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CPS: Frontier: Collaborative Research: Correct-by-Design Control Software Synthesis for Highly Dynamic Systems

CPS：前沿：协作研究：高动态系统的设计正确控制软件综合

基本信息

批准号：
1724457
负责人：
Aaron Ames
金额：
$ 49.36万
依托单位：
California Institute of Technology
依托单位国家：
美国
项目类别：
Continuing Grant
财政年份：
2017
资助国家：
美国
起止时间：
2017-01-01 至 2018-03-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1724457&HistoricalAwards=false
关键词：
CPS Frontier Collaborative Research Correct

项目摘要

This CPS Frontiers project addresses highly dynamic Cyber-Physical Systems (CPSs), understood as systems where a computing delay of a few milliseconds or an incorrectly computed response to a disturbance can lead to catastrophic consequences. Such is the case of cars losing traction when cornering at high speed, unmanned air vehicles performing critical maneuvers such as landing, or disaster and rescue response bipedal robots rushing through the rubble to collect information or save human lives. The preceding examples currently share a common element: the design of their control software is made possible by extensive experience, laborious testing and fine tuning of parameters, and yet, the resulting closed-loop system has no formal guarantees of meeting specifications.The vision of the project is to provide a methodology that allows for complex and dynamic CPSs to meet real-world requirements in an efficient and robust way through the formal synthesis of control software. The research is developing a formal framework for correct-by-construction control software synthesis for highly dynamic CPSs with broad applications to automotive safety systems, prostheses, exoskeletons, aerospace systems, manufacturing, and legged robotics. The design methodology developed here will improve the competitiveness of segments of industry that require a tight integration between hardware and highly advanced control software such as: automotive (dynamic stability and control), aerospace (UAVs), medical (prosthetics, orthotics, and exoskeleton design) and robotics (legged locomotion). To enhance the impact of these efforts, the PIs are developing interdisciplinary teaching materials to be made freely available and disseminating their work to a broad audience.

CPS Frontiers项目致力于解决高度动态的数字物理系统(CPSS)，这些系统被理解为几毫秒的计算延迟或对干扰的错误计算响应可能导致灾难性后果的系统。这就是汽车在高速转弯时失去牵引力的情况，无人驾驶飞行器执行着陆等关键动作，或者灾难和救援响应两足机器人在瓦砾中冲刺以收集信息或拯救生命。上述例子目前有一个共同的元素：它们的控制软件的设计是通过丰富的经验、艰苦的测试和参数的微调来实现的，然而，由此产生的闭环系统并没有满足规范的正式保证。该项目的愿景是提供一种方法，允许复杂和动态的CPSS通过控制软件的形式综合以高效和健壮的方式满足现实世界的要求。这项研究正在开发一种用于高动态CPSS的按结构校正控制软件综合的正式框架，该框架广泛应用于汽车安全系统、假肢、外骨骼、航空航天系统、制造和腿部机器人。这里开发的设计方法将提高需要在硬件和高度先进的控制软件之间紧密集成的行业的竞争力，例如：汽车(动态稳定性和控制)、航空航天(无人机)、医疗(假肢、矫形术和外骨骼设计)和机器人(腿部运动)。为了加强这些努力的影响，私人投资促进机构正在开发跨学科的教材，供免费使用，并向广大受众传播他们的工作。

项目成果

期刊论文数量（4）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

A Scalable Safety Critical Control Framework for Nonlinear Systems

非线性系统的可扩展安全关键控制框架

DOI：
10.1109/access.2020.3025248
发表时间：
2020
期刊：
IEEE Access
影响因子：
3.9
作者：
Gurriet, Thomas;Mote, Mark;Singletary, Andrew;Nilsson, Petter;Feron, Eric;Ames, Aaron D.
通讯作者：
Ames, Aaron D.

Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking

柔顺混合零动态行走的逆动力学控制