Physical Design and Feedback Control of Hybrid Mechanical Systems

混合机械系统的物理设计和反馈控制

• 批准号: 1200321
• 负责人: Todd Murphey
• 金额: $ 34.99万
• 依托单位: Northwestern University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2012
• 资助国家: 美国
• 起止时间: 2012-09-01 至 2016-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1200321&HistoricalAwards=false
• 关键词: Physical; Design; Feedback; Control; Hybrid

The aim of this award is to develop computationally tractable methods for designing and controlling systems that experience impact. Impacts introduce discontinuities into the equations of motion, making traditional techniques in control theory difficult to employ. However, if a system can specify its configuration during impact a form of feedback control may be utilized. The work will use a combination of variational analysis for mechanical systems, shape optimization, and control theory to synthesize embedded controllers for a class of impacting systems with guarantees on stability, optimality, and computational complexity. The work will start with a simple example of a two-legged robot walking on terrain; later examples will include numerical models of high degree-of-freedom robots walking on uneven terrain and a biomechanical model of a human hand interacting with objects. Deliverables include mathematical proofs of algorithm properties, a software implementation of the feedback synthesis techniques in a variety of documented examples, articles describing the techniques, and training for students in control engineering and biomedical engineering.Impacts are present in applications ranging from robotic locomotion and grasping to manufacturing and even human prosthetics. Computer control of these systems depends on incorporating impacts into algorithms that stabilize motion. If successful, the proposed techniques will make practical regulation of many impacting systems as straightforward as regulation of non-impacting systems. Moreover, the techniques will provide an improved understanding of the role that contact plays in human neuromuscular control. The project will leverage international collaboration through NSF Office of International Science and Engineering (OISE) Global Venture Fund (GVF) co-funding to develop long-term collaboration with researchers in Germany. Software developed as part of this work will be incorporated into an ongoing clinical study of hand rehabilitation at the Rehabilitation Institute of Chicago and will be freely available to the public. In addition to enabling important technologies, the work will be highlighted in a museum, and student will participate in outreach with an urban high school in Chicago.

该奖项的目的是开发用于设计和控制经历影响影响的系统的计算方法。 影响将不连续性引入运动方程，从而使控制理论中的传统技术难以使用。 但是，如果系统可以在撞击过程中指定其配置，则可以使用一种反馈控制形式。 这项工作将对机械系统，形状优化和控制理论的各种分析结合在一起，以合成一类影响系统的嵌入式控制器，并保证稳定性，最佳性和计算复杂性。 这项工作将以一个简单的例子开头，即在地形上行走的两足机器人。后来的示例将包括在不平坦的地形上行走的高自自由式机器人的数值模型以及与物体相互作用的人手的生物力学模型。 可交付成果包括算法属性的数学证明，反馈合成技术的软件实现，在各种有记录的示例中，描述技术的文章以及对控制工程和生物医学工程的学生的培训。Imprigning inspriptions和生物医学工程的培训。 这些系统的计算机控制取决于将影响纳入稳定运动的算法中。 如果成功的话，提出的技术将使许多影响系统像非影响系统的调节一样实用。 此外，这些技术将对接触在人类神经肌肉控制中的作用有了改进的理解。 该项目将通过NSF国际科学与工程办公室（OISE）全球风险基金（GVF）共同资助国际合作，以与德国的研究人员建立长期合作。 作为这项工作的一部分开发的软件将纳入芝加哥康复研究所正在进行的手部康复临床研究中，并将向公众免费提供。 除了启用重要技术外，博物馆还将强调这项工作，学生将与芝加哥的一所城市高中参加宣传。