NRI: Operating in the Abyss: Bringing Together Humans and Bio-Inpsired Autonomous Vehicles for Maritime Applications

NRI：在深渊中运作：将人类和仿生自动驾驶车辆结合起来用于海事应用

基本信息

批准号：
1638034
负责人：
Kamran Mohseni
金额：
$ 60万
依托单位：
University of Florida
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2016
资助国家：
美国
起止时间：
2016-09-01 至 2020-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1638034&HistoricalAwards=false
关键词：
NRI Operating Abyss Bringing Together

项目摘要

The ocean covers about two-thirds of the planet's surface, drives weather, regulates temperature, produces about half of the oxygen in the atmosphere, absorbs most carbons from the atmosphere, and ultimately supports all living organisms on Earth. Furthermore, the ocean has been essential to humans for commerce, transport, food, and sustenance. Nevertheless, 95% of the ocean remains unexplored, and the long term impact of natural or man-made changes on the health of the planet and its occupants are far from understood. This investigation is aimed at addressing some of the challenges in the design and operation of a sustained networked robotic system for monitoring and exploring the vast ocean in cooperation with or in replacement for humans. This project proposes research that will fill the knowledge gap in underwater hybrid robotics, effective navigation and coordination of a team of robots with significant constraints and limited resources, and path planning for a team of robots in harsh mediums and with restricted resources.The proposed hybrid robotic system takes inspiration from marine animals, with a healthy balance between migratory capabilities and accurate maneuvering in proximity of obstacles. The robot will be outfitted with a distributed pressure and surface velocity sensors to provide total hydrodynamic forces for vehicle control and vortex street identification for obstacle detection. Novel underwater robotic actuators are also proposed and will be employed in the design and operation of a hybrid class of underwater robot with efficient high speed cruising and precise low speed maneuvering capabilities required in many marine applications. These new sensing and actuation capabilities facilitate safe co-operation of robots with humans in the ocean and in proximity of obstacles, humans, and other robots. Availability of such new sensory information and actuation capabilities will also result in a paradigm shift in our approach to vehicle control, path planning, and cooperation. To this end new algorithms will be developed and tested in simulations and experiments in a well-equipped underwater laboratory. The system capability to maximize its contribution as human assistants or replacements in existing and emerging marine applications will be explored.

海洋覆盖了地球表面的大约三分之二，驱动天气，调节温度，产生大约一半的氧气，吸收大多数碳中的碳，并最终支持地球上的所有生物体。此外，海洋对于人类对于商业，运输，食物和寄托而言至关重要。然而，95％的海洋仍然没有探索，自然或人为变化对地球及其居民健康的长期影响远未被理解。这项调查旨在应对持续网络机器人系统的设计和操作中的一些挑战，用于监测和探索与人类合作或替代人类的广阔海洋。该项目提出的研究将填补水下混合机器人技术的知识差距，有效的导航和协调的机器人团队具有巨大的限制和有限的资源，以及在苛刻的媒介和受限资源中为机器人组合的路径计划。拟议中的混合机器人系统从海上动物进行了启发，并具有健康的平衡能力之间的灵感，可以在范围内进行健康的能力和准确的工具。该机器人将配备分布式压力和表面速度传感器，以提供用于车辆控制和涡流街识别的总流体动力以进行障碍物检测。还提出了新型的水下机器人致动器，并将用于混合型水下机器人的设计和操作，并在许多海洋应用中需要有效的高速巡航和精确的低速操纵能力。这些新的感应和驱动能力促进了机器人与人类在海洋中的安全合作以及障碍，人类和其他机器人的距离。此类新的感官信息和驱动功能的可用性也将导致我们的车辆控制，路径计划和合作方法的范式转变。为此，将在设备齐全的水下实验室中开发和测试新算法。将探索作为人类助手或现有海洋应用程序中的人类助手或替换的系统能力。