STTR Phase I: Asymmetric Propulsion for Enhancing Marine Maneuverability

STTR 第一阶段：增强海上机动性的非对称推进

• 批准号: 2026230
• 负责人: Jeffrey Kaeli
• 金额: $ 25.58万
• 依托单位: ARMADA MARINE ROBOTICS, INC.
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2020
• 资助国家: 美国
• 起止时间: 2020-08-01 至 2021-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2026230&HistoricalAwards=false
• 关键词: STTR; Phase; Asymmetric; Propulsion; Enhancing

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.

这一小型企业技术转让第一阶段项目的广泛影响/商业潜力将加强对不对称推进的技术理解，这反过来又将加强对海洋的科学理解。非对称推进使用单叶螺旋桨来移动和操纵自主水下机器人(AUV)。除了消除对控制鳍的需求，降低成本和复杂性，提高效率，它还可以允许AUV在感兴趣的对象上保持停靠。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执行大范围测量，然后在特定对象上停留并执行近距离检查。这种任务目前需要多个专门的机器人和一艘支持船的监督。在一台AUV中提供这两种能力将使无船勘测成为可能，降低成本和能源，并提高海洋研究的速度和分辨率。这一第一阶段项目的重点是改进相对于感兴趣对象的持有站的不对称推进控制。这个小型企业技术转让(STTR)第一阶段项目将开发和测试控制算法，当使用非对称推进来转弯和机动鱼雷形状的AUV时，这些控制算法可以保持横摇稳定性。使用带有不对称螺旋桨的单一电机来移动和操纵AUV在机械上更简单，但在计算上更复杂。通过驱动单个自由度相对于物体保持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化行为库，该库可以根据视觉传感器的位置输入有选择地执行。这些行为将独立建造，以减少在鱼雷形状的AUV中诱发摇摆的突然扭矩。这一方法将导致使用可自由移动的水面测试平台成功地展示稳定的可操作性。该奖项反映了NSF的法定使命，并通过使用基金会的智力优势和更广泛的影响审查标准进行评估，被认为值得支持。