RI: Small: Collaborative Research: Information-driven Autonomous Exploration in Uncertain Underwater Environments
RI: Small: Collaborative Research: Information-driven Autonomous Exploration in Uncertain Underwater Environments
批准号:
1715714
负责人:
Xiaobo Tan
金额:
$26.5万
依托单位国家:
美国
项目类别:
Standard Grant
财政年份:
2017
资助国家:
美国
项目状态:
已结题
起止时间:
2017-09-01 至 2021-08-31
中文摘要
本项目开发了移动传感平台自主导航的理论和算法,如无人驾驶的地面、空中和水下航行器,以最大限度地收集信息,同时适应运动能力和能量消耗的限制。这项工作促进了自主机器人在环境监测、搜索和救援、监视和安全以及其他具有社会重要性的应用中的使用。这些算法在使用独特的滑动机器鱼的现场试验中进行了评估。该项目为研究生和本科生提供培训,包括来自代表性不足群体的学生。通过在芝加哥科学与工业博物馆的展示和提供开源机器鱼教育工具包,该项目提高了K-12学生和公众对科学和工程的兴趣。该项目进一步促进了机器人传感软件和硬件向市场的转移。该项目的目标是弥合信息驱动移动传感理论与实践之间的差距,并为不确定环境(特别是水下环境)的自主探索开发原则性的理论和算法框架。该方法利用遍历探索的概念,其中使用非线性最优控制方法解决潜在的优化问题。研究内容包括:1)建立严格的遍历探索理论框架,保证求解的适定性和稳定性,开发实时控制的综合方法;2)探索通过辅助测量示踪剂来主动探测流动状况,以减轻环境的不确定性;3)研究在性能、复杂性和鲁棒性之间取得平衡的协同勘探方案;4)利用一组滑动机器鱼进行实地实验以验证该框架,以监测有害藻华并定位化学泄漏源。
英文摘要
This project develops the theory and algorithms for autonomous navigation of mobile sensing platforms, such as unmanned ground, aerial, and underwater vehicles, so that the collected information is maximized while constraints on movement capabilities and energy expenditure are accommodated. This work facilitates the use of autonomous robots in environmental monitoring, search and rescue, surveillance and security, among other applications of societal importance. The algorithms are evaluated in field trials using unique gliding robotic fish. The project provides training for both graduate and undergraduate students, including those from underrepresented groups. Through showcasing at the Museum of Science and Industry in Chicago and offering of an open-source robotic fish education kit, the project promotes the interest of K-12 students and the general public in science and engineering. The project further facilitates transfer of software and hardware for robotic sensing to the market.The goal of this project is to bridge the gap between the theory and practice in information-driven mobile sensing and to develop a principled theoretic and algorithmic framework for autonomous exploration in uncertain, specifically underwater, environments. The approach exploits the concept of ergodic exploration, where the underlying optimization problem is solved using methods from nonlinear optimal control. The research consists of: 1) Establishing a rigorous theoretical framework for ergodic exploration for guaranteeing solution well-posedness and stability, and developing synthesis methods for real-time control; 2) exploring active probing of flow conditions via auxiliary measurement of tracer agents to mitigate environmental uncertainty; 3) investigating collaborative exploration schemes that strike balance among performance, complexity, and robustness; and 4) conducting field experiments to validate the framework using a group of gliding robotic fish to monitor harmful algal blooms and localize sources of chemical spills.
期刊论文(16)
专著(0)
科研奖励(0)
会议论文
登录
查看更多内容
DOI:
10.1109/tro.2021.3076581
发表时间:
2021-12-01
期刊:
IEEE TRANSACTIONS ON ROBOTICS
影响因子:
7.8
作者:
[Mamakoukas, Giorgos, Castano, Maria L., Murphey, Todd D.]
通讯作者:
Murphey, Todd D.
