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CAREER: Robust Geometric Design of Mechanisms for Interaction with Uncertain Environments

职业：与不确定环境相互作用的稳健几何设计机制

基本信息

批准号：
1751770
负责人：
Nina Robson
金额：
$ 50万
依托单位：
CSU Fullerton Auxiliary Services Corporation
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2018
资助国家：
美国
起止时间：
2018-07-01 至 2024-06-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1751770&HistoricalAwards=false
关键词：
CAREER Robust Geometric Design Mechanisms

项目摘要

Many tasks are difficult to automate due to high levels of uncertainty in key task details, such as the shape or size of an object to be manipulated or the operating environment. Even when it is possible to design a robotic system to complete such a task, the resulting system can be too costly and/or lack the robustness required for industrial use. For example, produce picking remains a labor-intensive endeavor for the agriculture industry because variability in the operating environment and fragility of the produce have thus far prevented the design of an economical mechanized solution. Other examples can be found in numerous industries, including semiconductor manufacturing, healthcare and biomedical engineering. This Faculty Early Career Development Program (CAREER) award supports fundamental research to advance mechanical systems design in this setting. The research will lead to a new geometric design methodology that results in robust mechanical systems and motion paths for uncertain operating environments and manipulating uncertain objects. Research outcomes will advance national health and prosperity by impacting industries such as manufacturing, agriculture and healthcare. An innovative educational program will create a cross-disciplinary research-oriented course for lower division undergraduates at a Minority Serving Institution, engage female high school students through a robotics-themed summer program and develop activities to facilitate the transfer of underrepresented community college students to four-year engineering degrees.This CAREER award applies robust geometric design principals to mechanical systems to explain complex motion in mechanism-object/environment interaction and uncertainty: two critical foci not explicitly captured in existing design methodologies. In this context, uncertainty refers to variations in the object/environment geometry and/or in the realizable mechanism motion paths. The results will yield a novel framework for the design of mechanisms for interaction with uncertain objects/environments. This will be accomplished through a general mechanism-environment contact geometric model formulation and its validation. The design framework will be assessed through designing and experimentally testing industry-related showcase prototypes in the areas of mechanical and biomedical engineering. The central hypothesis is that incorporating mechanism-environment interaction and uncertainty conditions into the design task formulation results in a robust design methodology that is better than existing approaches.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

由于关键任务细节（如要操作的对象的形状或大小或操作环境）的高度不确定性，许多任务难以自动化。即使有可能设计一个机器人系统来完成这样的任务，最终的系统也可能过于昂贵和/或缺乏工业使用所需的鲁棒性。例如，农产品采摘仍然是农业的一项劳动密集型工作，因为操作环境的变化和农产品的脆弱性迄今为止阻碍了经济机械化解决方案的设计。其他例子可以在许多行业中找到，包括半导体制造、医疗保健和生物医学工程。该学院早期职业发展计划（Career）奖支持在此背景下推进机械系统设计的基础研究。该研究将产生一种新的几何设计方法，从而为不确定的操作环境和操纵不确定的物体提供健壮的机械系统和运动路径。研究成果将通过影响制造业、农业和医疗保健等行业来促进国家的健康和繁荣。一项创新教育计划将为少数民族服务机构的低年级本科生开设跨学科研究型课程，通过机器人主题的暑期课程吸引女高中生，并开展活动，促进代表性不足的社区大学生转学到四年制工程学位。该奖项将稳健的几何设计原则应用于机械系统，以解释机械-物体/环境相互作用和不确定性中的复杂运动：现有设计方法中未明确捕获的两个关键焦点。在这种情况下，不确定性是指物体/环境几何形状和/或可实现的机构运动路径的变化。研究结果将为设计与不确定对象/环境交互的机制提供一个新的框架。这将通过一个一般的机构-环境接触几何模型的公式及其验证来完成。设计框架将通过设计和实验测试机械和生物医学工程领域与工业相关的展示原型来评估。中心假设是，将机制-环境相互作用和不确定性条件纳入设计任务公式，可以产生比现有方法更好的稳健设计方法。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。