For FY 2021 (beginning Oct. 1, 2020) and beyond, the CPS program anticipates going to a “no-deadline” submission for Small and Medium proposals. The CPS program aims to develop the core research needed to engineer these complex CPS, some of which may also require dependable, high-confidence, or provable behaviors. Core research areas of the program include control, data analytics, and machine learningÑincluding real-time learning for control, autonomy, design, Internet of Things (IoT), mixed initiatives including human-in- or human-on-the-loop, networking, privacy, real-time systems, safety, security, and verification. By abstracting from the particulars of specific systems and application domains, the CPS program seeks to reveal cross-cutting, fundamental scientific and engineering principles that underpin the integration of cyber and physical elements across all application domains. The program additionally supports the development of methods, tools, and hardware and software components based upon these cross-cutting principles, along with validation of the principles via prototypes and testbeds. This program also fosters a research community that is committed to advancing education and outreach in CPS and accelerating the transition of CPS research into the real world. Medium projects may request a total budget ranging from $500,001 to $1,200,000 for a period of up to 3 years. They are well suited to multi-disciplinary projects that accomplish clear goals requiring integrated perspectives spanning the disciplines.