Object Identification, Classification and Avoidance in 3-D Underwater Automated Surveillance

9506771 Valavanis所提出的工作的中心目标是：目标识别，分类和避免在3-D水下自动监视。 这一目标背后的动机是监测和保护湿地、沿海渔业和深水污染环境，这些都是最宝贵的国家资源。 具体的应用领域，直接关系到拟议的工作，是调查和监测路易斯安那州的湿地和浅水渔业合作与南方科学中心（SSC）-以前被称为国家湿地研究中心-和最近成立的国家海洋渔业服务（NMFS），都位于西南路易斯安那大学（USL）的研究园区。 该提案利用了为其他应用开发的现有资源、技术和算法，但针对所提出的自动化监控问题进行了调整、进一步修改和增强。 最终结果将是：一个详细的方法/方法，实时传感器为基础的自主控制和导航的水下航行器，能够在敏感的环境中自动监视。 在此阶段将不进行田间研究和/或溶剂相关实验。 将实现三个具体目标： （一）开发详细的水下结构 车辆运动控制 ii）第二阶段 一种新型的 已经导出的总色差（TCD）测量和 总色差容限（TCDT）阈值 水下目标识别 （三） 增强和验证最近导出的 用于自主车辆的基于势的面元方法 三维车间环境中的运动规划。 ***

9506771 Valavanis The central mbjective of the proposed work is: object identification, classification and avoidance in 3-D underwater automated surveillance. The motivation behind this objective is monitoring and safeguarding wetlands, coastal fisheries and deep water polluted environments, which are among the most valuable national resources. The specific application domain, directly related to the proposed work, is surveying and monitoring Louisiana's wetlands and shallow water fisheries in collaboration with the Southern Science Center (SSC) - previously known as the National Wetlands Research Center - and the recently established National Marine Fisheries Services (NMFS), both located at the University of Southwestern Louisiana's (USL's) research park. This proposal capitalizes on already available resources, technology and algorithms, developed for other applications, but adapts and further modifies and enhances them for the proposed automated surveillance problem. The end result will be: a detailed methodology/approach for the real-time sensor based autonomous control and navigation of an underwater vehicle, capable of automated surveillance in sensitive environments. There will be no field studies and/or vehicle related experiments at this stage. Three specific objectives will be accomplished: i)Development of a detailed architecture for underwater vehicle motion control. ii) Implementation and experimental verification of an already derived total color difference (TCD) measure and total color difference tolerance (TCDT) thresholds for underwater object identification. iii) Enhancement and verification of a recently derived potential based panel method for autonomous vehicle motion planning in a 3-D workshop environment. ***