NRI: FND: Natural Power Transmission through Unconstrained Fluids for Robotic Manipulation

NRI：FND：通过不受约束的流体进行自然动力传输，用于机器人操作

• 批准号: 2024409
• 负责人: Frank Sup
• 金额: $ 74.9万
• 依托单位: University of Massachusetts Amherst
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2020
• 资助国家: 美国
• 起止时间: 2020-09-01 至 2024-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2024409&HistoricalAwards=false
• 关键词: NRI; FND; Natural; Power; Transmission; NRI; FND; Natural; Power; Transmission

This National Robotics Initiative project will promote the progress of science and advance the national health, prosperity and welfare; by studying a novel approach to control the transmission of power from a robot through an unconstrained flow of water to manipulate an object using fluid-structure interaction control strategies and without any other direct contact. In many existing robotic control problems, power is transferred through direct contact with the object to be manipulated. This project focuses on the case of underwater manipulation, where the environment (water) has a significant impact on the overall system performance. In a fluid-based system, interactions between bodies and fluid around them transfer a significant amount of momentum to the water. In this work, an object in water will be controlled by manipulating an upstream structure whose wake can be controlled. The wake of the upstream object will be controlled by forcing it to rotate at a given frequency and angular velocity. Through closed-loop feedback, the desired motion of the downstream object can be obtained by inputting the desired motion of the upstream structure and thus controlling its wake. The approach can be applied to establish a novel method for natural and unconstrained gait training for persons recovering from stroke or injury by naturally assisting their gait using flow forces. Beyond health, extensions of this work can be applied in manufacturing to create new methods for fluid-based material handling and production processes. The project will also motivate and broaden the diversity of the next generation of engineers and scientists through training undergraduate and graduate students and designing and implementing an innovative underwater robotics outreach program for K-12 students. The transformative impact of this work on robotics is enabling a new fluid-based, non-contact manipulation strategy. The work creates new insights in the field of fluid-structure interactions by introducing a closed-loop control method to indirectly impose desired motions of an object placed in the wake of another structure. An “explore-and-exploit” methodology is used to effectively search for parameters in the highly nonlinear system to achieve optimal limit cycle oscillations of a hydrofoil in the wake of a controlled rotating cylinder. The parameters can then be used to design a controller to obtain the desired trajectory for a multi-body system by controlling the rotation rate of an upstream cylinder. With this approach, an underwater robot gait training system is created that can manipulate the power of the existing fluid flow to apply controlled forces to the lower limbs of a person to assist them while walking. The system is supported by new predictive simulations of underwater human gait with fluid-structure interaction dynamics to optimize the interconnected human-robot system. The approach can also be generalized for other applications in underwater robotics for non-contact manipulation using flow forces.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

这个国家机器人倡议项目将促进科学的进步，并促进国家健康，繁荣和福利；通过研究一种新的方法，可以通过不受限制的水流来控制机器人从机器人的传播，以使用流体结构的相互作用控制策略来操纵物体，而无需任何其他直接接触。在许多现有的机器人控制问题中，通过与要操纵的物体直接接触来传递功率。该项目重点介绍了水下操纵的情况，在这里环境（水）对整个系统性能产生了重大影响。在基于流体的系统中，它们周围的身体与流体之间的相互作用将大量动量转移到水中。在这项工作中，将通过操纵可以控制唤醒的上游结构来控制水中的物体。上游对象的尾流将通过强迫以给定的频率和角速度旋转来控制。通过闭环反馈，可以通过输入上游结构的所需运动并控制其唤醒来获得下游对象的所需运动。该方法可用于建立一种新型的方法，用于自然使用流动力来帮助他们的遇见，从而为从中风或受伤中恢复过的人康复。除了健康外，还可以在制造业中应用这项工作的扩展，以为该项目创建新的方法，并通过培训本科生和研究生，设计和实施一项创新的水下机器人机器人外展计划，并扩大下一代工程师和科学家的多样性。这项工作对机器人技术的变革性影响是使新的基于流体的非接触操作策略。这项工作通过引入闭环控制方法来间接施加在另一个结构之后放置的对象的所需运动，从而在流体结构相互作用的领域中创建新的见解。 “探索和探索”方法用于有效地搜索高度非线性系统中的参数，以在受控的旋转圆柱体之后实现水翼的最佳极限周期振荡。然后，可以将参数用于设计控制器，以通过使用这种方法控制旋转来获得多体系统的所需轨迹，从而创建了一个水下机器人GIT训练系统，该系统可以操纵现有流体流的功率以将受控力的功率应用于人的下肢，以帮助他们行走。该系统得到了通过流体结构相互作用动力学对水下人GIT进行的新预测模拟，以优化相互联系的人类机器人系统。该方法还可以概括为使用流动力进行非接触操作的其他水下机器人技术应用。该奖项反映了NSF的法定任务，并使用基金会的智力优点和更广泛的影响审查标准，通过评估诚实地认为通过评估。