RI: Small: Collaborative Research: Distributed Heterogeneous Ocean Robots for Detecting and Monitoring Oil Plumes

RI：小型：协作研究：用于检测和监测油羽的分布式异构海洋机器人

• 批准号: 1217659
• 负责人: Brian Bingham
• 金额: $ 19.93万
• 依托单位: University of Hawaii
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2012
• 资助国家: 美国
• 起止时间: 2012-09-01 至 2015-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1217659&HistoricalAwards=false
• 关键词: RI; Small; Collaborative; Research; Distributed

This collaborative project addresses the need for ocean observational techniques which was highlighted by the recent Deepwater Horizon incident. The proposed project investigates heterogeneous ocean robots (including wave gliders, unmanned surface vessels, and autonomous underwater vehicles) to detect and monitor the propagation of oil plumes. Specific objectives include: 1) the development of a distributed multi-robot cooperative deployment algorithm using partial differential equation (PDE) based methods that match the oceanographic model of oil transport, 2) the development of authentic dynamic model of the new wave glider platform to incorporate in the cooperative control, and 3) assessing the potential advantages of innovative algorithms through simulations and experimental demonstration in a coastal experiment using a network of ocean robot platforms.Broader Impacts: The proposed project will provide novel algorithmic and software support for collective sensing, and address a pressing real-world need for better sensing of underwater hydrocarbon plumes. The techniques developed in the proposal will have long-term impacts in underwater exploration such as oceanographic survey and energy production in deep water. The results may also potentially benefit other environmental monitoring tasks with underlying diffusion and advection processes, such as weather event tracking and climate prediction. The planned work will integrate research projects with education activities through robot-centric undergraduate and graduate education, robotics competition, short course and workshop development, and outreach to K-12 education. Partnering with the Stevens' Center for Innovation in Engineering and Science Education, the project will showcase the proposed research in the curriculum of the Stevens Build IT Underwater Robotics Scale-Up for STEM Learning and Workforce Development Project awarded by NSF.

该协作项目解决了对海洋观察技术的需求，这是最近的Deepwater Horizo​​n事件强调的。拟议的项目调查了异质的海洋机器人（包括波浪滑翔机，无人体表面容器和自动水下车辆），以检测和监测油羽流的传播。具体目标包括：1）使用基于部分微分方程（PDE）的方法开发分布式的多机器人合作部署算法（PDE）的方法，该方法与石油运输的海洋模型相匹配，2）新波格滑翔机平台的真实动态模型的开发，以通过沿海化的型号进行仿制，并评估Innov Algorith Antriments Antriments Antriments Antriments Algorith Algorith Algorith Antriment Antermitiation Algorith Algorith Algorith Algorth，并评估3）海洋机器人平台。Broader的影响：拟议的项目将为集体传感提供新颖的算法和软件支持，并满足现实世界中的需求，以更好地感知水下碳氢化合物李子。该提案中开发的技术将对水下勘探产生长期影响，例如海洋学调查和深水能源生产。该结果还可能有可能使其他环境监测任务受益于潜在的扩散和对流过程，例如天气事件跟踪和气候预测。计划的工作将通过以机器人为中心的本科和研究生教育，机器人竞赛，短期课程和讲习班发展以及向K-12教育进行宣传，将研究项目与教育活动整合到教育活动。该项目与史蒂文斯（Stevens）工程和科学教育创新中心合作，将展示史蒂文斯（Stevens）课程中的拟议研究，建立了NSF授予的STEM学习和劳动力发展项目的水下机器人技术规模。