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

合作研究：RAPID：用于调查溢油对沿海环境影响的自主控制和传感算法

• 批准号: 1056255
• 负责人: Michael Malisoff
• 金额: $ 4.96万
• 依托单位: Louisiana State University
• 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: 2010-09-15 至 2011-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1056255&HistoricalAwards=false
• 关键词: Collaborative; Research; RAPID; Autonomous; Control

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 Savannah Robotics, 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.

这是路易斯安那州立大学（LSU）与佐治亚理工学院（GT）之间的合作研究计划，共同开发了在石油溢油影响下调查路易斯安那州河口，沿海湿地和泻湖的理论和实验方法。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）证明海洋机器人在使用常规测量方法时无法访问，危险或乏味的河口的能力。 （b）在生物学家，地质学家和海洋学家的指导下，开发了专门调查溢油对沿海环境的影响的新型自主控制和传感算法。 （3）对海洋机器人实施算法，并在石油溢出的影响下对河口进行调查。Intlectual功绩：拟议的研究将开发和实施创新的非线性数学控制方法来设计智能机器人。目的是开发自适应，容忍度，可重复和健壮的算法，以使时间延迟和不确定性。 这些方法将包括用于不确定系统的Krasovskii功能，以及合作的Kalman过滤和输入到状态稳定性的融合。该团队被称为佐治亚理工学院的萨凡纳机器人技术，目前包括来自计算机，电气和机械工程部门的二十个研究生和本科生。由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发展，并将在该项目中发挥关键作用。Broader的影响：拟议的研究有可能为在墨西哥湾工作的下一代机器人提供数学基础。 LSU数学与GT工程专业学生之间的相互作用将开发适用于现实世界环境的理论。 LSU传统上吸引了许多少数族裔学生，并且将做出特别的努力，以使代表性不足的团体的成员参与。这项工作还可以增强佐治亚理工学院的学生吗？通过增加对更先进的数学方法的接触来获得教育经验。