Super-Realtime Dynamic Simulation of Multiple-Chain Robotic Systems

多链机器人系统（如多足车辆的多机械手）的动态仿真计算复杂，涉及大量重复的矩阵反演和三角函数求值。预测系统的响应需要“超实时”的仿真计算速率（以毫秒为单位规划运动秒数），以便确定协调/控制策略，以确保在优化规划轨迹的同时确保安全性和稳定性。相信可以开发动力学方程的并行算法，这将大大加快仿真速度，从而使系统响应的实时预测成为可能。俄亥俄州立大学的电子工程系将购买一个32节点的适合开发并行算法的计算机。实际上，递归加倍形式的动力学方程可以直接映射到超立方体上。动力学方程是已知的，但超立方体是一个新的计算系统，只有有限的软件可用。这项新研究加速奖将充分利用这种新型并行计算机来测试并行算法在实时系统仿真中的可行性。机构支持是足够的，PI是合格的，我建议支持。

Dynamic simulation of multi-chain robotic systems, such as multiple manipulators for multilegged vehicles, is computationally complex involving a large number of repetitive matrix inversions and trigonometric function evaluations. "Super-realtime" computational rates for simulation (planning seconds of motion in milliseconds) are needed for predicting the response of the system in order to determine the coordination/control strategies to ensure safety and stability while optimizing the planned trajectory. It is believed that parallel algorithms for the dynamical equations can be developed which will significantly speed up simulation so that realtime prediction of system response will be possible. The Electrical Engineering Department of the Ohio State University will be purchasing a 32-node suitable for developing parallel algorithms. In fact, the dynamical equations in the recursive doubling form may map directly onto the hypercube. The dynamical equations are known, but the hypercube is a new computational system for which only limited software is available. This Expedited Award for Novel Research will take full advantage for this new parallel computer to test the viability of parallel algorithms for realtime system simulation. The institutional support is adequate and the PI is well qualified, I recommend support.