  Models”,  Proceedings  of the 2009
Ground Vehicle Systems Engineering  and  Technology Symposium  (GVSETS), Detroit, MI, August
2009.
John  Absmeier,  Tuhin Das,  Swaminathan Gopalswamy,  Ravi S. Paike,  “Development  of an
Swaminathan  Gopalswamy
Curriculum  Vitae  4 Of 4
Automated Control System Verification Platform  for a Solid Oxide Fuel Cell”, Proc. ASME. 42479;
ASME 2006 Fourth  International Conference  on Fuel Cell Science,  Engineering  and Technology,
Irvine, CA, June 2006.
X.  Chen,  M. Salem, T. Das, S.  Gopalswamy,  “Speed  Control  for a Switched  Reluctance  Motor Drive
Powered  by a Fuel Cell.”,  American Control Conference, Portland  , OR, June 2005.
Tetsuji Kozaki, Hiroshi Mori, Hosam K. Fathy,  Swaminathan Gopalswamy,  “  Balancing  the Speed
and Fidelity of  Automotive Powertrain  Models Through Surrogation”,  Proceedings  of Dynamic
Systems  and Control,  Anaheim,  CA,  November  2004.
Gopalswamy,  S, Kinikar, J,  Sivashankar,  S, “Practical  considerations  for the  implementation  of
model based control  system development  processes”,  Proceedings  of the 2004  IEEE  International
Conference  on  Control  Applications, Taipei, Taiwan,  September  2004.
Akella, S,  Sivashankar,  N,  Gopalswamy,  S, “Model-based  systems analysis  of a hybrid fuel cell
vehicle configuration”, American Control Conference, Arlington,  VA, June 2001.
J.K.Hedrick, S.  Gopalswamy,  “Control of a High  Performance  Aircraft with Unacceptable
Zerodynamics”,  American Control Conference,  Chicago, IL, June 1992.
J.K.Hedrick, S.  Gopalswamy,  “Robust Adaptive  Nonlinear Control  of High  Peformance  A i r c r a ft”,
American Control Conference,  Boston, MA, June 1991.
S.  Gopalswamy,  J. K. Hedrick, “Robust Adaptive  Control  of  Multivariable Nonlinear  Systems”,
American Control  Conference, San Diego, CA, May 1990.
S.  Gopalswamy  and R.S. Fearing,  ``Grasping  of  Polyhedral  Objects with Slip'',  IEEE  Int.  Conf.  on
Robotics and  Automation,  Scottsdale AZ, May 1989.
Workshops:
J. Mueller, P. Narasimhan, Swaminathan Gopalswamy, “Design Requirements Iterative Process
(DRIP) Tool Demonstration: Concurrent Engineering of Design, Requirements and Knowledge”,
ACM SIGAda’s High Integrity Language Technology International Workshop on Model-Based
Development and Contract-Based Programming as part of Embedded Systems Week, Pittsburgh,
PA, Oct 2016