Collaborative Research: CRI: IAD: Research/Education Infrastructure Based on Modular Miniature Robot Teams

提案号：CNS 07-07939 07-08344PI(s): Isler, Ibrahim V. Papanikolopoulos, Nikolaos Drineas, Petros；Trinkle, Jeffrey He, TianInstitution: Rensselaer Polytechnic Institute of Minnesota University - Twin Cities Troy, NY 12180-3522 Minneapolis, MN 55455-5200Title: IAD: Collab Rsch：基于模块化微型机器人系统的研究/教育基础设施项目建议：该合作项目，开发模块化硬件和软件基础设施（带有相关软件的微型机器人），旨在确定完成任务所需的最低能力，这些任务对大多数机器人传感器应用至关重要。这项工作包括调查单个单元的能力和整个机器人团队的集体能力之间的关系。主要的创新在于基于单个单元的能力为研究和教育创造了一个灵活的设计范围。在低端，基本设计“探索者”（Explorer）是一个基于Gumstix单元和其中一个机构的早期机器人设计的机器人，它提供了一个廉价但功能强大的解决方案。在高端领域，基于英特尔Pentium M处理器和RoboAudioStix主板的机器人平台“MicroVision”使用标准的现成硬件和开源视频算法提供实时视频流和处理。两种设计的模块化允许添加特殊的硬件功能。该基础设施旨在建立低成本、易于使用的平台，支持研究，并可用于课程。具体来说，这一发展使机器人传感器网络系统的设计能够。在网络拓扑变化频繁的情况下，通过多跳实现可靠、高效的通信；快速准确地识别机器人团队成员之间的相对位置，以便进行有效的协调；使有袋动物能够高效机动；提供具有空间、时间和时空覆盖保障的协同传感；和。通过抓取和操纵与环境互动。更广泛的影响：该基础设施将用于高级论文，K-12学生将通过学校访问和科学实地考察日参与。一年一度的机器人夏令营将会举行。这些活动将得到国家工程技术教育中心（NCETE）的帮助。与伯里亚学院和史密斯学院以及弗吉尼亚大学协调，确定本科生和少数民族院校之间的交流。

Proposal #: CNS 07-07939 07-08344PI(s): Isler, Ibrahim V. Papanikolopoulos, Nikolaos Drineas, Petros; Trinkle, Jeffrey He, TianInstitution: Rensselaer Polytechnic Institute University of Minnesota - Twin Cities Troy, NY 12180-3522 Minneapolis, MN 55455-5200Title: IAD: Collab Rsch: Research/Education Infrastructure Based on Modular Miniature Robot SystemsProject Proposed:This collaborative project, developing a modular hardware and software infrastructure (miniature robots with the pertinent software), aims to identify minimum capabilities required for accomplishing tasks which are crucial for most robotics-sensor applications. The work involves investigating the relationship between the capabilities of individual units and the collective capabilities of the entire robotic team. The major innovation lies in the creation of a flexible design spectrum for both research and education based on the capabilities of the individual units. On the lower end of the spectrum, the basic design "Explorer," a robot based on a Gumstix unit and earlier robot designs from one of the institutions, provides an inexpensive and yet significantly powerful solution. On the higher end, the platform "MicroVision," a robot based on the Intel Pentium M processor and RoboAudioStix board, provides real-time video streaming and processing using standard off-the-shelf hardware and open-source video algorithms. The modularity of both designs allows the addition of special hardware capabilities. The infrastructure aims at low-cost, easy-to-use platforms that support research and can be adopted into courses. Specifically, this development enables design of robotics sensor-network systems that can. Communicate reliably and efficiently via multi-hop in the presence of frequent network topology changes;. Identify relative positions among members of a robotic team promptly and accurately for effective coordination;. Enable energy-efficient marsupial maneuvering;. Provide collaborative sensing with spatial, temporal, and spatiotemporal coverage guarantees; and. Interact with environments through grasping and manipulation.Broader Impacts: This infrastructure will be used for senior theses and K-12 students will be engaged via school visits and science field days. An annual Robot Camp will be held. The activities will be helped by the National Center for Engineering and Technology Education (NCETE). Coordination with Berea and Smith College, as well as UVA ascertains exchange among undergraduate- and minority-serving institutions.