CRI: II-New: Infrastructure for Robust Interactive Underground Robots

CRI：II-新：强大的交互式地下机器人基础设施

• 批准号: 1823245
• 负责人: Thomas Williams
• 金额: $ 45.11万
• 依托单位: Colorado School of Mines
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2018
• 资助国家: 美国
• 起止时间: 2018-08-15 至 2023-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1823245&HistoricalAwards=false
• 关键词: CRI; II; New; Infrastructure; Robust

The global community is increasingly exploring underground environments for sustainable and resilient solutions to societal problems. New opportunities and challenges in water access, quality, and storage, geothermal energy, and carbon sequestration collectively point to underground environments as the next frontier. Underground environments are, however, notoriously hazardous for humans; accordingly, inspecting underground environments and performing rescues during underground catastrophes is essential to achieve this new underground frontier. The proposed infrastructure will support research in human-robot teaming, networking, planning, and human-robot interaction, as well as collaborative research with other researchers in other fields and application-driven research into underground information collection, monitoring, surveying, rescue, and crisis management. The proposed infrastructure will also be used for community outreach programs, through workshops, presentations, and partnerships with area K-12 after-school programs.The proposed infrastructure will provide a team of heterogeneous robots for deployment in underground environments, as well as sensors, networking equipment, and augmented reality headsets to facilitate their effective use. This infrastructure will support the institutional theme of research on underground environments, including underground inspection and search and rescue applications. This infrastructure will include amphibious, ground, and aerial robots; robotic arms and grippers to be mounted on ground robots; augmented reality headsets designed for safety-critical domains; visual, range, and audio sensors; and networking equipment. These hardware elements will be integrated together and deployed within the Edgar Mine, an underground research and evaluation facility owned and operated by the Colorado School of Mines.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

国际社会越来越多地探索地下环境，以寻求可持续和有弹性的社会问题解决方案。水的获取、质量和储存、地热能和碳封存方面的新机遇和挑战共同表明地下环境是下一个前沿领域。然而，地下环境对人类来说是非常危险的。因此，在地下灾难期间检查地下环境并进行救援对于实现这一新的地下前沿至关重要。拟议的基础设施将支持人机协作、网络、规划和人机交互方面的研究，以及与其他领域其他研究人员的协作研究，以及地下信息收集、监测、测量、救援和应用驱动的研究。危机管理。拟议的基础设施还将通过研讨会、演示以及与 K-12 地区课后项目的合作，用于社区外展计划。拟议的基础设施将提供一组用于在地下环境中部署的异构机器人以及传感器、网络设备和增强现实耳机，以促进其有效使用。该基础设施将支持地下环境研究的机构主题，包括地下检查和搜救应用。该基础设施将包括两栖、地面和空中机器人；安装在地面机器人上的机械臂和夹具；专为安全关键领域设计的增强现实耳机；视觉、范围和音频传感器；和网络设备。这些硬件元件将集成在一起并部署在埃德加矿内，埃德加矿是科罗拉多矿业学院拥有和运营的地下研究和评估设施。该奖项反映了 NSF 的法定使命，并被认为值得通过使用基金会的智力优势进行评估来支持以及更广泛的影响审查标准。

项目成果

Robot-generated Mixed Reality Gestures Improve Human-Robot Interaction

机器人生成的混合现实手势改善人机交互

• DOI: 10.1007/978-3-030-90525-5_69
• 发表时间: 2022-01
• 期刊: International Conference on Social Robotics (Brief Research Reports
• 作者: Tran, Nhan;Grant, Trevor;Phung, Thao;Hirshfield, Leanne;Wickens, Christopher;Williams, Tom
• 通讯作者: Williams, Tom

Robust and efficient forward, differential, and inverse kinematics using dual quaternions

使用双四元数实现稳健且高效的正向、微分和反向运动学

• DOI: 10.1177/0278364920931948
• 发表时间: 2020-07-20
• 期刊: The International Journal of Robotics Research
• 作者: Neil T. Dantam

Regularized Graph Matching for Correspondence Identification under Uncertainty in Collaborative Perception

协作感知不确定性下的正则化图匹配对应识别

• DOI: 10.15607/rss.2020.xvi.012
• 发表时间: 2020-07-12
• 期刊: Robotics: Science and Systems XVI
• 作者: Peng Gao;Rui Guo;Hongsheng Lu;Hao Zhang
• 通讯作者: Hao Zhang

Representing Multi-Robot Structure through Multimodal Graph Embedding for the Selection of Robot Teams

通过多模态图嵌入表示多机器人结构以选择机器人团队

• DOI: 10.1109/icra40945.2020.9197389
• 发表时间: 2020-03-26
• 期刊: 2020 IEEE International Conference on Robotics and Automation (ICRA)
• 作者: Brian Reily;Christopher M. Reardon;Hao Zhang
• 通讯作者: Hao Zhang

Exploring Mixed Reality Robot Communication Under Different types of Mental Workload

探索不同类型脑力负荷下的混合现实机器人通信

• DOI: 10.31219/osf.io/f3a8c
• 发表时间: 2020-01
• 期刊: and Mixed Reality for Human-Robot Interaction
• 作者: Tran, Nhan;Mizuno, Kai;Grant, Trevor;Phung, Thao;Hirshfield, Leanne;Williams, Tom
• 通讯作者: Williams, Tom