CISE Instrumentation: Applying Software Engineering Methodologies to Robotics Tasks: A Cross Disciplinary Approach

9729875明尼苏达明尼苏达大学Mats体育学院Cise研究仪器：将软件工程方法应用于机器人任务：交叉学科方法该研究仪器支持以下研究项目：-嵌入式系统软件的快速原型和合成，-基于视觉的机器人抓取中不同问题的研究，-车辆应用中的传感器融合，以及-多个自私自利机器人的行为。为了支持上述项目，明尼苏达大学计算机科学系将购买VXI-Bus嵌入式实时软件开发环境、几个移动平台和机器人仿真软件，这些软件将专门用于软件工程、机器人学和人工智能的研究。该设备将用于几个研究项目，特别包括：嵌入式系统控制软件的基于需求的原型和综合、基于闭环系统视觉的机器人抓取、用于车辆应用的传感器融合以及多个自利机器人的行为。除了单个项目的贡献外，PI之间的合作将有助于评估现实项目中的尖端软件工程技术(例如，评估可伸缩性、易用性和对该领域的适用性)，以及评估严格的软件工程技术在机器人和人工智能应用程序中的使用(例如，对控制算法重用的影响，以及对系统性能、健壮性和安全性的影响)。设备采购包括(1)完整的VXI-Bus嵌入式软件开发环境，(2)一台具有传感和控制应用接口的VXI-Bus嵌入式计算机，(3)作为拟议项目试验台的低成本移动平台，以及(4)用于任务规划和软件原型的机器人模拟软件。

9729875 Heimdahl, Mats, P.E. University of Minnesota, Twin Cities CISE Research Instrumentation: Applying Software Engineering Methodologies to Robotics Tasks: A Cross Disciplinary Approach This research instrumentation enables research projects in:- Rapid Prototyping and Synthesis of Software for Embedded Systems, - Studies of Different Issues in Vision-Based Robotic Grasping,- Sensor Fusion in Vehicle Applications, and - Behaviors of Multiple Self-Interested Robots. To support the aforementioned projects, the Department of Computer Science at the University of Minnesota will purchase a VXI-bus embedded real-time software development environment, several mobile platforms, and robot simulation software which will be dedicated to research in software engineering, robotics, and artificial intelligence. The equipment will be used for several research projects, including in particular: requirements-based prototyping and synthesis of control software for embedded systems, closed-loop vision-based robotic grasping, sensor fusion for vehicle applications, and behaviors of multiple self-interested robots. In addition to the contributions of the individual projects, the collaboration between the PIs will help evaluate cutting edge software engineering techniques on realistic projects (for example, evaluation of scalability, evaluation of ease of use, and applicability to the domain) as well as evaluate the use of rigorous software engineering techniques in robotics and AI applications (for example, the effect on reuse of control algorithms, and the effect on system performance, robustness, and safety). The equipment purchase includes (1) a complete VXI-bus embedded software development environment, (2) one VXI-bus embedded computer with interfaces for sensing and control applications, (3) low-cost mobile platforms serving as testbeds for the proposed projects, and (4) robotics simulations software to be used in task planning and software prototyping.