MRI: Acquisition of Two REMUS Autonomous Underwater Vehicles for Multiple Cooperative Marine Vehicle Research

MRI：采购两台 REMUS 自主水下航行器用于多种合作海洋航行器研究

• 批准号: 0923031
• 负责人: Edgar An
• 金额: $ 70.08万
• 依托单位: Florida Atlantic University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2009
• 资助国家: 美国
• 起止时间: 2009-09-01 至 2014-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0923031&HistoricalAwards=false
• 关键词: MRI; Acquisition; Two; REMUS; Autonomous

Proposal #: CNS 09-23031 PI(s): An, Edgar Beaujean, Pierre-Philippe J.; Xiros, Nikolaos I.Institution: Florida Atlantic University Title: MRI/Acq.: Two REMUS Autonomous Underwater Vehicles for Multiple Cooperative Marine Vehicle ResearchProject Proposed:This project, acquiring two REMUS 100 autonomous underwater vehicles (AUVs), addresses the research challenge of multiple cooperating vehicles systems (MCVS), which involves a fleet of AUVs and autonomous safety vehicles (ASVs). Since successful operation of any MCVD often rests upon efficient communication among the vehicles, the dynamic mission planning problem (including search and classify and mapping capabilities) is studied utilizing a fleet of heterogeneous AUVs and ASVs. This challenging problem, considering underwater acoustic communication, navigation, and sensing constraints, differs from those usually studied and reported in the underwater literature. The work is contrasted to unmanned aerial or ground vehicles in which communication and navigation capabilities are generally NOT considered significant bottlenecks. The project capitalizes on two previous NSF achievements:- An underwater vehicle network simulatorsand- A location aware source routing (LASR) protocol developed for multiple communicating AUVs subject to realistic underwater communication constraints.Nonlinear and stochastic variations with the environmental conditions and sensor characteristics are expected. Because a closed form solution for an optimal controller design is not anticipated, given that control performance tends to be cost-prohibitive, when completely via experimentation. Hence, given the wide range of mission and environmental scenarios and controller objectives, the problem will be studied combining modeling, simulation, and experimentation. Some of the simulated results will be validated by carrying out targeted at-sea field experiments using the instrumentation. Local cost definitions will be explored as a means to constrain individual vehicle?s maneuvering and cooperation. Attention is paid to maximizing the overall mission efficiency while minimizing the impact of uncertainty. Expectations include development of:- An advanced event-base planning and control algorithms to improve robustness of communication and navigation uncertainty, throughput, and bandwidth efficiency,- An advanced multiple cooperating vehicle modeling software to support mission performance analysis, and - A science base for multiple AUVs and undersea acoustic networks.Broader Impacts: The research problems constitute ideal topics for theses and dissertations. This multidisciplinary field will be integrated into the existing course curriculum, providing valuable theoretical and simulation knowledge to the students, as well as hands-on experiences. Using underwater robotics as a primary domain application, the existing effort, sustaining the teachers and students with interest in math and science, will be continued giving special consideration to female and underrepresented groups. Workshops, competitions, and summer classes are also planned to expose students the logistics of marine vehicles. The understanding gain is likely to provide insights to the U.S. Navy for missions using a fleet of autonomous underwater vehicles to better search and classify in homeland security missions.

提案＃：CNS 09-23031 PI（S）：An，Edgar Beaujean，Pierre-Philippe J。； Xiros, Nikolaos I.Institution: Florida Atlantic University Title: MRI/Acq.: Two REMUS Autonomous Underwater Vehicles for Multiple Cooperative Marine Vehicle ResearchProject Proposed:This project, acquiring two REMUS 100 autonomous underwater vehicles (AUVs), addresses the research challenge of multiple cooperating vehicles systems (MCVS), which involves a fleet of AUVs and autonomous safety vehicles （ASV）。由于任何MCVD的成功操作通常都取决于车辆之间有效的沟通，因此使用异构的AUV和ASV舰队研究了动态的任务计划问题（包括搜索，分类和映射功能）。考虑到水下声音通信，导航和传感限制，这个具有挑战性的问题与在水下文献中通常研究和报告的问题不同。这项工作与无人机或地面车辆形成了鲜明的对比，在这些空中或地面车辆中，通信和导航能力通常不被视为重要的瓶颈。该项目利用了以前的两个NSF成就： - 水下车辆网络模拟器，且位置意识源路由（LASR）协议为多种通信的AUV开发了，这些AUV受到现实的水下通信约束，nonninlinear和与环境条件和传感器特征的nonnonlinear和随机变化。因为在完全通过实验时，由于控制性能趋于成本良好，因此不会预料到最佳控制器设计的封闭形式解决方案。因此，鉴于任务和环境方案和控制器目标的广泛，将研究该问题结合建模，仿真和实验。一些模拟结果将通过使用仪器进行针对的AT-SEA场地实验来验证。当地成本定义将被探讨，以限制单个车辆的操纵与合作。注意最大化整体任务效率的注意力，同时最大程度地减少不确定性的影响。期望包括： - 一种先进的事件基础计划和控制算法，以提高沟通和导航不确定性，吞吐量和带宽效率的鲁棒性，这是一种高级多个合作的车辆建模软件来支持任务绩效分析，以及用于多个AUV的科学基础，用于多个AUV和局部局部性网络的科学基础。这个多学科领域将集成到现有的课程课程中，为学生提供有价值的理论和模拟知识以及动手的经验。将水下机器人技术作为主要领域应用，现有的努力，维持对数学和科学感兴趣的教师和学生，将继续特别考虑女性和代表性不足的群体。还计划为学生揭露学生车辆的后勤工作。理解收益很可能为美国海军提供了使用一支自动驾驶水下车辆的武器，以更好地进行搜索和分类。