CPS: Medium: Collaborative Research: A CPS Approach to Robot Design

CPS：媒介：协作研究：机器人设计的 CPS 方法

• 批准号: 1562232
• 负责人: Aaron Ames
• 金额: $ 7.6万
• 依托单位: Georgia Tech Research Corporation
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2015
• 资助国家: 美国
• 起止时间: 2015-07-01 至 2016-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1562232&HistoricalAwards=false
• 关键词: CPS; Medium; Collaborative; Research; Approach

In many important situations, analytically predicting the behavior of physical systems is not possible. For example, the three dimensional nature of physical systems makes it provably impossible to express closed-form analytical solutions for even the simplest systems. This has made experimentation the primary modality for designing new cyber-physical systems (CPS). Since physical prototyping and experiments are typically costly and hard to conduct, "virtual experiments" in the form of modeling and simulation can dramatically accelerate innovation in CPS. Unfortunately, major technical challenges often impede the effectiveness of modeling and simulation. This project develops foundations and tools for overcoming these challenges. The project focuses on robotics as an important, archetypical class of CPS, and consists of four key tasks: 1) Compiling and analyzing a benchmark suite for modeling and simulating robots, 2) Developing a meta-theory for relating cyber-physical models, as well as tools and a test bed for robot modeling and simulation, 3) Validating the research results of the project using two state-of-the-art robot platforms that incorporate novel control technologies and will require novel programming techniques to fully realize their potential 4) Developing course materials incorporating the project's research results and test bed.With the aim of accelerating innovation in a wide range of domains including stroke rehabilitation and prosthetic limbs, the project is developing new control concepts and modeling and simulation technologies for robotics. In addition to new mathematical foundations, models, and validation methods, the project will also develop software tools and systematic methods for using them. The project trains four doctoral students; develops a new course on modeling and simulation for cyber-physical systems that balances both control and programming concepts; and includes an outreach component to the public and to minority-serving K-12 programs.

在许多重要情况下，在分析上预测物理系统的行为是不可能的。例如，物理系统的三维性质使事实证明，即使是最简单的系统，也不可能表达封闭形式的分析解决方案。这使实验成为设计新的网络物理系统（CPS）的主要方式。由于物理原型和实验通常是昂贵且难以进行的，因此以建模和仿真形式进行的“虚拟实验”可以在CPS中显着加速创新。不幸的是，主要的技术挑战通常会阻碍建模和模拟的有效性。该项目开发了克服这些挑战的基础和工具。该项目侧重于机器人作为重要的，典型的CP类别，由四个关键任务组成：1）编译和分析用于建模和模拟机器人建模和模拟机器人的基准套件，2）用于与网络物理模型相关的元理论，以及与机器人模型的工具和模拟的测试床相关联，3）符合机器人模型的测试床，3）有效的效果 - 有效的效果 - 有效的项目 - 技术并将需要新颖的编程技术以充分发挥其潜力4）开发结合了该项目的研究结果和测试床的课程材料。其目的是加速在包括中风康复和假肢在内的广泛领域的创新，该项目正在开发新的控制概念，以及用于Robotics的模型和模拟技术。除了新的数学基础，模型和验证方法外，该项目还将开发用于使用它们的软件工具和系统的方法。该项目训练四名博士生；针对控制控制和编程概念的网络物理系统开发了有关建模和模拟的新课程；并包括向公众和少数派服务K-12计划的外展部分。