DOI:
10.23919/acc45564.2020.9147628
发表时间:
2020-07
期刊:
2020 American Control Conference (ACC)
影响因子:
--
作者:
[Demetris Coleman;Xiaobo Tan]
通讯作者:
Demetris Coleman;Xiaobo Tan
Time-difference-of-arrival (TDOA)-based distributed target localization by a robotic network
机器人网络基于到达时间差 (TDOA) 的分布式目标定位
DOI:
10.1109/tcns.2020.2979864
发表时间:
2020
期刊:
IEEE Transactions on Control of Network Systems
影响因子:
4.2
作者:
[Ennasr, Osama N., Tan, Xiaobo]
通讯作者:
Tan, Xiaobo
DOI:
10.1109/aim.2019.8868586
发表时间:
2019
期刊:
2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM
影响因子:
--
作者:
[Castano, Maria L., Tan, Xiaobo]
通讯作者:
Tan, Xiaobo
Adaptive Parameter Estimation of a Steerable Drifter
可操纵漂流器的自适应参数估计
DOI:
10.1016/j.ifacol.2021.11.161
发表时间:
2021
期刊:
IFAC-PapersOnLine
影响因子:
--
作者:
[Gaskell, Eric, Tan, Xiaobo]
通讯作者:
Tan, Xiaobo
共 16 条
I-Corps: Autonomous Aquabots for Water Main Inspections
-
批准号:2345478
-
项目类别:Standard Grant
-
资助金额:$5.0万
-
财政年份:2024
-
负责人:Xiaobo Tan
-
依托单位:
FRR: Collaborative Research: Unsupervised Active Learning for Aquatic Robot Perception and Control
-
批准号:2237577
-
项目类别:Standard Grant
-
资助金额:$39.69万
-
财政年份:2023
-
负责人:Xiaobo Tan
-
依托单位:
NRT-HDR: WaterCube: Big Data Water Science for Sustainability and Equity
-
批准号:2244164
-
项目类别:Standard Grant
-
资助金额:$300.0万
-
财政年份:2023
-
负责人:Xiaobo Tan
-
依托单位:
Collaborative Research: FW-HTF-P: Efficient Inspection of Unpiggable Pipelines through Human-Robot Integration
-
批准号:2222635
-
项目类别:Standard Grant
-
资助金额:$6.0万
-
财政年份:2022
-
负责人:Xiaobo Tan
-
依托单位:
S&AS: INT: COLLAB: Goal-driven Marine Autonomy with Application to Fisheries Science and Management
-
批准号:1848945
-
项目类别:Standard Grant
-
资助金额:$22.5万
-
财政年份:2019
-
负责人:Xiaobo Tan
-
依托单位:
CPS: Synergy: Tracking Fish Movement with a School of Gliding Robotic Fish
-
批准号:1446793
-
项目类别:Standard Grant
-
资助金额:$100.0万
-
财政年份:2014
-
负责人:Xiaobo Tan
-
依托单位:
Novel Vanadium Dioxide-based Self-Sensing Microactuators: Modeling, Control, and Application to Micromanipulation
-
批准号:1301243
-
项目类别:Standard Grant
-
资助金额:$30.0万
-
财政年份:2013
-
负责人:Xiaobo Tan
-
依托单位:
CyberSEES: Type 2: Towards Sustainable Aquatic Ecosystems: A New Adaptive Sampling and Data-Enabled Monitoring and Modeling Framework
-
批准号:1331852
-
项目类别:Standard Grant
-
资助金额:$80.0万
-
财政年份:2013
-
负责人:Xiaobo Tan
-
依托单位:
RI: Small: Collaborative Research: Bio-inspired Collaborative Sensing with Novel Gliding Robotic Fish
-
批准号:1319602
-
项目类别:Continuing Grant
-
资助金额:$25.73万
-
财政年份:2013
-
负责人:Xiaobo Tan
-
依托单位:
