Super-Realtime Dynamic Simulation of Multiple-Chain Robotic Systems

多链机器人系统的动态仿真，如多个 多足车辆的机械手，计算复杂 涉及大量重复的矩阵求逆， 三角函数求值 "超实时"计算 模拟速率（以毫秒为单位规划运动秒数）为 预测系统响应所需的参数，以便确定 协调/控制策略，以确保安全和稳定， 优化规划的轨道。 我们相信，动力学方程的并行算法可以 这将大大加快模拟速度， 系统响应的实时预测将是可能的。 电 俄亥俄州州立大学的工程系将购买一台 32-节点适合开发并行算法。 实际上 递归加倍形式的动力学方程可以直接映射到 超立方体 动力学方程是已知的，但超立方体是 一种新的计算系统，只有有限的软件可供使用。 这个加速奖的小说研究将充分利用， 这台新的并行计算机来测试并行算法的可行性 实时系统仿真。 机构支持充分，PI良好 有资格的，我建议支持。

Dynamic simulation of multi-chain robotic systems, such as multiple manipulators for multilegged vehicles, is computationally complex involving a large number of repetitive matrix inversions and trigonometric function evaluations. "Super-realtime" computational rates for simulation (planning seconds of motion in milliseconds) are needed for predicting the response of the system in order to determine the coordination/control strategies to ensure safety and stability while optimizing the planned trajectory. It is believed that parallel algorithms for the dynamical equations can be developed which will significantly speed up simulation so that realtime prediction of system response will be possible. The Electrical Engineering Department of the Ohio State University will be purchasing a 32-node suitable for developing parallel algorithms. In fact, the dynamical equations in the recursive doubling form may map directly onto the hypercube. The dynamical equations are known, but the hypercube is a new computational system for which only limited software is available. This Expedited Award for Novel Research will take full advantage for this new parallel computer to test the viability of parallel algorithms for realtime system simulation. The institutional support is adequate and the PI is well qualified, I recommend support.