CISE Research Resources: Teams of Miniature Mobile Robots

CISE 研究资源：微型移动机器人团队

• 批准号: 0224363
• 负责人: Nikolaos Papanikolopoulos
• 金额: $ 44.96万
• 依托单位: University of Minnesota-Twin Cities
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2002
• 资助国家: 美国
• 起止时间: 2002-11-01 至 2007-10-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0224363&HistoricalAwards=false
• 关键词: CISE; Research; Resources; Teams; Miniature

EIA-0224363Nikolaos PapanikolopoulosDaniel L. Boley; William K. Durfeet; Maria L. Gini; Bradley J. NelsonUniversity of Minnesota-Twin CitiesCISE RR (Collaborative): Teams of Miniature Mobile RobotsThis project, redesigning and manufacturing a team of Scout-Ranger robots, improvises on the current scout design through novel design schemes, software development, sensory fabrication, and processing sensory data in real time. The research extends work based on a previous generation of Scouts. The institution developed a heterogeneous robotic team emphasizing the "Scout" robot, launched and controlled by a larger platform, the "Ranger." After deployment, Scouts have a unique combination of mobility modes including rolling and hopping, multiple sensing capabilities for navigation (e.g., cameras, microphones), full communications for data and instructions (controlled by cellular phones), and onboard computational resources. Their functionality is increased by actuated wheels and miniature grappling hooks and can serve applications such as reconnaissance, earthquake rescue operations, homeland security space exploration, fire rescue missions, hostage release operations, etc. Their design requires a compromise in power, sensor types, locomotion, and size. However, rather than concentrating on size, this work focuses primarily on communications, sensor fabrication, and sensor placement. Solutions to research problems are sought in areas of miniature-robot design, communication for distributed robotics (especially in low-bandwidth situations), and resource allocation for distributed robotics. Specifically:1. Designs of miniature robots: modifying original scout design, giving special care to image-processing2. Software support for Robot Teams: sharing resources leading to decision making and planning3. Tradeoffs between sharing communication channels and performance in motion detection4. Sensor fabrication in the micro fabrication lab5. Analysis of sensory data (images) of the team of robots; seeking optical positioning of the sensor to maximize coverage/redundancy6. Analysis of traffic patterns (of humans) in a building7. Detection of anomalies on those patterns, or detection of unusual situations (i.e. smoke): using method of Principal Direction Divisive Partitioning8. Innovative uses of Scouts: tele-rehabilitation, dynamic hopping devices, etc.The educational plan includes the incorporation and mentoring of women and minority students. The robots will be used not only in Computer Vision and Robotics classes, also, in Algorithms, Data Structures, Operating Systems, and Artificial Intelligence. Outreach activities, proposed for K-12, along with public outreach complement the research agendas.

EIA-0224363尼古拉斯·帕帕尼科洛普洛斯丹尼尔·博利；威廉·K·杜菲特；玛丽亚·L·基尼； Bradley J. Nelson 明尼苏达大学双城分校 CISE RR（协作）：微型移动机器人团队该项目重新设计和制造了 Scout-Ranger 机器人团队，通过新颖的设计方案、软件开发、传感制造和实时处理传感数据，对当前的侦察设计进行了即兴创作。 该研究在上一代童子军的基础上扩展了工作。 该机构开发了一支异构机器人团队，重点是“侦察兵”机器人，由更大的平台“游侠”发射和控制。 部署后，侦察兵拥有独特的移动模式组合，包括滚动和跳跃、多种导航传感功能（例如摄像头、麦克风）、数据和指令的全面通信（由手机控制）以及机载计算资源。 它们的功能通过驱动轮和微型抓钩增强，可用于侦察、地震救援行动、国土安全太空探索、消防救援任务、人质释放行动等应用。它们的设计需要在功率、传感器类型、运动和尺寸方面进行折衷。 然而，这项工作主要关注通信、传感器制造和传感器放置，而不是关注尺寸。 在微型机器人设计、分布式机器人通信（特别是在低带宽情况下）以及分布式机器人资源分配等领域寻求研究问题的解决方案。 具体来说： 1． 微型机器人的设计：修改原来的侦察兵设计，特别注重图像处理2。 机器人团队的软件支持：共享资源以进行决策和规划3。 共享通信通道和运动检测性能之间的权衡4。 微制造实验室中的传感器制造5。 分析机器人团队的感官数据（图像）；寻求传感器的光学定位以最大化覆盖范围/冗余6。 建筑物内（人类）交通模式分析7。 检测这些模式的异常情况，或检测异常情况（即烟雾）：使用主方向分割法8。 童子军的创新用途：远程康复、动态跳跃装置等。教育计划包括吸纳和指导女性和少数民族学生。 这些机器人不仅将用于计算机视觉和机器人课程，还将用于算​​法、数据结构、操作系统和人工智能。 为 K-12 拟议的外展活动以及公共外展活动补充了研究议程。