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

协作研究：CRI：IAD：基于模块化微型机器人团队的研究/教育基础设施

• 批准号: 0708344
• 负责人: Nikolaos Papanikolopoulos
• 金额: $ 50万
• 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: 2007
• 资助国家: 美国
• 起止时间: 2007-07-15 至 2012-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0708344&HistoricalAwards=false
• 关键词: Collaborative; Research; CRI; IAD; Education

Proposal #: CNS 07-07939 07-08344 PI(s): Isler, Ibrahim V. Papanikolopoulos, Nikolaos Drineas, Petros; Trinkle, Jeffrey He, Tian Institution: Rensselaer Polytechnic Institute University of Minnesota - Twin Cities Troy, NY 12180-3522 Minneapolis, MN 55455-5200 Title: IAD: Collab Rsch: Research/Education Infrastructure Based on Modular Miniature Robot Systems Project 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.

提案编号：CNS 07-07939 07-08344 PI(s)：Isler、Ibrahim V. Papanikolopoulos、Nikolaos Drineas、Petros； Trinkle, Jeffrey He, Tian 机构：伦斯勒理工学院 明尼苏达大学 - 双子城 Troy, NY 12180-3522 Minneapolis, MN 55455-5200 标题：IAD：协作 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：该协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），旨在确定完成对大多数机器人传感器应用至关重要的任务所需的最低能力。这项工作涉及研究单个单元的能力与整个机器人团队的集体能力之间的关系。主要创新在于根据各个单位的能力为研究和教育创建灵活的设计范围。在较低端，基本设计“Explorer”是一种基于 Gumstix 单元和其中一个机构的早期机器人设计的机器人，提供了一种廉价但功能强大的解决方案。在高端，平台“MicroVision”是一个基于英特尔奔腾 M 处理器和 RoboAudioStix 板的机器人，使用标准现成硬件和开源视频算法提供实时视频流和处理。两种设计的模块化都允许添加特殊的硬件功能。该基础设施旨在打造低成本、易于使用的平台，支持研究并可采用到课程中。具体来说，这一发展使得机器人传感器网络系统的设计能够：在网络拓扑频繁变化的情况下，通过多跳可靠、高效地进行通信； 。及时、准确地识别机器人团队成员之间的相对位置，进行有效协调； 。实现节能有袋动物的机动； 。提供空间、时间、时空覆盖保证的协同感知；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 学生将通过学校参观和科学实地考察日参与其中。一年一度的机器人训练营将举行。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的协调确保了本科生和少数族裔服务机构之间的交流。