CAREER: Dynamic Sonar Perception and Navigation

职业：动态声纳感知和导航

• 批准号: 9733040
• 负责人: John Leonard
• 金额: $ 28.5万
• 依托单位: Massachusetts Institute of Technology
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1998
• 资助国家: 美国
• 起止时间: 1998-07-01 至 2002-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9733040&HistoricalAwards=false
• 关键词: CAREER; Dynamic; Sonar; Perception; Navigation

9733040 Leonard The objective of this career development plan is to foster the interest of the next generation of students in the special challenges and rewards of ocean engineering, while advancing the state of knowledge in the critical areas of sonar perception and navigation. The realization of the full potential of future ocean technologies will require new engineers with the motivation to approach difficult marine problems and an understanding of the complexities of ocean system design. Autonomous navigation using sensor measurements of environmental features provides a compelling goal to focus research in sonar perception and navigation. Building a map of an unknown environment while using that map to navigate is a difficult problem at the frontier of robotics research. Current data fusion methods are not robust or computationally tractable for this problem. To realize this capability for marine robotic systems using sonar, three objectives will be pursued: (1) feature extraction methods which exploit knowledge of the underlying physics of sonar, (2) uncertainty management techniques that incorporate noise, data association ambiguity, and navigation error, and (3) adaptive echolocation strategies that permit efficient detection and characterization of objects. To investigate these topics, graduate and undergraduate students will participate in algorithm development, data acquisition and processing, and experimentation in controlled environments. Innovative experiments that biomimic dolphin echolocation will be performed in a testing tank at MIT. Collaborations have been established to provide maximum research impact. The educational plan involves teaching and mentoring in subject areas that are closely related to the research. The undergraduate teaching responsibilities of the principal investigator include a sophomore-level introductory course in ocean science and technology, a two semester capstone design sequence, and a freshman advising seminar based on the sonar systems of bats, dolphins, and robots. Innovations in pedagogy will promote active learning, teamwork, and communication skills. Case studies will guide discussion of contemporary topics in oceanography, acoustics, and design. Novel laboratory exercises will demonstrate principles from acoustics and marine robotics. New Matlab-based tools will enable students to manipulate ocean data. ***

9733040 Leonard这个职业发展计划的目标是培养下一代学生对海洋工程的特殊挑战和回报的兴趣，同时提高声呐感知和导航关键领域的知识水平。实现未来海洋技术的全部潜力将需要新的工程师与动机接近困难的海洋问题和海洋系统设计的复杂性的理解。利用传感器测量环境特征的自主导航为声纳感知和导航研究提供了一个引人注目的目标。构建未知环境的地图，同时利用该地图进行导航，是机器人研究的前沿难题。目前的数据融合方法对于这一问题的鲁棒性和计算可操作性都不强。为了实现使用声纳的海洋机器人系统的这种能力，将追求三个目标：(1)利用声纳基础物理知识的特征提取方法，(2)包含噪声、数据关联模糊和导航误差的不确定性管理技术，以及(3)允许有效检测和表征物体的自适应回声定位策略。为了研究这些主题，研究生和本科生将参与算法开发，数据采集和处理，以及在受控环境下的实验。仿生学海豚回声定位的创新实验将在麻省理工学院的测试池中进行。已经建立了合作关系，以提供最大的研究影响。教育计划涉及与研究密切相关的学科领域的教学和指导。首席研究员的本科教学职责包括二年级的海洋科学与技术入门课程，两个学期的顶点设计序列，以及基于蝙蝠，海豚和机器人声纳系统的大一指导研讨会。教学法的创新将促进主动学习、团队合作和沟通技巧。案例研究将指导当代海洋学、声学和设计主题的讨论。新颖的实验室练习将演示声学和海洋机器人的原理。新的基于matlab的工具将使学生能够操作海洋数据。* * *