Elements: Elastica - A software ecosystem for modeling, simulation, design, and control of soft, compliant, and heterogenous structures interacting with their environment

元素：Elastica - 一个软件生态系统，用于对与其环境交互的软性、合规性和异构结构进行建模、仿真、设计和控制

• 批准号: 2209322
• 负责人: Mattia Gazzola
• 金额: $ 60万
• 依托单位: University of Illinois at Urbana-Champaign
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-08-15 至 2025-07-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2209322&HistoricalAwards=false
• 关键词: Elements; Elastica; software; ecosystem; modeling

This Cyberinfrastructure for Sustained Scientific Innovation (CSSI) project seeks to establish Elastica as a best-in-class, open source, and ready-to-use ecosystem for the simulation, analysis, design, and control of complex structures made of elastic, slender elements. The goal is to enable researchers to make inroads in three knowledge gaps identified as foundational and of national strategic importance: (1) scarcity of rigorous modeling and engineering design methods for continuum, compliant and configurable structures, devices and robots; (2) paucity of control methods able to effectively coordinate the virtually infinite degrees of freedom that characterize these distributed systems; (3) lack of models and design methods specialized to biomaterials to be incorporated in living biological machines, connecting full circle to the first point. This project will result in a versatile computing framework that tackles a unique set of problems at the intersection of biology, robotics and control, thus increasing competitiveness in manufacturing via advanced computational methods. This effort is complemented by a strong outreach component. Indeed, applications of Elastica to animal locomotion and biological robots have great potential to capture the imagination of a broad, especially younger audience. By highlighting the natural world connection, curiosity and creativity will be fostered, drawing attention to math, physics, biology and advanced computing. Particularly, the paper2tree project that involves local, underrepresented communities in planting trees associated to scientific discoveries, will be leveraged to engage elementary-school students.Within this context, this effort will augment Elastica’s modeling capabilities and solution methods, aiming at tens-of-teraflops to petaflops-grade simulations entailing millions of rods in complex environments. Concurrently, to maximize adoption and impact, a cyberinfrastructure ecosystem of pre/post processing tools and interfaces, organized in easily customizable pipelines, will be created. A structured project plan focused on science, computing, and cyberinfrastructure innovation will deliver: (i) A scalable, versatile, and efficient Cosserat rod solver that incorporates a variety of material models and environmental interface conditions, and that can run on a range of computing architectures from desktops to heterogeneous computing clusters; (ii) Benchmarked and verified discipline-specific modules of prebuilt primitives relevant to address the identified knowledge gaps above; (iii) A suite of both pre/postprocessing tools to assist in setting up domain-specific workflows. Throughout, open science and users/developers support will be core, to accelerate adoption, foster impact and catalyze innovation.This award by the Office of Advanced Cyberinfrastructure is jointly supported by the Division of Civil, Mechanical and Manufacturing Innovation within the Directorate for Engineering.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Cyberinfrastructure for Sustained Scientific Innovation（CSSI）项目旨在将Elastica打造成一流的、开源的、随时可用的生态系统，用于对由弹性细长元件组成的复杂结构进行仿真、分析、设计和控制。其目标是使研究人员能够在三个知识缺口中取得进展，这些知识缺口被认为是基础性的和具有国家战略重要性的：（1）缺乏严格的建模和工程设计方法，用于连续体，顺应性和可配置的结构，设备和机器人;（2）缺乏能够有效协调这些分布式系统所特有的几乎无限自由度的控制方法;（3）缺乏将生物材料纳入活体生物机器的专门模型和设计方法，将整个循环连接到第一点。该项目将产生一个多功能的计算框架，解决生物学，机器人和控制交叉点的一系列独特问题，从而通过先进的计算方法提高制造业的竞争力。这一努力得到了强有力的外联工作的补充。事实上，Elastica在动物运动和生物机器人上的应用有很大的潜力来吸引广大观众，尤其是年轻观众的想象力。通过突出自然世界的联系，好奇心和创造力将得到培养，吸引人们对数学，物理，生物和先进计算的关注。特别是paper 2 tree项目，该项目涉及当地未被充分代表的社区种植与科学发现相关的树木，将被利用来吸引小学生。在此背景下，这一努力将增强Elastica的建模能力和解决方案方法，旨在实现数十万亿次到千万亿次级的模拟，在复杂环境中需要数百万个棒。同时，为了最大限度地提高采用率和影响力，将创建一个由预/后处理工具和界面组成的网络基础设施生态系统，并以易于定制的管道组织起来。一个结构化的项目计划，重点是科学，计算和网络基础设施创新将提供：（一）一个可扩展的，多功能的，高效的Cosserat棒解算器，包括各种材料模型和环境界面条件，并可以运行在一系列计算架构，从桌面到异构计算集群; ㈡与解决上述已查明的知识差距有关的预先建立的原语的基准化和经过验证的特定学科模块; ㈢一套预处理/后处理工具，以协助建立特定领域的工作流程。在整个过程中，开放科学和用户/开发人员的支持将是核心，以加速采用，促进影响和催化创新。高级网络基础设施办公室的这一奖项由民用部门，工程理事会内的机械和制造创新。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评估被认为值得支持。影响审查标准。

项目成果

Hierarchical Control and Learning of a Foraging CyberOctopus

• DOI: 10.1002/aisy.202300088
• 发表时间: 2023-02
• 期刊: Advanced Intelligent Systems
• 影响因子: 7.4
• 作者: Chia-Hsien Shih;Noel M. Naughton;Udit Halder;Heng-Sheng Chang;Seungchan Kim;R. Gillette;P. Mehta;M. Gazzola

Remote control of muscle-driven miniature robots with battery-free wireless optoelectronics

• DOI: 10.1126/scirobotics.add1053
• 发表时间: 2023-01-25
• 期刊: SCIENCE ROBOTICS
• 影响因子: 25
• 作者: Kim, Yongdeok;Yang, Yiyuan;Bashir, Rashid
• 通讯作者: Bashir, Rashid