II-New: CyPhyHouse: A Laboratory for Evolving Distributed and Mobile Cyber-Physical Systems Research

II-新：CyPhyHouse：不断发展的分布式和移动网络物理系统研究实验室

• 批准号: 1629949
• 负责人: Sayan Mitra
• 金额: $ 61万
• 依托单位: University of Illinois at Urbana-Champaign
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-07-15 至 2021-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1629949&HistoricalAwards=false
• 关键词: II; New; CyPhyHouse; Laboratory; Evolving

This project develops CyPhyHouse: an innovation playground for enabling rapid development and deployment of distributed and mobile robotic systems. Distributed robotic systems are at the frontier of research in manufacturing, transportation, logistics, and exploration. Yet, managing and experimenting with distributed robotic platforms can be a laborious and error-prone undertaking. Deploying a new algorithm on an existing hardware platform can take weeks; porting an application to a new platform can take months. This high overhead of deploying robotic applications takes a toll on the robustness of the scientific claims made in this area. CyPhyHouse provides application programming interfaces (APIs) and an easy to use software environment which reduces the above efforts by orders of magnitude. This new infrastructure provides easy to use, open source, software and hardware platform for rapidly programming, simulating, deploying, and visualizing a rich family of applications on heterogeneous fleet of vehicles. It thus will enable large-scale experimental research needed for developing computing systems that support and rely on coordinated and controlled mobility, for example, in the study of mobility of WiFi access points, debuggers for mobile systems, and augmented-reality with real and virtual Unmanned Autonomous Vehicles.The hardware infrastructure consists of a collection of about mobile vehicle platforms (a mix of ground vehicles and aerial vehicles). The software infrastructure consists of APIs for coordination and control of the heterogeneous fleet based on distributed shared-memory (DSM) and reach-avoid functions. These APIs are integrated in an extension of a familiar programming language (e.g., C++ or Java) and have implementations on all the hardware platforms. Supporting software tools are developed for compilation, simulation, logging, and monitoring that help with development and deployment of application programs. The infrastructure enables a researcher to quickly deploy experiments involving dozens of vehicles and visualize them. The same high-level application programs will be portable across different hardware platforms. The platform enables large-scale, repeatable experimental research needed for developing computing systems that support and rely on coordinated and controlled mobility. All the software and hardware specifications will be open-sourced and made available to the broader community. In several graduate courses, CyPhyHouse will provide students with a realistic platform for projects. It aims to help train graduate students and provide research opportunities for undergraduates in areas like cyber-physical systems, mobile and distributed computing, and multi-agent systems.

该项目开发了Cyphyhouse：一个创新游乐场，可快速开发和部署分布式和移动机器人系统。分布式机器人系统位于制造，运输，物流和勘探方面的研究领域。但是，管理和试验分布式机器人平台可能是一项费力且容易出错的工作。在现有的硬件平台上部署新算法可能需要数周的时间；将应用程序移植到新平台可能需要数月。部署机器人应用程序的高间接损害了该领域的科学主张的稳健性。 Cyphyhouse提供应用程序编程接口（API）和易于使用的软件环境，从而减少了上述数量级的努力。这种新的基础架构提供了易于使用的，开源，软件和硬件平台，可快速编程，模拟，部署和可视化在异质车辆车队上的丰富应用家庭。因此，它将实现开发支持和依靠协调和控制的移动性所需的大规模实验研究，例如，在WiFi访问点的移动性，移动系统的调试器的迁移率研究中以及使用真实和虚拟的无人驾驶自动驾驶汽车增强真实性。硬件基础设施由围绕移动车辆的工具组成（一款型号的车辆），以及混合了驾驶汽车的集合）。该软件基础架构由基于分布式共享记忆（DSM）和触及避免功能的API组成，用于协调和控制异质车队。这些API集成到熟悉的编程语言（例如C ++或Java）的扩展中，并在所有硬件平台上具有实现。支持软件工具是用于有助于开发和部署应用程序程序的编译，仿真，记录和监视的。这些基础设施使研究人员能够快速部署涉及数十个车辆的实验并将其可视化。相同的高级应用程序将在不同的硬件平台上移植。该平台实现了开发支持并依靠协调和控制的移动性的计算系统所需的大规模，可重复的实验研究。 所有软件和硬件规格将是开源的，并提供给更广泛的社区。在几个研究生课程中，Cyphyhouse将为学生提供一个现实的项目平台。它的目的是帮助培训研究生，并为在网络物理系统，移动和分布式计算以及多机构系统等领域的大学生提供研究机会。