权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

NRI: FND: Natural Power Transmission through Unconstrained Fluids for Robotic Manipulation

NRI：FND：通过不受约束的流体进行自然动力传输，用于机器人操作

基本信息

批准号：
2024409
负责人：
Frank Sup
金额：
$ 74.9万
依托单位：
University of Massachusetts Amherst
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2020
资助国家：
美国
起止时间：
2020-09-01 至 2024-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2024409&HistoricalAwards=false
关键词：
NRI FND Natural Power Transmission

项目摘要

This National Robotics Initiative project will promote the progress of science and advance the national health, prosperity and welfare; by studying a novel approach to control the transmission of power from a robot through an unconstrained flow of water to manipulate an object using fluid-structure interaction control strategies and without any other direct contact. In many existing robotic control problems, power is transferred through direct contact with the object to be manipulated. This project focuses on the case of underwater manipulation, where the environment (water) has a significant impact on the overall system performance. In a fluid-based system, interactions between bodies and fluid around them transfer a significant amount of momentum to the water. In this work, an object in water will be controlled by manipulating an upstream structure whose wake can be controlled. The wake of the upstream object will be controlled by forcing it to rotate at a given frequency and angular velocity. Through closed-loop feedback, the desired motion of the downstream object can be obtained by inputting the desired motion of the upstream structure and thus controlling its wake. The approach can be applied to establish a novel method for natural and unconstrained gait training for persons recovering from stroke or injury by naturally assisting their gait using flow forces. Beyond health, extensions of this work can be applied in manufacturing to create new methods for fluid-based material handling and production processes. The project will also motivate and broaden the diversity of the next generation of engineers and scientists through training undergraduate and graduate students and designing and implementing an innovative underwater robotics outreach program for K-12 students. The transformative impact of this work on robotics is enabling a new fluid-based, non-contact manipulation strategy. The work creates new insights in the field of fluid-structure interactions by introducing a closed-loop control method to indirectly impose desired motions of an object placed in the wake of another structure. An “explore-and-exploit” methodology is used to effectively search for parameters in the highly nonlinear system to achieve optimal limit cycle oscillations of a hydrofoil in the wake of a controlled rotating cylinder. The parameters can then be used to design a controller to obtain the desired trajectory for a multi-body system by controlling the rotation rate of an upstream cylinder. With this approach, an underwater robot gait training system is created that can manipulate the power of the existing fluid flow to apply controlled forces to the lower limbs of a person to assist them while walking. The system is supported by new predictive simulations of underwater human gait with fluid-structure interaction dynamics to optimize the interconnected human-robot system. The approach can also be generalized for other applications in underwater robotics for non-contact manipulation using flow forces.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.

这个国家机器人计划项目将促进科学的进步，促进国家的健康，繁荣和福利;通过研究一种新的方法来控制机器人的动力传输，通过不受约束的水流，使用流体结构相互作用控制策略来操纵物体，而没有任何其他直接接触。在许多现有的机器人控制问题中，功率通过与待操纵的对象直接接触来传递。该项目的重点是水下操纵的情况下，环境（水）对整个系统的性能有显着的影响。在基于流体的系统中，物体与周围流体之间的相互作用将大量动量传递给水。在这项工作中，在水中的对象将通过操纵上游的结构，其尾流可以控制控制。上游物体的尾流将通过迫使其以给定的频率和角速度旋转来控制。通过闭环反馈，可以通过输入上游结构的期望运动来获得下游物体的期望运动，从而控制其尾流。该方法可以应用于建立一种新的方法，自然和无约束的步态训练的人从中风或受伤，自然地帮助他们的步态使用流动力。除了健康，这项工作的扩展可以应用于制造业，为基于流体的材料处理和生产过程创造新的方法。该项目还将通过培训本科生和研究生以及为K-12学生设计和实施创新的水下机器人推广计划来激励和扩大下一代工程师和科学家的多样性。这项工作对机器人技术的变革性影响正在实现一种新的基于流体的非接触式操作策略。这项工作通过引入闭环控制方法来间接施加放置在另一个结构的尾流中的物体的所需运动，从而在流体-结构相互作用领域创造了新的见解。一个“探索和利用”的方法是用来有效地搜索参数的高度非线性系统，以实现最佳的极限环振荡的水翼在一个受控旋转圆柱体的尾流。然后，可以使用这些参数来设计控制器，以通过控制上游气缸的旋转速率来获得多体系统的期望轨迹。通过这种方法，创建了一个水下机器人步态训练系统，该系统可以操纵现有流体流的动力，以向人的下肢施加受控力，从而在行走时帮助他们。该系统是由新的预测模拟水下人的步态与流体-结构相互作用动力学，以优化互连的人-机器人系统的支持。该方法也可以推广到水下机器人的其他应用中，用于使用流动力的非接触式操纵。该奖项反映了NSF的法定使命，并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，被认为值得支持。