Engineering Research Equipment: A High Performance GraphicsPlatform for Simulation, Control, and Communications with Unmanned Underwater Robotic Systems

9311269 Orin俄亥俄州立大学电气工程系将购买一个高性能图形平台，该平台将专门用于支持工程研究。该设备将用于几个研究项目；每个项目都解决了一个与无人水下机器人系统相关的关键问题。由于水下机器人在生态研究、打捞作业、地球物理勘探、救援和恢复作业以及人造水下结构的维护和修复等一系列应用中的潜力，人们对水下机器人的兴趣正在增长。特别是，所支持的项目侧重于危险和非结构化环境中水下机器人的模拟、控制和监测相关问题。主要研究项目有：1)无人潜航器及其操纵器系统及其控制器的实时动态仿真；2)水下行走器的实时动态仿真；3)包络动力抓取器的动态仿真与神经控制；4)利用人工神经网络技术压缩视频数据的实时显示。

9311269 Orin The Department of Electrical Engineering at The Ohio State University will purchase a High Performance Graphics Platform which will be dedicated to support research in engineering. The equipment will be used for several research projects; each project addresses a critical problem associated with unmanned underwater robotic systems. Interest in underwater robotics is growing because of its potential for use in a range of applications, including ecological studies, salvage operations, geophysical exploration, rescue and recovery operations, and maintenance and repair of man-made underwater structures. In particular the supported projects focus on issues related to the simulation, control and monitoring of underwater robotics in hazardous and unstructured environments. The primary projects are: 1) real-time dynamic simulation of an unmanned underwater vehicle and manipulator system and its associated controller, 2) real-time dynamic simulation of an underwater walking vehicle, 3) dynamic simulation and neural control of enveloping power grasps, and 4) real-time display of video data compressed using a technique which employs artificial neural networks.