RI: Small: RUI: Shark Tracking with Multiple Autonomous Underwater Vehicles

RI：小型：RUI：使用多个自主水下航行器跟踪鲨鱼

• 批准号: 1245813
• 负责人: Christopher Clark
• 金额: $ 17.62万
• 依托单位: Harvey Mudd College
• 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: 2012-05-25 至 2014-01-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1245813&HistoricalAwards=false
• 关键词: RI; Small; RUI; Shark; Tracking

This project is developing underwater acoustic tracking strategies for locating and tracking particular species of tagged sharks that have long distance migratory paths. A unique aspect of this project is that receivers will be onboard a team of Autonomous Underwater Vehicles (AUV), enabling them to cooperatively estimate the shark position, thereby allowing the AUVs to track and follow the shark for sustained periods of time. The AUV team's mobility and ability to modify its own path in response to shark movement allows it to obtain in-situ measurements that cannot be obtained from static receiver systems typically used for monitoring shark behavior. Due to its interdisciplinary nature, this project will make contributions in both Engineering (AUV autonomy and control) and Biological Sciences (shark behavior characterization, life history, and habitat utilization). New approaches to state estimation are being developed. A key to creating a successful estimator for this application will be incorporating kinematic and dynamic models of shark locomotion. Novel control strategies are also necessary given the difficulty of tracking sharks that can travel at high speed. Tracking controllers don't typically consider the additional constraint of maintaining a separation distance to ensure the AUV doesn't affect shark behavior. The end goal of conducting shark tracking experiments will be the first of its kind. Additionally, much merit will be derived from the actual data the experiments yield. Specifically, the engineering within this project is driven by the goal of determining the relationships between local ocean environment variables (e.g. temperatures, current velocities) and shark behavior (e.g. migration path choices, habitat use). While there is considerable knowledge of shark physiology and behavior, there are no fine scale time studies of shark motion and its associated energy use within different behaviors.This work includes developing new AUV sampling technologies that can be generalized and applied to studying various forms of marine life, and in addition to the ecological contributions, the research is applicable to other tasks associated with safe marine navigation, homeland security, and the military.

该项目正在开发水声跟踪策略，用于定位和跟踪具有长距离迁徙路径的特定物种的标记鲨鱼。该项目的一个独特之处在于，接收器将安装在自动水下航行器 (AUV) 团队上，使它们能够合作估计鲨鱼的位置，从而使 AUV 能够持续跟踪和跟随鲨鱼。 AUV 团队的机动性和根据鲨鱼运动修改自身路径的能力使其能够获得通常用于监测鲨鱼行为的静态接收器系统无法获得的现场测量结果。 由于其跨学科性质，该项目将在工程（AUV自主和控制）和生物科学（鲨鱼行为特征、生活史和栖息地利用）方面做出贡献。正在开发状态估计的新方法。为此应用创建成功的估计器的关键是结合鲨鱼运动的运动学和动力学模型。鉴于追踪高速行驶的鲨鱼非常困难，新颖的控制策略也是必要的。跟踪控制器通常不会考虑保持间隔距离的额外约束，以确保 AUV 不会影响鲨鱼的行为。进行鲨鱼追踪实验的最终目标将是此类实验中的第一个。此外，从实验产生的实际数据中可以获得很多优点。具体来说，该项目的工程目标是确定当地海洋环境变量（例如温度、当前速度）和鲨鱼行为（例如迁徙路径选择、栖息地利用）之间的关系。虽然对鲨鱼的生理学和行为有相当多的了解，但还没有对鲨鱼运动及其在不同行为中相关能量使用进行精细尺度的时间研究。这项工作包括开发新的 AUV 采样技术，该技术可以推广并应用于研究各种形式的海洋生物，除了生态贡献外，该研究还适用于与安全海洋航行、国土安全和军事相关的其他任务。