Collaborative Research: CPS: Medium: Autonomy of Origami-inspired Transformable Systems in Space Operations

以折纸为灵感的结构利用设计的图案沿折痕折叠平板，以产生可变形的结构，已在科学和工程中广泛应用，特别是在空间行动中，例如用于部署发射卫星上配备的折叠太阳能电池板。虽然变形过程在折纸状态之间的转换中起着至关重要的作用，但很少有研究关注折纸折叠机制的控制和驱动，以实现变形过程的高度自主性。该项目旨在开发一种受折纸启发的自主变形系统，以在需要频繁和/或对时间响应的形状变化的空间操作中实现高性能的变形机动。这项集理论、分析、算法开发和实验验证于一体的综合研究将有助于建立一个理论和实验平台，以促进折纸系统在具有挑战性的环境中操作的自主性。这些研究产品将对日益增长的卫星市场产生重大影响，在这个市场上，需要低质量、小体积和可适应的结构/子系统的空间飞行器。除了在太空任务中的应用，折纸启发的可变形系统在科学和工程中有更广泛的应用。此外，网络和物理领域的专家合作促进了跨学科产品的创造，这些产品架起了不同学科的桥梁。为了实现以折纸为灵感的可变形系统提高自主性的研究目标，确定了四个研究方向，即(1)开发基于网络的多形状折纸结构的建模和设计方法，(2)设计一种保证可控性、可达性和能效的集成传感和控制策略，(3)通过热加载开发可编程的非拴系驱动以实现所设计的控制机动，以及(4)在空间操作任务中评估使用多个折纸结构的自主系统的性能。这些已确定的研究成果将共同有助于建立一个分析和计算框架，以实现折纸变形过程的自主性，从而在未来的空间飞行任务中实现现实世界的应用。从理论上讲，基于网络控制和图形建模的基本分析可以为折纸变形过程在可控性、可达性和能效方面提供严格的控制性能支持。实际上，可编程自由驱动的开发能够在操作约束下生成设计的控制命令。该奖项反映了NSF的法定使命，并通过使用基金会的智力优势和更广泛的影响审查标准进行评估，被认为值得支持。

Origami-inspired structures that fold flat sheets along creases with designed patterns to create transformable structures have been widely applied in science and engineering, especially in space operations, e.g., for deployment of folded solar panels equipped on launched satellites. Although the deformation process plays an essential role in transitions between the origami states, few studies focus on the control and actuation of the origami folding mechanism toward high autonomy of the deformation process. This project aims to develop an autonomous origami-inspired transformable system to enable high-performance deformation maneuvering in space operations requiring frequent and/or time-responsive shape changes. The integrative research incorporating theory, analysis, algorithm development, and experimental verification will contribute to a theoretical and experimental platform to advance the autonomy of origami system operations in challenging environments. The research products will have significant impacts on the proliferated satellite marketplace where low mass, small volume, and adaptable structures/subsystems of space vehicles are in demand. Going beyond the applications in space missions, origami-inspired transformable systems have much broader applications in science and engineering. Moreover, the collaboration of experts in both cyber and physical areas promotes the creation of interdisciplinary products that bridge different disciplines.To achieve the research goal of advancing autonomy of origami-inspired transformable systems, four research thrusts are identified, namely (1) developing a network-based approach for modeling and design of multi-shape origami structures, (2) designing an integrated sensing and control strategy with guaranteed controllability, reachability, and energy efficiency, (3) developing programmable untethered actuation via thermal loading to realize designed control maneuvers, and (4) evaluating the performance of autonomous systems using multiple origami structures in space operation missions. These identified research thrusts will together contribute to an analytical and computational framework for achieving autonomy of the origami deformation process, which will result in real-world applications in future space missions. Theoretically, the fundamental analysis based on networked control and graph modeling can lead to rigorous support of control performance in terms of controllability, reachability, and energy efficiency for the origami deformation process. Practically, the development of programmable untethered actuation enables the generation of designed control commands under operational constraints.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.