MRI-R2: Acquisition of a Networked AUV-based Instrument for the Southern California Bight

MRI-R2：为南加州湾采购基于网络 AUV 的仪器

• 批准号: 0960163
• 负责人: Gaurav Sukhatme
• 金额: $ 27.3万
• 依托单位: University of Southern California
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2010
• 资助国家: 美国
• 起止时间: 2010-05-01 至 2013-04-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0960163&HistoricalAwards=false
• 关键词: MRI; R2; Acquisition; Networked; AUV

"This award is funded under the American Recovery and Reinvestment Act of 2009 (Public Law 111-5)." Proposal #: 09-60163PI(s): Sukhatme, Gaurav; Caron, David A.; Edwards, Katrina J.; Jones, Burton, H; Mitra, UrbashiInstitution: University of Southern California Title: MRI-R2: Acq. of a Networked AUV-based Instrument for the Southern California BightProject Proposed:This project, acquiring a networked instrument composed of two complementary Autonomous Underwater Vehicles (AUVs), supports an extensive program of research in robotics, underwater acoustic communication and networking, marine biology, oceanography, and biogeochemistry at the Center for Integrated Networked Aquatic PlatformS (CINAPS). These two AUVs add capability to those already in use by CINAPS. The work addresses two current key limitations: limited depth (depth no greater than 200m) and limited communication (only supports communication through the air, i.e., when the vehicles are not below the surface.) These instruments impact agendas in two main fields: research in the Southern California coastal marine ecosystem (in physical oceanography, geobiological oceanography, and microbial ecology), and research in robotics, communication, and networking.The instrumentation consists of a Slocum Electric Glider and an EcoMapper-EP (Expandable Payload) Autonomous Underwater Vehicle. The Slocum glider, for use up to 1000m, was developed by in the early 1990's, and has become an integral tool of ocean science in this decade. It is driven entirely by a variable buoyancy system rather than active propulsion. The glider's wings convert the buoyancy-dependent vertical motion into forward velocity. Slocum gliders are truly autonomous, requiring a surface vessel only for deployment and recovery. On-board communications capabilities include a two-way RF modem, Iridium satellite and an ARGOS locator. With its onboard instrumentation, combined with its mobility and long-range capabilities, the glider provides continuous, near-real-time information, about the physics and biogeochemistry of the ocean. Designed specifically for water quality and bathymetry mapping applications, the Ecomapper for shallow use (up to 200m) is a unique AUV. Easily deployed by one person, it is able to perform a wide-area survey without a surface workboat or associated personnel. The EP class EcoMapper allows for additional ports for customized sensor integration and space for a second low-power CPU to support the additional sensors and software. This additional CPU enables mission adaptations to occur on-the-fly based on real-time sensor readings that are necessary when trying to detect and track dynamically changing oceanic features a range of important processes and associated questions can only be studied with the coupling of deep AUV operations (up to 1000m) with shallow (up to 200m). These include (a) the toxic effect of harmful algal blooms at greater depth, (b) the temporal and spatial variations of the low oxygen interface (deep basins can become hypoxic or anoxic due to isolation), and (c) fluxes of particulate material from urban runoff to the deeper sea that are discontinuous in both time and space; the spatial extent of which can be best resolved with autonomous vehicles that can maintain a presence over several events. To enable these studies, new algorithms for multi-AUV communication and control are necessary. The ability to coordinate vehicle trajectories and missions while submerged presents a current limitation. This is of particular concern in the Southern California Bight, the study site, a region with high maritime traffic where surfacing of the AUVs needs to be minimized. Used as a field instrument deployed in the Southern California Bight (SCB), the instrument is programmed and bench-tested in the Robotic Embedded Systems Laboratory on the USC main campus in LA. The instrument manager is supported by the PI;s grants. USC covers all operational and maintenance costs.Broader Impacts: The instrumentation impacts faculty research and student education, contributing to enable new science in diverse research projects and impacting the ongoing instruction at the institution and serves as a learning tool to develop student scientific proficiency (through existing courses and participation in faculty-led research). This acquisition plays an important role in the Southern California Bight Study planned for Spring 2010, coordinated by the Southern California Coastal Water Research Project (SCCWRP), a public agency focusing on the coastal ecosystems of Southern California. The PIs have close collaborative ties to this agency. Moreover, the networked and adaptive sensor systems provide important data relating to the climate and health of Southern California coastal ocean.Undergraduate students are involved through REU site awards at USC. Since the PI runs the USC Computer Science department REU site for research in various areas of computer science, students in his lab often assist with data analysis and programming for the robotic boats. The EcoMapper vehicle, which is designed to be portable and deployable in shallow water, is particularly suitable for the next generation of REU students. Other PIs participate as faculty mentors in USC biochemistry REU site encouraging similar participation from undergraduate students in biology.

