I-Corps: Tethered Heterogeneous Unmanned Aerial and Ground System for Autonomous Targeted Distribution of Fluid Delivery

I-Corps：用于自主定向流体输送分配的系留异构无人机和地面系统

• 批准号: 1950161
• 负责人: Liang Sun
• 金额: $ 5万
• 依托单位: New Mexico State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-09-15 至 2020-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1950161&HistoricalAwards=false
• 关键词: Corps; Tethered; Heterogeneous; Unmanned; Aerial

The broader impact/commercial potential of this I-Corps project focuses on the development of an intelligent robotic platform that offers secured, persistent, reliable, and autonomous solutions to time-consuming, complicated, and costly tasks of spraying fluid onto targeted areas, such as precision agriculture, private and public safety, utility inspection, search and rescue, telecommunication, traffic monitoring, news gathering, and defense. The technology provides a way to autonomously apply fluid (i.e., air or liquid) onto a specified large space or to pinpoint adaptively the areas that need to be targeted specifically. The technology offers 1) long-duration operation time and fast data processing using the uninterrupted power and data transmission provided by the tether in conjunction with the hose, 2) the intelligent coordination among physically-connected components (i.e., the aerial robot, hose, and ground subsystem), and 3) the machine learning/AI-based autonomous sensing, decision-making, data analytics, self-localization, navigation, and control capabilities. In addition, this platform provides a safety solution to the failure of control and power systems of the aerial robot. This I-Corps project will be an autonomous aerial robotic system towing a flexible hose connected to a mobile ground subsystem to provide autonomous, persistent, robust, and precision hosing capabilities. This system is uniquely designed and developed by applying rigid-body-dynamics theory, fluid-dynamics theory, control/estimation theory, machine-learning/artificial-intelligent (ML/AI) technologies, and rigorous design, fabrication, and testing processes. The success of this technology will advance the knowledge and understanding in fluid-dynamics, modeling, decision making, and control of towed-hose/tethered drone systems. The development of the self-localization and autonomous control algorithms are based on the sophisticated system dynamics that has not been well explored before. In addition, the pressure of fluid flowing through the hose and its effects on the dynamics of the holistic system have not been investigated, nor the data-driven ML/AI-based guidance, coordination, and control techniques for such systems. In previous studies and development via theoretical inference, software simulations, and lab experimental tests, this technology has shown its promising capabilities of self-localization and self-stabilization/control using only onboard commercial off-the-shelf (COTS) sensors.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.

该I-Corps项目的更广泛的影响/商业潜力着重于开发一个智能机器人平台，该平台为耗时，持久，可靠和自主的解决方案提供了耗时，复杂且代价高昂的任务，将流体喷涂到有针对性的领域，例如精确的农业，私人和公共安全，公用事业，公用事业，搜索，搜索和求职，远程宣布和求职，访问，访问，访问，访问，交易，访问，访问，访问。该技术提供了一种自主将流体（即空气或液体）施加到指定的大空间上或适应需要专门针对的区域的方法。该技术提供1）长期操作时间和快速数据处理，使用束缚与软管结合提供的不间断的功率和数据传输，2）物理连接组件之间的智能协调（即，空中机器人，软管，软管，软管和地面子系统），以及基于机器学习/AI基于机器的自动启动，数据分析，分析，分析，分析，分析，分析，分析，分析，并分析了自动数据。功能。此外，该平台为空中机器人的控制和电源系统的故障提供了安全解决方案。这个I-Corps项目将是一个自动空中机器人系统，该机器人系统拖曳连接到移动地面子系统的柔性软管，以提供自主，持久，稳健和精确的海洋功能。该系统是通过应用僵化的动力学理论，流体动力学理论，控制/估计理论，机器学习/人工智能（ML/AI）技术以及严格的设计，制造，制造和测试过程来独特设计和开发的。这项技术的成功将提高流体动力学，建模，决策和控制牵引软管/束缚无人机系统的知识和理解。自定位和自主控制算法的开发基于以前尚未探索的复杂系统动力学。此外，尚未研究流过软管的流体压力及其对整体系统动力学的影响，也没有研究基于数据驱动的ML/AI的指导，协调和控制技术。在通过理论推断，软件模拟和实验室实验测试的先前研究和开发中，该技术显示了其自我定位和自稳定化/控制/控制能力的有希望的能力/仅使用板载商业现成（COTS）传感器。这项奖项反映了NSF的法定任务，并通过对基础的智力进行了评估，并被认为是值得评估的智力和宽阔的范围。