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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.

由于关键任务细节的高度不确定性，例如要操纵的对象的形状或大小或操作环境，许多任务难以自动化。即使有可能设计机器人系统来完成这样的任务，所得到的系统也可能太昂贵和/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行业的劳动密集型奋进，因为操作环境的可变性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。这个教师早期职业发展计划（CAREER）奖支持基础研究，以推进机械系统设计在这种情况下。这项研究将导致一种新的几何设计方法，导致强大的机械系统和运动路径的不确定的操作环境和操纵不确定的对象。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健康和繁荣。一个创新的教育计划将创建一个跨学科的研究为导向的课程，为低年级本科生在少数民族服务机构，通过以机器人为主题的暑期项目吸引女高中生，并开展活动，以促进代表性不足的社区大学生向四个-该职业奖将稳健的几何设计原理应用于机械系统，以解释机械对象/环境相互作用和不确定性：现有设计方法中没有明确捕获的两个关键焦点。在这种情况下，不确定性是指对象/环境几何形状和/或可实现的机构运动路径的变化。研究结果将产生一个新的框架与不确定的对象/环境的相互作用机制的设计。这将通过一般机制-环境接触几何模型制定及其验证来实现。设计框架将通过设计和实验测试与行业相关的机械和生物医学工程领域的展示原型进行评估。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的制定结果在一个强大的设计方法，是优于现有的approaches.This奖项反映了NSF的法定使命，并已被认为是值得通过使用基金会的智力价值和更广泛的影响审查标准进行评估的支持。