STTR Phase I: Asymmetric Propulsion for Enhancing Marine Maneuverability

这个小企业技术转让（STTR）第一阶段项目的更广泛的影响/商业潜力将提高对不对称推进的技术理解，这反过来将提高对海洋的科学理解。非对称推进器使用一个单叶片螺旋桨来移动和操纵自主水下航行器（AUV）。除了消除对控制鳍的需求，降低成本和复杂性，并提高效率外，它还可以允许AUV在感兴趣的物体上保持位置。这种能力有许多科学，军事和商业应用，因为它允许同一个机器人进行大面积的调查，然后在特定对象上保持位置并进行近距离检查。这些任务目前需要多个专门的机器人和来自支援船的监督。在单个AUV中提供这些双重功能将使无需船舶的调查成为可能，降低成本和能源，并提高海洋研究的速度和分辨率。 这个第一阶段项目的重点是改善控制不对称推进相对于一个感兴趣的对象保持站。这个小企业技术转让（STTR）第一阶段项目将开发和测试控制算法，当非对称推进用于转向和操纵鱼雷形AUV时，该算法将保持侧倾稳定性。使用带有非对称螺旋桨的单个电机来移动和操纵AUV在机械上更简单，但在计算上更复杂。单自由度控制相对于目标的等待站是一个非平凡的欠约束控制和导航问题。这个问题在海洋、陆地和空中机器人中有许多应用。 一种简化的方法是实现一个脚本行为库，可以基于来自视觉传感器的位置输入选择性地执行脚本行为。这些行为将被独立地构造，以减少在鱼雷形AUV中引起横摇的突然扭矩。这种方法将导致一个成功的演示稳定的机动性，使用一个表面测试平台，是自由移动的roll.This奖项反映了美国国家科学基金会的法定使命，并已被认为是值得的支持，通过评估使用基金会的知识价值和更广泛的影响审查标准。

The broader impact/commercial potential of this Small Business Technology Transfer (STTR) Phase I project will enhance technological understanding of Asymmetric Propulsion, which will in turn enhance scientific understanding of the oceans. Asymmetric Propulsion uses a single-bladed propeller to both move and steer an Autonomous Underwater Vehicle (AUV). In addition to eliminating the need for control fins, reducing cost and complexity, and increasing efficiency, it can also allow AUVs to hold station over objects of interest. This capability has numerous scientific, military, and commercial applications because it allows the same robot to perform large-area surveys and then hold station over specific objects and perform close-up inspections. Such missions currently require multiple specialized robots and supervision from a support ship. Providing these dual capabilities in a single AUV will enable surveys without a ship, reduce costs and energy, and increase the rate and resolution of ocean studies. The focus of this Phase I project is improving control of Asymmetric Propulsion for holding station relative to an object of interest. This Small Business Technology Transfer (STTR) Phase I project will develop and test control algorithms that preserve roll stability when Asymmetric Propulsion is used to turn and maneuver torpedo-shaped AUVs. Using a single motor with an asymmetric propeller to both move and steer an AUV is mechanically simpler but computationally more complex. Holding station relative to an object by actuating a single degree of freedom is a nontrivial under-constrained control and navigation problem. This problem has numerous applications in marine, terrestrial, and aerial robotics. A simplifying approach is to implement a library of scripted behaviors that can be selectively executed based on position input from visual sensors. These behaviors will independently be constructed to reduce the sudden torques that induce roll in torpedo-shaped AUVs. This approach will lead to a successful demonstration of stable maneuverability using a surface test platform that is free to move in roll.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.