CNIC: US-Belgium Engineering Planning Visit: Simplified Models for Bio-inspired Actuators

CNIC：美国-比利时工程规划访问：仿生执行器的简化模型

• 批准号: 1427787
• 负责人: Joshua Schultz
• 金额: $ 5.39万
• 依托单位: University of Tulsa
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2014
• 资助国家: 美国
• 起止时间: 2014-09-01 至 2015-11-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1427787&HistoricalAwards=false
• 关键词: CNIC; US; Belgium; Engineering; Planning

This award for Catalyzing New International Collaborations (CNIC) supports a project development visit to Brussels by the principal investigator, Joshua Schultz of the University of Tulsa, and his U.S. students to initiate work with counterparts on the control of real dynamic systems (in engineering) with the goal of determining the most methods that quickly and easily produce a reduced-order model for muscle-like actuators composed of modular units. The Belgian partner, Bram Vanderborght at the Vrije Universiteit Brussels, has expertise in variable impedance actuators that compliments the PI's in hierarchially configured cellular actuation. Both investigators are interested in the biologically inspired control paradigm of recruitment in which the cellular structure and activation patterns give rise to variable impedance behavior and complex system dynamics. Together, the researchers intend to plan analysis and experiments to elucidate basic system dynamics principles of soft "cellular" actuators composed of smaller modular sub-actuators. The partners will approach this using balanced realization theory and simulation to determine how these types of systems should be configured. Preliminary results should point to next steps for a future series of analytical and numerical system dynamics studies and experiments that become the focus of a follow-on NSF proposal in Sensors, Dynamics and Control. If successful, these methods may be used to design robots that are damage tolerant and require fewer numbers of parts to build and maintain.The new collaboration is expected to foster on-going joint research as well as ideas for investigating compliant devices and mechanism dynamics. The participation of U.S. graduate and undergraduate students in the work abroad offers valuable early career international research experience. Furthermore, the P.I. plans to integrate the principles arising from this preliminary research into a new course at the University of Tulsa on foundations of biologically inspired robotics, for broader impact.

该催化新的国际合作奖（CNIC）奖支持了塔尔萨大学的首席调查员约书亚·舒尔茨（Joshua Schultz目的是确定最快，轻松地为由模块化单元组成的肌肉样执行器的降低阶模型的最多方法。 比利时合作伙伴Bram Vanderborght在Vrije Universiteit Brussels上拥有可变阻抗执行器方面的专业知识，这些致动器以层次配置的蜂窝驱动来补充PI。 两位研究人员都对募集的生物学启发的控制范式感兴趣，在这种控制范式中，细胞结构和激活模式会产生可变的阻抗行为和复杂的系统动力学。研究人员一起计划分析和实验，以阐明由较小的模块化亚施加器组成的软“细胞”执行器的基本系统动力学原理。 合作伙伴将使用平衡实现理论和仿真来解决此问题，以确定应如何配置这些类型的系统。 初步结果应指出未来一系列分析和数值系统动力学研究和实验的下一步，这些研究成为传感器，动力学和控制中NSF的后续提案的重点。 如果成功，这些方法可能会用于设计耐受耐受性并且需要更少的零件以建造和维护的机器人。预计新的合作将促进正在进行的联合研究以及研究合规设备和机制动态的想法。 美国研究生和本科生在国外工作的参与提供了宝贵的早期职业国际研究经验。 此外，P.I.计划将这项初步研究的原则整合到塔尔萨大学的新课程中，以实现生物学启发的机器人技术的基础，以实现更大的影响。