CPS: Synergy: Collaborative Research: Mutually Stabilized Correction in Physical Demonstration

目标：一个人应该被允许在多大程度上与被控制的机器互动？如果那台机器对安全至关重要，而监督它运行的计算机对它的运行和安全至关重要，那么答案可能是，这个人不应该被允许干涉它的运行，或者干涉得很少。此外，这个人是新手还是专家也很重要。智力优势：这项研究在算法上解决了安全需求和性能需求之间的紧张关系，这是一个人可能比机器更擅长改进的东西。结合数值方法、系统理论、机器学习、人机界面、最优控制和形式化验证等技术，本研究将开发一种可计算的信任概念，使嵌入式系统能够评估一个人提供的指令的安全性。与机器交互的界面也很重要；使用键盘设计安全关键系统的动作可能不直观，并且由于其局限性导致不安全的命令，而其他接口可能更直观，但威胁到系统的稳定性，因为人员不了解系统的需求。因此，人需要在一段时间内与机器建立信任，研究的最后一部分将包括通过验证人提供的指令的安全性来评估人的表现。当这个人在安全操作方面变得更好时，她将被赋予更多的权力来控制机器，而不会使系统处于危险之中。更广泛的影响：这些活动将包括外联、开发公共领域软件、实验课程（包括两个大型在线课程）和康复技术转让。拓展活动将包括在科学与工业博物馆举办展览，并与一所市中心高中合作。即将开发的算法将对芝加哥康复研究所的项目产生直接影响，包括辅助设备、中风评估和手部神经肌肉控制。为信任科学奠定基础有可能改变康复研究。

Objective: How much a person should be allowed to interact with a controlled machine? If that machine is safety critical, and if the computer that oversees its operation is essential to its operation and safety, the answer may be that the person should not be allowed to interfere with its operation at all or very little. Moreover, whether the person is a novice or an expert matters. Intellectual Merit: This research algorithmically resolves the tension between the need for safety and the need for performance, something a person may be much more adept at improving than a machine. Using a combination of techniques from numerical methods, systems theory, machine learning, human-machine interfaces, optimal control, and formal verification, this research will develop a computable notion of trust that allows the embedded system to assess the safety of the instruction a person is providing. The interface for interacting with a machine matters as well; designing motions for safety-critical systems using a keyboard may be unintuitive and lead to unsafe commands because of its limitations, while other interfaces may be more intuitive but threaten the stability of a system because the person does not understand the needs of the system. Hence, the person needs to develop trust with the machine over a period of time, and the last part of the research will include evaluating a person's performance by verifying the safety of the instructions the person provides. As the person becomes better at safe operation, she will be given more authority to control the machine while never putting the system in danger.Broader Impacts: The activities will include outreach, development of public-domain software, experimental coursework including two massive online courses, and technology transfer to rehabilitation. Outreach will include exhibits at the Museum of Science and Industry and working with an inner-city high school. The algorithms to be developed will have immediate impact on projects with the Rehabilitation Institute of Chicago, including assistive devices, stroke assessment, and neuromuscular hand control. Providing a foundation for a science of trust has the potential to transform rehabilitation research.