RET in Engineering and Computer Science Site: Robotics Engineering for Better Life and Sustainable Future
-
批准号:1300794
-
项目类别:Standard Grant
-
资助金额:$50.0万
-
财政年份:2013
-
负责人:Xiaobo Tan
-
依托单位:
AIR Option 1: Technology Translation: Gliding Robotic Fish for Long-duration Sensing in Aquatic Environments
-
批准号:1343413
-
项目类别:Standard Grant
-
资助金额:$15.0万
-
财政年份:2013
-
负责人:Xiaobo Tan
-
依托单位:
RAPID: Monitoring of Gulf Oil Spill with Gliding Robotic Fish
-
批准号:1050236
-
项目类别:Standard Grant
-
资助金额:$10.0万
-
财政年份:2010
-
负责人:Xiaobo Tan
-
依托单位:
RI: Small: AquaSWARM: Small Wireless Autonomous Robots for Monitoring of Aquatic Environments
-
批准号:0916720
-
项目类别:Standard Grant
-
资助金额:$41.0万
-
财政年份:2009
-
负责人:Xiaobo Tan
-
依托单位:
RET Site on Bio-Inspired Technology and Systems (BITS)
-
批准号:0908810
-
项目类别:Standard Grant
-
资助金额:$50.0万
-
财政年份:2009
-
负责人:Xiaobo Tan
-
依托单位:
Nonlinear and Adaptive Control of Smart Material-Actuated Systems with Application to Nanopositioning
-
批准号:0824830
-
项目类别:Standard Grant
-
资助金额:$21.0万
-
财政年份:2008
-
负责人:Xiaobo Tan
-
依托单位:
CAREER: Dexterous Biomimetic Micromanipulation Using Artificial Muscles: Modeling, Sensing, and Control
-
批准号:0547131
-
项目类别:Standard Grant
-
资助金额:$40.0万
-
财政年份:2006
-
负责人:Xiaobo Tan
-
依托单位:
SGER: A Control-Oriented Model for Ionic Polymer-Metal Composite Actuators
-
批准号:0550651
-
项目类别:Standard Grant
-
资助金额:$2.71万
-
财政年份:2005
-
负责人:Xiaobo Tan
-
依托单位:
国内基金
海外基金
登录
查看更多内容
昼夜节律性small RNA在血斑形成时间推断中的法医学应用研究
-
批准号:
-
项目类别:省市级项目
-
资助金额:--
-
批准年份:2024
-
负责人:
-
依托单位:
tRNA-derived small RNA上调YBX1/CCL5通路参与硼替佐米诱导慢性疼痛的机制研究
-
批准号:
-
项目类别:省市级项目
-
资助金额:10.0万元
-
批准年份:2022
-
负责人:张祥忠
-
依托单位:
Small RNA调控I-F型CRISPR-Cas适应性免疫性的应答及分子机制
-
批准号:32000033
-
项目类别:青年科学基金项目
-
资助金额:24.0万元
-
批准年份:2020
-
负责人:林平
-
依托单位:
Small RNAs调控解淀粉芽胞杆菌FZB42生防功能的机制研究
-
批准号:31972324
-
项目类别:面上项目
-
资助金额:58.0万元
-
批准年份:2019
-
负责人:高学文
-
依托单位:
变异链球菌small RNAs连接LuxS密度感应与生物膜形成的机制研究
-
批准号:81900988
-
项目类别:青年科学基金项目
-
资助金额:21.0万元
-
批准年份:2019
-
负责人:毛梦莹
-
依托单位:
肠道细菌关键small RNAs在克罗恩病发生发展中的功能和作用机制
-
批准号:31870821
-
项目类别:面上项目
-
资助金额:56.0万元
-
批准年份:2018
-
负责人:陈江宁
-
依托单位:
基于small RNA 测序技术解析鸽分泌鸽乳的分子机制
-
批准号:31802058
-
项目类别:青年科学基金项目
-
资助金额:26.0万元
-
批准年份:2018
-
负责人:麻慧
-
依托单位:
Small RNA介导的DNA甲基化调控的水稻草矮病毒致病机制
-
批准号:31772128
-
项目类别:面上项目
-
资助金额:60.0万元
-
批准年份:2017
-
负责人:吴建国
-
依托单位:
基于small RNA-seq的针灸治疗桥本甲状腺炎的免疫调控机制研究
-
批准号:81704176
-
项目类别:青年科学基金项目
-
资助金额:20.0万元
-
批准年份:2017
-
负责人:赵继梦
-
依托单位:
水稻OsSGS3与OsHEN1调控small RNAs合成及其对抗病性的调节
-
批准号:91640114
-
项目类别:重大研究计划
-
资助金额:85.0万元
-
批准年份:2016
-
负责人:何祖华
-
依托单位: