STTR Phase I: Asymmetric Propulsion for Enhancing Marine Maneuverability

STTR 第一阶段：增强海上机动性的非对称推进

• 批准号: 2026230
• 负责人: Jeffrey Kaeli
• 金额: $ 25.58万
• 依托单位: ARMADA MARINE ROBOTICS, INC.
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2020
• 资助国家: 美国
• 起止时间: 2020-08-01 至 2021-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2026230&HistoricalAwards=false
• 关键词: STTR; Phase; Asymmetric; Propulsion; Enhancing

The broader impact/commercial potential of this Small Business Technology Transfer (STTR) Phase I project will enhance technological understanding of Asymmetric Propulsion, which will in turn enhance scientific understanding of the oceans. Asymmetric Propulsion uses a single-bladed propeller to both move and steer an Autonomous Underwater Vehicle (AUV). In addition to eliminating the need for control fins, reducing cost and complexity, and increasing efficiency, it can also allow AUVs to hold station over objects of interest. This capability has numerous scientific, military, and commercial applications because it allows the same robot to perform large-area surveys and then hold station over specific objects and perform close-up inspections. Such missions currently require multiple specialized robots and supervision from a support ship. Providing these dual capabilities in a single AUV will enable surveys without a ship, reduce costs and energy, and increase the rate and resolution of ocean studies. The focus of this Phase I project is improving control of Asymmetric Propulsion for holding station relative to an object of interest. This Small Business Technology Transfer (STTR) Phase I project will develop and test control algorithms that preserve roll stability when Asymmetric Propulsion is used to turn and maneuver torpedo-shaped AUVs. Using a single motor with an asymmetric propeller to both move and steer an AUV is mechanically simpler but computationally more complex. Holding station relative to an object by actuating a single degree of freedom is a nontrivial under-constrained control and navigation problem. This problem has numerous applications in marine, terrestrial, and aerial robotics. A simplifying approach is to implement a library of scripted behaviors that can be selectively executed based on position input from visual sensors. These behaviors will independently be constructed to reduce the sudden torques that induce roll in torpedo-shaped AUVs. This approach will lead to a successful demonstration of stable maneuverability using a surface test platform that is free to move in roll.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.

这种小型企业技术转移（STTR）I期项目的更广泛的影响/商业潜力将增强对不对称推进的技术理解，这反过来又增强了对海洋的科学理解。不对称的推进使用单叶螺旋桨移动并引导自动水下车辆（AUV）。除了消除对控制鳍的需求，降低成本和复杂性以及提高效率之外，它还可以使AUV在感兴趣的对象上保持站点。该功能具有众多的科学，军事和商业应用，因为它允许同一机器人进行大区域调查，然后在特定物体上持有车站并进行特写检查。此类任务目前需要支持船上的多个专业机器人和监督。在单个AUV中提供这些双重功能将无需船舶就可以进行调查，降低成本和能源，并提高海洋研究的速度和分辨率。 该阶段I项目的重点是改善对持有站相对于感兴趣对象的不对称推进的控制。这个小型企业技术转移（STTR）I阶段项目将开发和测试控制算法，这些算法在不对称的推进器转动并操纵鱼雷形的AUV时保持滚动稳定性。使用带有不对称螺旋桨的单个电动机移动和转向AUV，在机械上更简单，但计算更复杂。通过驱动单个自由的持有站相对于物体是一个非平凡的控制和导航问题。这个问题在海洋，陆地和空中机器人技术中有许多应用。 一种简化的方法是实现脚本行为库，可以根据视觉传感器的位置输入选择性地执行该脚本行为。这些行为将独立构建，以减少诱导鱼雷形Auvs滚动的突然扭矩。这种方法将通过表面测试平台成功地证明稳定的可操作性，该平台可以自由移动。该奖项反映了NSF的法定任务，并被认为是值得通过基金会的知识分子优点和更广泛的影响评估的评估评估的评估值得支持的。