ITR - (NHS+ASE+ECS) - (dmc+sim+int): Loosely Cooperating Micro Air Vehicle Networks for Toxic Plume Characterization

ITR - (NHS ASE ECS) - (dmc sim int)：用于有毒羽流表征的松散合作微型飞行器网络

• 批准号: 0427947
• 负责人: Kamran Mohseni
• 金额: --
• 依托单位: University of Colorado at Boulder
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2004
• 资助国家: 美国
• 起止时间: 2004-10-01 至 2009-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0427947&HistoricalAwards=false
• 关键词: ITR; NHS+ASE+ECS; dmc+sim+int; Loosely; Cooperating

Proposal Number: 0427947PI: Kamran Mohseni Institution: University of Colorado, Boulder Title: ITR - Loosely Cooperating Micro Air Vehicle Networks for Toxic Plume CharacterizationAbstract: Release of contaminants in urban areas can lead to severe public health consequences. This project develops an integrated Sensor Flock to enable rapid characterization of toxic plumes for contamination prediction and source location. A Sensor Flock consists of semi-autonomous micro air vehicles (MAVs) transporting miniature toxin sensors throughout the atmosphere above populated areas, networked to a base station providing toxin dispersion modeling and flock supervision, using novel lightweight, real-time, data-reactive wireless information routing. MAV platforms lower manufacturing costs, reduce risks of collision damage, and reduce visibility and noise that might create public alarm. The concept of Information Energy is introduced to tightly integrate advances in three interdisciplinary areas: aerodynamics, networking, and control. This enables high-quality information products from the Sensor Flock, using relatively simple individual vehicles. The MAVs are designed based on biomimetic principles of bat flight to enable exceptional flight performance. Vehicle control is based on a hierarchical information energy formulation, producing simple gradient-descent guidance laws on each vehicle, but with well-understood flock clustering behavior toward regions of high-quality data. The behavior of data-driven routing in each of the following three communication scenarios is investigated: inter-MAV exchange of high-quality data for flock convergence; MAV-to-ground collection of sensor data; and ground-to-MAV command and control. Existing disciplinary courses at CU Boulder are enriched with results from this work, expanding student multidisciplinary exposure. A summer Aerobotics program enables local high school students to participate in a design/build/fly competition integrating computer science and aerospace engineering.

提案编号：0427947PI: Kamran Mohseni机构：科罗拉多大学博尔德分校标题：ITR -松散合作的微型飞行器网络有毒羽流特征摘要：城市地区污染物的释放会导致严重的公共卫生后果。该项目开发了一个集成的传感器群，能够快速表征有毒羽流，用于污染预测和源定位。传感器群由半自主微型飞行器（MAVs）组成，在人口稠密地区上空的大气中运送微型毒素传感器，并与基站联网，使用新颖的轻量级、实时、数据响应式无线信息路由，提供毒素扩散建模和群体监督。MAV平台降低了制造成本，降低了碰撞损坏的风险，并降低了可能引起公众警觉的能见度和噪音。信息能源的概念被引入，以紧密整合三个跨学科领域的进展：空气动力学，网络，和控制。这使得传感器群能够使用相对简单的单个车辆提供高质量的信息产品。MAVs的设计基于蝙蝠飞行的仿生原理，以实现卓越的飞行性能。车辆控制基于分层信息能量公式，对每辆车产生简单的梯度下降制导律，但对高质量数据区域具有良好的群体聚类行为。研究了数据驱动路由在以下三种通信场景下的行为：mav间的高质量数据交换用于群收敛；mav对地传感器数据采集；以及地面对无人机的指挥和控制。科罗拉多大学博尔德分校现有的学科课程丰富了这项工作的成果，扩大了学生的多学科接触。一个夏季飞行学项目使当地高中生能够参加设计/建造/飞行竞赛，将计算机科学与航空航天工程相结合。