ITR/AP+SI: Real-Time Spatio-Temporal Interfaces for Remote Oceanographic Exploration with Underwater Robotic Vehicles

ITR/AP SI：水下机器人车辆远程海洋勘探的实时时空接口

• 批准号: 0112737
• 负责人: Louis Whitcomb
• 金额: $ 48.33万
• 依托单位: Johns Hopkins University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2001
• 资助国家: 美国
• 起止时间: 2001-10-01 至 2006-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0112737&HistoricalAwards=false
• 关键词: ITR; AP+SI; Real; Time; Spatio

AbstractROVs, AUVs and other submarine robotic systems deliver quantitative data from sensors at a huge and escalating rate. Usually these data are stored for later processing and are viewed in real time as numbers flashing by on a screen. What is needed is a way to utilize these data more fully in real time to optimize the use of robotic vehicles for science. This proposal explores three ways of making progress on this goal. 1) develop interactive 3-D graphic interfaces for data display, 2) develop sensor-based macros for performing routine tasks such as surveys, docking, obstacle avoidance and other functions, 3) Test the effect on mission performance of prioritizing data transmission over low-bandwidth acoustic channels, These will be developed on full-scale dynamically positioned vehicles and will extend the present capabilities of underwater robotic vehicles for more difficult and complex tasks.

摘要 ROV、AUV 和其他海底机器人系统以巨大且不断升级的速度从传感器提供定量数据。通常，这些数据会被存储以供以后处理，并以屏幕上闪烁的数字形式实时查看。我们需要一种更充分地实时利用这些数据的方法，以优化机器人车辆在科学中的使用。该提案探讨了在这一目标上取得进展的三种方法。 1) 开发用于数据显示的交互式 3D 图形界面，2) 开发基于传感器的宏来执行常规任务，例如测量、对接、避障和其他功能，3) 测试优先考虑数据传输而不是低速传输对任务性能的影响-带宽声学通道，这些将在全尺寸动态定位车辆上开发，并将扩展水下机器人车辆的现有能力，以执行更困难和复杂的任务。