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

CPS：协同：协作研究：物理演示中的相互稳定校正

• 批准号: 1329683
• 负责人: Magnus Egerstedt
• 金额: $ 30万
• 依托单位: Georgia Tech Research Corporation
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2013
• 资助国家: 美国
• 起止时间: 2013-10-01 至 2017-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1329683&HistoricalAwards=false
• 关键词: CPS; Synergy; Collaborative; Research; Mutually

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.

目标：一个人应该被允许与受控机器进行多少交互？ 如果这台机器是安全关键的，如果监督其操作的计算机对其操作和安全至关重要，那么答案可能是不应该允许这个人干涉它的操作。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，一个人可能比机器更善于改进。使用数值方法，系统理论，机器学习，人机界面，最优控制和形式验证的技术相结合，本研究将开发一个可计算的信任概念，允许嵌入式系统来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;使用键盘为安全关键系统设计动作可能不直观，并且由于其局限性而导致不安全的命令，而其他界面可能更直观，但会威胁系统的稳定性，因为人们不了解系统的需求。 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。 随着操作人员安全操作能力的提高，她将获得更大的权限来控制机器，同时不会使系统处于危险之中。更广泛的影响：活动将包括外展，公共领域软件的开发，实验课程，包括两个大规模的在线课程，以及康复技术转让。外联活动将包括在科学与工业博物馆举办展览，并与市中心的一所高中合作。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，中风评估和神经肌肉手控制。为信任科学提供基础有可能改变康复研究。