I-Corps: Bio-Inspired Underwater Vessels for Coastal Monitoring, Inspection and Station-Keeping

这个I-Corps项目的更广泛的影响/商业潜力是了解工业和联邦机构在水下航行器操作过程中面临的问题，如海洋监测、海岸结构检查、救援任务和/或水文调查。自主水下航行器（auv）是多种水下任务的关键，包括探测和绘制水下沉船、海底海床、受污染的水，以及监测沿海地区和海岸结构。在许多情况下，auv比传统的拖曳工具或海洋水面车辆更受欢迎，因为auv可以更接近感兴趣的区域，它们可以覆盖大片区域而无需持续监控或悬停危险区域而不会危及人类生命。虽然目前的auv有许多功能，但一个主要的限制是它们无法执行精确的站位保持，这使得车辆能够保持其位置并根据电流进行调整。水下推进的新技术将允许新一代高机动性船舶的开发和控制，这些船舶必须在更具挑战性的环境中运行。拟议的工作预计将增加学术界、海洋工业和国防机构之间的伙伴关系。此外，它还将利用生物技术促进科学进步和国家安全。I-Corps项目的重点是auv的推进技术和控制策略，这些auv需要在狭窄的空间、低速、高机动性和执行站保持任务中运行。仿生波动鳍具有多种优势，包括：具有优越的机动性，可以通过单个波动鳍控制向前运动和方向机动；精确的机动，适合站位保持和在狭窄的空间机动；减少被海洋植物和绳索缠结的风险，减少对海洋生态系统的影响；相对较低的速度，可能较低的声学特征。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

The broader impact/commercial potential of this I-Corps project is to understand the problems that the industry and federal agencies face during the operation of underwater vehicles for applications such as, ocean monitoring, inspection of coastal structures, rescue missions and/or hydrographic survey. Autonomous underwater vehicles (AUVs) are key for multiple underwater missions including detecting and mapping submerged wrecks, ocean bed-floor, polluted water, as well as surveillance of coastal zones and coastal structures. In many circumstances AUVs are preferred over conventional towed instruments or marine surface vehicles because AUVs can get closer to the area of interest, they can cover large areas without constant monitoring or hover hazardous areas without putting at risk humans life. Although current AUVs have many capabilities, one main limitation is their inability to perform precise station-keeping which allows the vehicle to hold its position and adjust for currents. New technology in underwater propulsion will permit the development and control of a new generation of highly maneuverable vessels that have to operate in more challenging environments. The proposed work is expected to increase the partnership between academia, marine industries and national defense agencies. In addition, it will promote the progress of science and national security using bio-inspired technology.This I-Corps project focuses in the propulsion technology and control strategy for AUVs that needs to operate in tight space, low-speed with high mobility and perform station-keeping missions. Bio-inspired undulating fin can provide multiple advantages including: superior maneuverability to control forward motion and directional maneuver with a single undulating fin; precise maneuvers suitable for station-keeping and maneuvers in tight spaces; reduce risk to get tangled in marine plants and ropes with less impact on the marine ecosystem; relative low speed with likely lower acoustic signature.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.