Information Flow in a Heterogeneous Distributed System: Biomimetic Approaches to Embedded Coordinated Control

ITR：异构分布式系统中的信息流：嵌入式协调控制的仿生方法提案号：NSF-0313250PI: Kristi a . MorgansenCoPI: Julia K. ParrishCoPI: Daniel grunbaum本项目的工作重点是开发系统级仿生控制理论模型和运动控制算法。具体来说，这些工具将用于解决以生物系统（鱼群）为模型的多个水下机器人的嵌入式紧急协调行为。当单个元素的动态不均匀但允许不均匀，并且有意修改为控制参数时，我们将解决如何通过局部感知影响协调群体中的信息传输的限制。这项工作中使用的方法从根本上整合了生物学和工程学的技术和工具，其结果在广泛的应用中具有很高的影响力。在这个项目中，将解决的特殊应用是混合鱼群的紧急行为，以及以矢状运动方式推进的自主水下航行器的协调控制。本研究的长期目标是(1)了解集体如何根据输入（感官系统）和个体交互规则收集和处理信息，以及(2)设计集体系统来完成目前自动驾驶汽车系统无法实现的广泛任务。在这项工作中使用的工程和生物学之间的跨学科方法不仅为基础科学的进步提供了广泛的机会，而且为两个学科内部和之间的教育提供了广泛的机会。这里描述的项目的初始阶段已经被证明对来自一系列工程学科的研究生和本科生感兴趣。随着工作的进展，生物学和工程学之间的联系将通过在工程和科学入门课程中引入的材料、研究成果的传播以及类似的方式来发展，以积极影响公众对工程和生物学对社会问题的影响的看法和认识。

ITR: Information Flow in a Heterogeneous Distributed System: Biomimetic Approaches to Embedded Coordinated ControlProposal number: NSF-0313250PI: Kristi A. MorgansenCoPI: Julia K. ParrishCoPI: Daniel GrunbaumThe work in this project focuses on the development of systems-level biomimetic control-theoretic models and motion control algorithms. Specifically these tools will be used to address embedded, emergent coordinated behavior of multiple underwater robots using biological systems (fish schools) as models. We will address the limits of how information transmission in coordinated groups can be effected through local sensing when the dynamics of the individual elements are not homogeneous but are allowed to be nonuniform and additionally are intentionally modified to act as control parameters. The methods to be used in this work fundamentally integrate techniques and tools from both biology and engineering, and the results have the potential for high impact in a broad range of applications. The particular applications that will be addressed in this project are emergent behaviors in mixed species schools of fish and coordinated control of autonomous underwater vehicles propelled in the carangiform style of locomotion. The long-term goals of this research are (1) an understanding of how collectives can gather and process information depending on inputs (sensory systems) and rules of individual interaction, and (2) design of collective systems to accomplish a wide range of tasks not currently feasible with autonomous vehicle systems. The interdisciplinary approach between engineering and biology used in this work provides a broad range of opportunities not only for advances in basic science but also for the purpose of education within and between the two disciplines. The initial stages of the program described here have already proven to be of interest to graduate and undergraduate students from a range of engineering disciplines. As the work progresses, stronger ties between biology and engineering will be developed through material introduced in introductory engineering and science courses, dissemination of research results, and similar means to positively influence general public perception and awareness of the impact of engineering and biology on societal concerns.