ITR/AP+SI: Real-Time Spatio-Temporal Interfaces for Remote Oceanographic Exploration with Underwater Robotic Vehicles

摘要ROV、AUV和其他潜艇机器人系统以巨大且不断上升的速度从传感器提供定量数据。通常，这些数据被存储起来以供以后处理，并以真实的时间在屏幕上显示为闪烁的数字。我们需要的是一种方法来更充分地利用这些数据在真实的时间，以优化使用机器人车辆的科学。本提案探讨了在这一目标上取得进展的三种方式。1)开发用于数据显示的交互式三维图形界面，2）开发用于执行例行任务（如勘测、对接、避障和其他功能）的基于传感器的宏指令，3）测试通过低带宽声学信道优先传输数据对使命性能的影响，这些都将在全面...按比例动态定位的车辆，并将扩大目前的能力，水下机器人车辆更困难和复杂的任务。

AbstractROVs, AUVs and other submarine robotic systems deliver quantitative data from sensors at a huge and escalating rate. Usually these data are stored for later processing and are viewed in real time as numbers flashing by on a screen. What is needed is a way to utilize these data more fully in real time to optimize the use of robotic vehicles for science. This proposal explores three ways of making progress on this goal. 1) develop interactive 3-D graphic interfaces for data display, 2) develop sensor-based macros for performing routine tasks such as surveys, docking, obstacle avoidance and other functions, 3) Test the effect on mission performance of prioritizing data transmission over low-bandwidth acoustic channels, These will be developed on full-scale dynamically positioned vehicles and will extend the present capabilities of underwater robotic vehicles for more difficult and complex tasks.