SST Smarter Sensing: Integrating payloads, Navigation, and Vehicles for Underwater Exploration

P.I. Hanumant Singh提案#:0422364项目名称：智能传感：集成有效载荷，导航和水下探索车辆该提案通过开发新的质谱仪并将仪器集成到自主水下航行器（AUV）的操作中，解决了海洋环境中先进化学传感的需求。质谱仪的采样能力和能量需求为智能集成方案提供了机会，以提高仪器的科学能力。通过其他车载传感器和车辆导航的反馈，相互依赖的感知策略将做出自主的数据驱动决策，根据对环境状态的估计重新分配感知和制导任务。这些技术将提高深海勘探在动态和复杂环境下的整体效率，例如在寒冷和热液底部渗漏中发现的化学过程。实现集成质谱仪在水下航行器上运行的能力所需要的工程研究包括：开发专门设计用于集成到现有水下航行器硬件和软件中的集成质谱仪；开发用于实时吸收网络海洋传感器数据、质谱仪数据和车辆导航的环境表示；制定任务规范流程，以指定事件驱动的调查，并分析这些任务的性能和稳健性；将上述组件组合成一个控制系统，用于数据驱动的AUV测量。这项工作的主要科学驱动力是对海底喷口和渗漏的研究。

P.I. Hanumant Singh Proposal #: 0422364Project Title: Smarter Sensing: Integrating payloads, Navigation, and Vehicles for Underwater ExplorationThis proposal addresses the need for advanced chemical sensing in the ocean environment by developing a new mass spectrometer and integrating the instrument into the operation of an autonomous underwater vehicle (AUV). The mass spectrometer's sampling capabilities and energy requirements present an opportunity for an intelligent integration scheme to increase the instrument's scientific capability. Through feedback from other onboard sensors and vehicle navigation interdependent sensing strategies will make autonomous data-driven decisions, re-tasking the sensing and guidance based on estimation of the environmental state. These techniques will increase the overall efficiency of deep ocean exploration in dynamic and complex environments such as the chemical processes found in both cold and hydrothermal bottom seeps. The engineering research necessary to realize the capabilities of an integrated mass spectrometer operating from an AUV include: development of an integrated mass spectrometer specifically designed for integration into the hardware and software of an existing AUV; development of an environmental representation for assimilating networked oceanographic sensor data, mass spectrometer data, and vehicle navigation in real-time; development of a mission specification process for specifying event driven surveys and analyzing the performance and robustness of these missions; combining the above components into a control system for a data-driven AUV survey. The primary scientific driver for this work is the study of seafloor vents and seeps.