Collaborative Research: RAPID: Autonomous Control and Sensing Algorithms for Surveying the Impacts of Oil Spills on Coastal Environments

这是路易斯安那州立大学(LSU)和佐治亚理工学院(GT)合作的研究项目，旨在共同开发理论和实验方法，以调查受漏油影响的路易斯安那州河口、沿海湿地和泻湖。这些方法将在学生团队开发的海洋机器人上实施。更具体地说，将实现以下目标：(A)展示海洋机器人在使用传统测量方法时测量无法到达、危险或繁琐的河口的能力。(B)在生物学家、地质学家和海洋学家的指导下，开发专门调查漏油对沿海环境影响的新型自主控制和传感算法。(3)在海洋机器人上实现算法，并在溢油影响下的河口进行调查。智力上的优点：所提出的研究将开发和实现创新的非线性数学控制方法来设计智能机器人。我们的目标是开发自适应、容错、可重复的算法，并对时间延迟和不确定性具有健壮性。这些方法将包括不确定系统的Krasovskii泛函，以及合作卡尔曼滤波和输入-状态稳定性的融合。该团队被称为佐治亚理工学院萨凡纳机器人，目前包括来自计算机、电气和机械工程系的20名研究生和本科生。学生开发的海洋机器人支持沿海地区新型机器人测量算法的开发，并将在该项目中发挥关键作用。布罗德影响：拟议的研究有可能为下一代能够在墨西哥湾工作的机器人提供数学基础。路易斯安那州立大学数学和GT工程专业的学生之间的互动将发展出适用于现实世界的理论。路易斯安那州立大学传统上吸引许多少数族裔学生，并将特别努力让代表性不足的群体成员参与进来。这项工作也将增强佐治亚理工学院的学生？通过增加他们接触更先进的数学方法来获得教育经验。

This is collaborative research program between Louisiana State University (LSU) and the Georgia Institute of Technology (GT) to jointly develop theoretical and experimental methods to survey Louisiana estuaries, coastal wetlands, and lagoons under the influence of oil spills. The methods would be implemented on marine robots developed by student teams. More specifically, the following goals would be achieved: (a) Demonstrate the capabilities of marine robots to survey estuaries that are inaccessible, dangerous, or tedious when using conventional surveying methods. (b) Develop novel autonomous control and sensing algorithms that are specialized to surveying the impacts of oil spills on coastal environments, under the guidance of biologists, geologists, and oceanographers. (3) Implement the algorithms on marine robots, and perform surveys in estuaries under the impact of oil spills.Intellectual Merit: The proposed research would develop and implement innovative nonlinear mathematical control approaches to design of smart robots. The goal is to develop algorithms that are adaptive, fault tolerant, repeatable, and robust to time delays and uncertainty. The methods would include Krasovskii functionals for uncertain systems, and fusions of cooperative Kalman filtering and input-to-state stability. The team is referred to as Georgia Tech SavannahRobotics, currently includes twenty graduate and undergraduate students from the computer, electrical, and mechanical engineering departments. The student-developed marine robots support the development of novel robotic surveying algorithms in coastal regions, and would play a key role in the project.Broader Impacts: The proposed research has potential to provide mathematical foundation for the next generation of robots capable of working in Gulf of Mexico. The interaction between LSU math and GT engineering students would develop theory that is applicable to real world settings. LSU traditionally attracts many minority students, and special efforts would be made to involve members of under-represented groups. The work would also enhance the Georgia Tech students? educational experiences by increasing their exposure to more advanced mathematical methods.