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计算上易于处理的方法来设计和控制受到影响的系统。 撞击会给运动方程带来不连续性，使得控制理论中的传统技术难以应用。 然而，如果系统可以在撞击期间指定其配置，则可以利用反馈控制的形式。 这项工作将结合机械系统的变分分析、形状优化和控制理论来合成一类冲击系统的嵌入式控制器，并保证稳定性、最优性和计算复杂性。 这项工作将从一个在地形上行走的两足机器人的简单示例开始；后面的例子将包括在不平坦地形上行走的高自由度机器人的数值模型以及人手与物体交互的生物力学模型。 可交付成果包括算法属性的数学证明、各种记录示例中反馈合成技术的软件实现、描述技术的文章以及对控制工程和生物医学工程学生的培训。影响广泛存在于机器人运动和抓取等应用中到制造业，甚至人体假肢。 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，所提出的技术将使许多影响系统的实际监管与非影响系统的监管一样简单。 此外，这些技术将有助于更好地理解接触在人类神经肌肉控制中的作用。 该项目将通过美国国家科学基金会国际科学与工程办公室 (OISE) 全球风险基金 (GVF) 共同资助，利用国际合作，与德国研究人员开展长期合作。 作为这项工作的一部分开发的软件将被纳入芝加哥康复研究所正在进行的手部康复临床研究中，并将免费向公众开放。 除了实现重要技术之外，这项工作还将在博物馆中重点展示，学生将参与芝加哥一所城市高中的外展活动。