NEXT GENERATION SPACE MISSIONS REQUIRE AUTONOMOUS SYSTEMS TO OPERATE WITHOUT HUMAN INTERVENTION FOR LONG PERIODS OF TIMES IN HIGHLY DYNAMIC ENVIRONMENTS. SUCH SYSTEMS ARE VULNERABLE TO SOFTWARE AND OR HARDWARE FAILURES DUE TO UNEXPECTED INTERNAL OR EXTERNAL FACTORS. MOREOVER SMALL ANOMALIES IF NOT DETECTED AND ISOLATED IN A TIMELY MANNER CAN CASCADE THROUGH THE SYSTEM RESULTING IN CATASTROPHIC OUTCOMES ESPECIALLY IN HIGHLY DYNAMIC MISSIONS WHERE FAIL SAFE IS NOT AN OPTION. THIS SIGNIFIES THE NEED FOR EFFECTIVE METHODS FOR MONITORING SUCH SYSTEMS AND EXTRACTING SAFETY CRITICAL ACTIONABLE INFORMATION FROM THEM IN A TIMELY FASHION FOR SAFE AND RELIABLE OPERATION. THE OBJECTIVE OF THIS PROJECT IS TO DEVELOP THE SCIENTIFIC FOUNDATION AND ASSOCIATED ALGORITHMIC TOOLS FOR SYNTHESIS OF DECENTRALIZED PASSIVE AND ACTIVE MONITORS FOR SENSOR RICH NETWORKED CYBER PHYSICAL SYSTEMS FROM HETEROGENEOUS SENSORY DATA. A UNIFIED DYNAMICS AND DATA DRIVEN APPROACH FOR DETECTING ANOMALIES INTERNAL AND EXTERNAL IS PROPOSED. THIS APPROACH RELIES ON FORMALLY QUANTIFYING DEVIATIONS FROM A NOMINAL MODEL GIVEN BY A COMBINATION OF UNCERTAIN DIFFERENTIAL INCLUSIONS REPRESENTING PHYSICAL PLANTS AND TRANSITION SYSTEMS REPRESENTING DISCRETE COMPUTATIONAL ELEMENTS AND DEVIATIONS FROM THE DESIRED BEHAVIOR GIVEN BY A FORMAL SPECIFICATION IN TEMPORAL LOGIC. THE CHALLENGES ARISING FROM THE HETEROGENEITY AND ADAPTIVITY OF THE SYSTEM MODEL FOR EXAMPLE SOFTWARE PLUS PHYSICS AS WELL AS THE HETEROGENEITY IN THE SENSORY DATA WILL BE ADDRESSED BY BRINGING TO BEAR TOOLS FROM COMPUTER SCIENCE SUCH AS AUTOMATA THEORY AND RUN TIME VERIFICATION SYSTEM AND CONTROL THEORY SUCH AS SET MEMBERSHIP IDENTIFICATION MODEL INVALIDATION ROBUSTNESS TO UNCERTAINTY AND OPTIMIZATION SUCH AS CONVEXITY AND SUBMODULARITY. WE AIM TO IDENTIFY THE FUNDAMENTAL STRUCTURAL PROPERTIES OF INTERACTING PHYSICAL AND SOFTWARE COMPONENTS THAT ALLOW SCALABLE DECENTRALIZED MODULAR APPROACHES AND THAT CAN BE USED AS GUIDELINES FOR ENGINEERING SUCH SYSTEMS. WE WILL DEMONSTRATE THE DEVELOPED TECHNIQUES ON TWO UNIVERSITY SCALE TESTBEDS SUCH AS VEHICULAR ENERGY NETWORKS AND HUMANROBOT TEAMS FOR EXPLORATION MISSIONS WITH LIMITED COMMUNICATION. RESEARCH CHALLENGES THIS PROJECT WILL DEVELOP A FORMAL FRAMEWORK FOR THE DESIGN OF MODULAR RUN TIME MONITORS FOR SENSOR RICH NETWORKED CYBER PHYSICAL SYSTEMS. IN PARTICULAR WE WILL PURSUE RESEARCH IN THE FOLLOWING THREE THRUSTS AND INVESTIGATE THE CORRESPONDING QUESTIONS LISTED BELOW: THRUST 1 - QUANTIFYING DEVIATIONS FROM THE NOMINAL: HOW CAN WE COMPUTE PROVABLE ERROR BOUNDS AT RUN TIME TO QUANTIFY HOW WELL THE MEASUREMENTS COLLECTED FROM THE SYSTEM AND NOMINAL SYSTEM MODEL MATCH AND HOW WELL THE SYSTEM MEETS ITS SPECIFICATION? HOW CAN WE USE SUCH BOUNDS TO GUIDE GENERATION AND TESTING OF HYPOTHESIS RELATED TO ANOMALIES? THRUST 2 - DECENTRALIZED IMPLEMENTATIONS: GIVEN FORMAL BEHAVIORAL SPECIFICATIONS FOR A CYBER PHYSICAL SYSTEM HOW CAN WE ASSESS THEIR MONITORABILITY AND DECENTRALIZED MONITORABILITY WITH A GIVEN SET OF SENSORS? ARE THERE STRUCTURAL PROPERTIES OF SYSTEMS MEASUREMENTS SUCH AS SENSOR TYPES AND LOCATIONS AND SPECIFICATIONS THAT FACILITATE DECENTRALIZED ANOMALY DETECTION? THRUST 3 - DYNAMIC ESTIMATION STRATEGIES: CAN WE SYNTHESIZE STRATEGIES THAT CAN UTILIZE AVAILABLE ACTUATION CAPABILITIES TO IMPROVE ANOMALY DETECTION BY ADAPTIVELY RECONFIGURING THE SYSTEM AND CORRELATING THE MEASUREMENTS AND THE PRIOR INFORMATION WHILE MINIMALLY INTERFERING WITH THE SYSTEM OPERATION? CAN WE IDENTIFY MEASUREMENT AND ACTUATION CAPABILITIES THAT ARE MOST CRITICAL FOR ESTIMATION ACCURACY? THE PROPOSED RUN TIME VERIFICATION AND VALIDATION FRAMEWORK FOR ADAPTIVE AUTONOMOUS SYSTEMS CONTRIBUTES TO ROBOTICS AND AUTONOMOUS SYSTEMS TECHNICAL AREA IDENTIFIED IN 2015 NASA TECHNOLOGY ROADMAP. WE WILL DEVELOP CROSSCUTTING TECHNOLOGIES FOR SYSTEM HEALTH MANAGEMENT AUTOMATED DATA ANALYSIS FOR DECISION MAKING AND VERIFICATION AND VALIDATION OF COMPLEX AD