CPS: Synergy: Collaborative Research: Mutually Stabilized Correction in Physical Demonstration

目标：一个人应该被允许在多大程度上与受控机器互动？如果这台机器是安全关键的，如果监督它的操作的计算机对它的操作和安全是必不可少的，那么答案可能是，这个人根本不应该被允许干扰它的操作，或者是非常少的。此外，这个人是新手还是专家很重要。智力优势：这项研究在算法上解决了安全需求和性能需求之间的矛盾，人可能比机器更擅长改进这一点。结合数值方法、系统论、机器学习、人机界面、最优控制和形式验证等技术，本研究将开发一种可计算的信任概念，使嵌入式系统能够评估一个人所提供的指令的安全性。与机器交互的界面也很重要；使用键盘为安全关键型系统设计动作可能会因为其局限性而不直观，并导致不安全的命令，而其他界面可能更直观，但会威胁系统的稳定性，因为人不了解系统的需求。因此，这个人需要在一段时间内建立对机器的信任，研究的最后一部分将包括通过验证一个人提供的指令的安全性来评估他的表现。随着这个人变得更擅长安全操作，她将被赋予更多的权力来控制机器，同时永远不会让系统处于危险之中。广泛的影响：活动将包括拓展、开发公共领域软件、实验课程工作，包括两个大规模的在线课程，以及技术转移到康复。外展将包括在科学与工业博物馆展出展品，以及与市中心的一所高中合作。即将开发的算法将对芝加哥康复研究所的项目产生立竿见影的影响，包括辅助设备、中风评估和神经肌肉手控制。为信任科学提供基础有可能改变康复研究。

Objective: How much a person should be allowed to interact with a controlled machine? If that machine is safety critical, and if the computer that oversees its operation is essential to its operation and safety, the answer may be that the person should not be allowed to interfere with its operation at all or very little. Moreover, whether the person is a novice or an expert matters. Intellectual Merit: This research algorithmically resolves the tension between the need for safety and the need for performance, something a person may be much more adept at improving than a machine. Using a combination of techniques from numerical methods, systems theory, machine learning, human-machine interfaces, optimal control, and formal verification, this research will develop a computable notion of trust that allows the embedded system to assess the safety of the instruction a person is providing. The interface for interacting with a machine matters as well; designing motions for safety-critical systems using a keyboard may be unintuitive and lead to unsafe commands because of its limitations, while other interfaces may be more intuitive but threaten the stability of a system because the person does not understand the needs of the system. Hence, the person needs to develop trust with the machine over a period of time, and the last part of the research will include evaluating a person's performance by verifying the safety of the instructions the person provides. As the person becomes better at safe operation, she will be given more authority to control the machine while never putting the system in danger.Broader Impacts: The activities will include outreach, development of public-domain software, experimental coursework including two massive online courses, and technology transfer to rehabilitation. Outreach will include exhibits at the Museum of Science and Industry and working with an inner-city high school. The algorithms to be developed will have immediate impact on projects with the Rehabilitation Institute of Chicago, including assistive devices, stroke assessment, and neuromuscular hand control. Providing a foundation for a science of trust has the potential to transform rehabilitation research.