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.

海洋覆盖了地球约三分之二的表面，驱动天气，调节温度，产生大气中约一半的氧气，吸收大气中的大部分碳，并最终支持地球上的所有生物体。此外，海洋对于人类的商业、运输、食物和生计至关重要。然而，95% 的海洋仍未被探索，自然或人为变化对地球及其居住者健康的长期影响尚不清楚。这项研究旨在解决持续网络机器人系统的设计和操作中的一些挑战，该系统用于与人类合作或替代人类来监测和探索广阔的海洋。该项目提出的研究将填补水下混合机器人技术的知识空白，对具有重大约束和有限资源的机器人团队进行有效导航和协调，以及在恶劣介质和资源有限的情况下对机器人团队进行路径规划。机器人系统从海洋动物中汲取灵感，在迁徙能力和接近障碍物的精确机动之间实现健康平衡。该机器人将配备分布式压力和表面速度传感器，为车辆控制提供总水动力，并为障碍物检测提供涡街识别。还提出了新型水下机器人执行器，并将用于混合类水下机器人的设计和操作，该机器人具有许多海洋应用所需的高效高速巡航和精确的低速机动能力。这些新的传感和驱动功能有助于机器人与人类在海洋以及障碍物、人类和其他机器人附近的安全合作。这种新的感知信息和驱动能力的可用性也将导致我们的车辆控制、路径规划和合作方法发生范式转变。为此，将在设备齐全的水下实验室中通过模拟和实验来开发和测试新算法。将探索系统在现有和新兴海洋应用中作为人类助手或替代者的贡献最大化的能力。