RAPID: Using an Unmanned Aerial Vehicle and Increased Autonomy to Improve an Unmanned Marine Vehicle Lifeguard Assistant Robot

RAPID：使用无人驾驶飞行器和增强的自主性来改进无人驾驶海上飞行器救生员助理机器人

• 批准号: 1637214
• 负责人: Robin Murphy
• 金额: $ 12.5万
• 依托单位: Texas A&M Engineering Experiment Station
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-06-15 至 2017-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1637214&HistoricalAwards=false
• 关键词: RAPID; Using; Unmanned; Aerial; Vehicle

NSF 1637214 RAPID: Using an Unmanned Aerial Vehicle and Increased Autonomy to Improve an Unmanned Marine Vehicle Lifeguard Assistant RobotThe United States is at risk for a mass marine casualty event, such as the Costa Concordia, or MV Sewol ferry sinking, but fortunately robots, such as the EMILY tele-operated unmanned marine surface vehicle (USV) can assist as mobile life preservers. EMILYs are now in use by the Hellenic Coast Guard and Red Cross throughout Greece. The responders have requested that EMILY navigate autonomously so that a lifeguard could designate a cluster of people in the water and then EMILY would autonomously drive to the victims in the water who would grab, hold, and wait while the human lifeguards focused on other people needing immediate assistance due to unconsciousness, risk of hypothermia (especially children), or high distress. Prof. Robin Murphy will engage 44 graduate and undergraduates in implementing an upgrade to EMILY so that it can use the view from a small tethered UAV combined with onboard thermal sensing to autonomously navigate to a cluster of people. The project will bring 11 of these US students to Greece for two field research expeditions to work with lifeguard teams actively responding to the shifting, but ongoing, patterns of boat refugees. The students will participate in two international workshops. The National Technical University of Athens (NTUA) is a partner in this research activity, and will be providing thermal imaging expertise. The project will introduce the students to participatory research with international collaborators in Greece, and train them to be technically competitive in an innovative, global workplace. It will potentially save lives in Greece and Europe, and ultimately contribute more effectively in search-and-rescue missions in the U.S. This 9-month project will involve 5 graduate students and 39 undergraduates in field robotics research. The students will address how to navigate and reach poses in waves and surf with a non-holonomic, under-actuated marine vehicle that cannot back up, has momentum, and a limited turning radius. They will employ known behavioral sensor fusion methods for reliable and efficient navigation targeting people using thermal imagery. They will collect data from the smart EMILY in the field with responders in uncontrolled weather and waves and make additional rounds of appropriate improvements and evaluation. Finally, the project will produce a longitudinal case study of how to work with users. The research will advance the theory of intelligent robotics-- especially interoperable and reliable computer systems, unmanned marine systems in shallow littoral operations, tethered unmanned aerial systems, heterogeneous teams, and human-robot interaction-- by implementing and field testing promising algorithms and known principles. The participating American students will be globally competitive, the data will give US companies a competitive edge, and the project will serve the use of autonomous systems in accordance with US and international regulations.This grant was funded by NSF Directorate of Computer & Information Science & Engineering (CISE), and Office of International Science and Engineering (OISE).

NSF 1637214 RAPID：使用无人驾驶飞行器和增强的自主性来改进无人海上车辆救生员助理机器人美国面临着大规模海上伤亡事件的风险，例如Costa Concordia或MV Sewol渡轮沉没，但幸运的是，机器人，例如艾米丽远程操作的无人海上水面车辆（USV）可以作为移动的救生员提供帮助。EMILY现在被希腊海岸警卫队和红十字会在希腊各地使用。响应者要求艾米丽自主导航，以便救生员可以指定水中的一群人，然后艾米丽将自主驾驶到水中的受害者，他们将抓住，抓住并等待，而人类救生员则专注于其他因无意识，体温过低风险（特别是儿童）或高度遇险而需要立即援助的人。罗宾·墨菲教授将与44名研究生和本科生合作，对艾米丽进行升级，使其能够利用小型系留无人机的视野，结合机载热传感，自主导航到一群人。该项目将把这些美国学生中的11人带到希腊进行两次实地研究考察，与救生员团队一起积极应对不断变化但仍在持续的难民模式。学生将参加两个国际研讨会。雅典国立技术大学（NTUA）是这项研究活动的合作伙伴，并将提供热成像专业知识。该项目将向学生介绍与希腊国际合作者的参与式研究，并培训他们在创新的全球工作场所中具有技术竞争力。它将有可能拯救希腊和欧洲的生命，并最终在美国的搜索和救援任务中做出更有效的贡献。学生们将解决如何导航和达到在波浪和冲浪与非完整，欠驱动的海洋车辆，不能备份，有动力，和有限的转弯半径的姿势。他们将采用已知的行为传感器融合方法，使用热成像进行可靠和有效的导航。他们将在现场收集智能艾米丽的数据，并在不受控制的天气和波浪中进行响应，并进行额外的适当改进和评估。最后，该项目将产生一个关于如何与用户合作的纵向案例研究。这项研究将通过实施和实地测试有前途的算法和已知原理，推进智能机器人理论--特别是可互操作和可靠的计算机系统、浅水沿岸的作业中的无人驾驶海洋系统、系留无人驾驶航空系统、异构团队和人机交互。参与的美国学生将具有全球竞争力，数据将为美国公司提供竞争优势，该项目将根据美国和国际法规为自主系统的使用提供服务。该资助由NSF计算机信息科学工程理事会（CISE）和国际科学与工程办公室（OISE）资助。