Collaborative Research: Ideas Lab: ETAUS Meshed Observations of THE Remote Subsurface with Heterogeneous Intelligent Platforms (MOTHERSHIP)

合作研究：创意实验室：ETAUS 通过异构智能平台对远程地下进行网格观测 (MOTHERSHIP)

• 批准号: 2322056
• 负责人: Yu She
• 金额: $ 22.95万
• 依托单位: Purdue University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2023
• 资助国家: 美国
• 起止时间: 2023-09-15 至 2026-08-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2322056&HistoricalAwards=false
• 关键词: Collaborative; Research; Ideas; Lab; ETAUS

Melting of ice shelves by warm ocean waters destabilizes glaciers, enhancing ice flow into the ocean and contributing to global sea level rise. Measurements of ocean properties under ice shelves are needed to improve global predictions of sea level rise and to anticipate its societal consequences. Such measurements, however, are challenging to obtain. In this Ideas Lab: Engineering Technologies to Advance Underwater Sciences (ETAUS) project, a proof-of-concept mothership-and-passenger system will be developed to permit the future deployment of a highly capable, autonomous underwater vehicle (the mothership), programmed to travel as far as safely possible under ice shelves to release a swarm of novel, low-cost passenger robots that will coordinate to explore further into the ice cavity. The hardware prototypes, networked communication systems and protocols, and coordination algorithms developed as part of this project’s mothership-and-passenger system will help advance the field of underwater exploration in confined and hard-to-reach environments. The project will also foster the training of future scientists and engineers by engaging youths from small fishing communities in Oregon through presentations at Oregon’s MATE ROV Regional Competition, by employing high-school interns through the Apprenticeships in Science and Engineering (ASE) Summer Academy Program, and by training multiple undergraduate and graduate students at participating institutions.The goal of this project is to develop a mothership-and-passenger sampling system to reach difficult-to-access glacier grounding zones via the open ocean to measure the extent of ice cavities and surrounding water properties. The project will innovate along three main areas of inquiry: 1) passenger robot design, 2) acoustic communication protocols and hardware, and 3) mothership-and-passenger coordination algorithms. Novel, low-cost passenger robots will be conceived that can switch through different operation modes to optimize maneuverability, power consumption, or a combination of both, as needed for various tasks throughout a deployment. Acoustic communication protocols and hardware will be developed to prioritize robust communication between passenger robots over throughput and permit swarm self-localization by utilizing time-of-flight and angle-of-arrival between passengers to estimate relative positions. Swarm coordination algorithms will be designed to estimate flow direction and strength from the passenger robots’ relative positions to optimize navigation and power consumption. The performance of the network will be tested in increasingly challenging environments, i.e., tests will be conducted in a pool, an unfrozen lake, and finally in a frozen lake, while network capabilities with a larger swarm will be modeled to ensure the scalability of the system to ocean deployments. Finally, the software developed for the mothership-and-passenger communication and self-localization protocols will be generalizable and made available open-source to allow other research teams to adapt the system to their own needs. The mothership-and-passenger sampling system will not only advance under-ice-observation capabilities but also have wider oceanographic applications such as detection and monitoring of underwater harmful algal blooms or anoxic events threatening fisheries.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.

温暖的海水融化冰架会破坏冰川稳定，增强冰流入海洋，并促进全球海平面上升。需要测量冰架下的海洋物业，以改善对海平面上升的全球预测并预测其社会后果。但是，此类测量需要获得挑战。在这个想法实验室：推进水下科学（ETAUS）项目的工程技术中，将开发出概念验证的母亲和乘客系统，以允许将来部署一种高度有能力的自主水下汽车（母亲），计划，以在冰架上安全地释放出一个小型冰冰的冰上的冰上，以便在冰上散发出冰的冰iveer，以探索冰上的冰上，以探索冰上的冰上，以探索冰上的冰coiording coitory conection coitory conection。硬件原型，网络通信系统和协议以及作为该项目的母亲和乘客系统的一部分而开发的协调算法将有助于在受限和难以到达的环境中推进水下探索领域。该项目还将通过俄勒冈州伴侣ROV区域竞赛的演讲与俄勒冈州小型捕鱼社区的年轻人吸引未来科学家和工程师的培训，通过通过科学和工程学（ASE）学徒（ASE）夏季学院计划的学徒进行高中生的培训，并通过培训了该项目的范围，以培训了该项目的范围。难以访问冰川接地区域通过开阔的海洋测量冰腔和周围水性能的程度。该项目将沿询问的三个主要领域进行创新：1）乘客机器人设计，2）声学通信协议和硬件，以及3）母亲和乘客协调算法。将想到新颖的低成本乘客机器人，可以通过不同的操作模式切换，以优化可操作性，功耗或两者组合的组合，并根据需要在整个部署中进行各种任务。声音通信协议和硬件将开发，以优先考虑乘客机器人之间的稳健通信，而不是吞吐量，并通过利用飞行时间和乘客之间的到达角度来估计相对位置，从而群体群体自定位。群体协调算法将旨在从乘客机器人的相对位置估算流动方向和强度，以优化导航和功耗。网络的性能将在越来越多的挑战环境中进行测试，即，将在游泳池，未脱落的湖泊中进行测试，最后在冷冻的湖中进行测试，而将具有较大群体的网络功能进行了测试，以确保可伸缩的软件确保为孩子们和乘客的通信和自我定位协议开发的软件，使他们的开放式调整可以使他们可以使用其他系统，从而使他们可以使用其他系统。母亲和乘客抽样系统不仅将提高冰射击效果不足的能力，而且还具有广泛的海洋应用，例如检测和监测水下有害藻类血液或缺氧事件威胁渔业。该奖项反映了NSF的法定任务，并通过使用基金会的智力效果评估了诚实的评估。