“该奖项是根据2009年美国复苏和再投资法案（公法111-5）资助的。“提案编号：09- 60163 PI（s）：Sukhatme，Gaurav; Caron，大卫A.;爱德华兹，卡特里娜J。Jones，Burton，H; Mitra，Urbashi机构：南加州大学职称： MRI-R2：采集南加州BightProject提出的基于网络化AUV的仪器：该项目获得了由两个互补的自主水下航行器（AUV）组成的网络化仪器，支持了综合网络化水生平台中心（CINAPS）在机器人、水声通信和网络、海洋生物学、海洋学和海洋地球化学方面的广泛研究计划。 这两个AUV增加了CINAPS已经使用的AUV的能力。这项工作解决了目前的两个关键限制：有限的深度（深度不超过200米）和有限的通信（仅支持通过空中通信，即，当车辆不在地面以下时。） 这些仪器影响了两个主要领域的议程：南加州沿海海洋生态系统研究（物理海洋学、地球生物学海洋学和微生物生态学），以及机器人、通信和网络研究。仪器包括斯洛克姆电动滑翔机和EcoMapper-EP（可扩展有效载荷）自主水下航行器。斯洛克姆滑翔机，使用高达1000米，是在20世纪90年代初开发的，并已成为海洋科学在这十年中不可或缺的工具。它完全由可变浮力系统驱动，而不是主动推进。滑翔机的机翼将浮力相关的垂直运动转化为前进速度。 斯洛克姆滑翔机是真正自主的，只需要一艘水面船只进行部署和回收。 机载通信能力包括一个双向射频调制解调器、铱卫星和一个卫星定位器。 凭借其机载仪器，结合其机动性和远程能力，滑翔机提供了关于海洋物理和地球化学的连续，近实时信息。Ecomapper是专门为水质和水深测绘应用而设计的，用于浅水（最深200米），是一种独特的自主式潜水器。 它易于由一个人部署，能够在没有水面工作船或相关人员的情况下进行广域调查。EP类EcoMapper允许额外的端口用于定制的传感器集成，并为第二个低功耗CPU提供空间，以支持额外的传感器和软件。 这一额外的中央处理器使使命能够根据实时传感器读数进行实时调整，这在试图探测和跟踪动态变化的海洋特征时是必要的。一系列重要的过程和相关问题只能通过将深（最高达1000米）和浅（最高达200米）的自主式潜水器作业结合起来进行研究。这些因素包括（a）有害藻华在较深深度的毒性效应，（B）低氧界面的时空变化（深海盆地由于与世隔绝，可能变得缺氧或缺氧），以及（c）从城市径流流入深海的微粒物质在时间和空间上都是不连续的;其空间范围可以用能够在若干事件中保持存在的自主车辆来最好地解决。为了使这些研究，新的算法多AUV通信和控制是必要的。在水下时协调飞行器轨迹和任务的能力目前受到限制。这是特别关注的南加州湾，研究地点，一个地区与高海上交通的水下机器人浮出水面需要尽量减少。作为部署在南加州湾（SCB）的现场仪器，该仪器在洛杉矶南加州大学主校区的机器人嵌入式系统实验室进行编程和台架测试。仪器管理员由PI赠款。 更广泛的影响：仪器影响教师研究和学生教育，有助于在不同的研究项目中实现新的科学，并影响机构的持续教学，并作为一种学习工具来培养学生的科学能力（通过现有的课程和参与教师领导的研究）。此次收购在计划于2010年春季进行的南加州湾研究中发挥了重要作用，该研究由南加州沿海水域研究项目（SCCWRP）协调，SCCWRP是一家专注于南加州沿海生态系统的公共机构。PI与该机构有着密切的合作关系。 此外，网络化和自适应传感器系统提供了有关南加州沿海海洋气候和健康的重要数据。 由于PI运行南加州大学计算机科学系REU网站在计算机科学的各个领域的研究，在他的实验室的学生经常协助数据分析和编程的机器人船。EcoMapper潜水器设计为便携式，可在浅水中部署，特别适合下一代REU学生。 其他PI作为导师参与南加州大学生物化学REU网站，鼓励生物学本科生的类似参与。