Multi-Sensory UAV Navigation Research Testbed

多感官无人机导航研究试验台

基本信息

  • 批准号:
    RTI-2021-00248
  • 负责人:
  • 金额:
    $ 5.39万
  • 依托单位:
  • 依托单位国家:
    加拿大
  • 项目类别:
    Research Tools and Instruments
  • 财政年份:
    2020
  • 资助国家:
    加拿大
  • 起止时间:
    2020-01-01 至 2021-12-31
  • 项目状态:
    已结题

项目摘要

This proposal seeks funding to acquire infrastructure to support multi-model robotic navigation system design research at the Intelligent Systems Lab of Memorial University of Newfoundland. Unmanned Aerial Vehicles (UAVs) are servicing several industrial, survey, and research sectors in both remotely operated and autonomous settings. Currently, these applications employ GPS waypoint navigation control to service inspection tasks required by clients. However, for many industrial applications, precise autonomous operation under intermittent and limited GPS conditions is desired in varying environmental conditions, e.g., structural inspection tasks at sites with areas of patchy GPS reception, offshore structures inspection, dry dock inspection of ships, operational scale drone delivery, and environmental surveillance to support harsh environment navigation. These applications demand a multi-sensory and multi-model approach with robust redundancy measures to achieve safety-critical autonomy of the platforms. The research program has both fundamental knowledge development and operational scale validation where an archive of system and sensor models is used in a consistent way to reliably observe the navigation states of robots, i.e., aerial robots transitioning through GPS limited areas, through pre-mapped regions, and areas with changing environmental conditions such as wind gust, magnetic disturbances, and degraded visibility. The research methodology examines probabilistic estimator design that employs a bank of models at its disposal that include nominal Inertial Navigation System (INS) mechanization equations, dynamic constraints of the platform, learned un-modeled dynamics, and models with varying stochastic noise parameters. Furthermore, the existence of redundant sensor sources ranging from visual, inertial, Ultra-Wide Band, LiDAR, and GPS are investigated to achieve robust navigational system performance for extending platforms' operational envelope. This NSERC RTI proposal requests equipment support for a “Multi-sensory UAV navigation research testbed” which comprises of a hexacopter drone equipped with a custom visual-inertial-Lidar navigation sensor package and a RTK GPS system. The proposed equipment is necessary to complete field experimental validation of multi-model robotic navigation research findings using actual sensor data feedback during operation. The equipment will provide HQP hands-on training on operational scale validation of UAV navigation technology using state of the art software and hardware tools. These capabilities are highly transferable to technology and research sectors across Canada and significantly enhance the industry collaborative research partnerships of MUN ISL.
该提案旨在获得资金,以支持纽芬兰纪念大学智能系统实验室的多模型机器人导航系统设计研究。无人机(UAV)在远程操作和自主设置中为多个工业,调查和研究部门提供服务。目前,这些应用程序采用GPS航点导航控制服务于客户要求的检查任务。然而,对于许多工业应用,在变化的环境条件下,在GPS接收不完整的现场执行结构检查任务、海上结构检查、船舶干船坞检查、操作规模无人机交付以及环境监测,以支持恶劣环境下的航行。这些应用需要多传感器和多模型方法,并具有强大的冗余措施,以实现平台的安全关键自主性。 该研究计划具有基础知识开发和操作规模验证,其中以一致的方式使用系统和传感器模型的存档来可靠地观察机器人的导航状态,即,空中机器人通过GPS限制区域、通过预先绘制的区域以及具有变化的环境条件(例如阵风、磁干扰和能见度降低)的区域过渡。研究方法探讨概率估计器的设计,采用了一个银行的模型在其处置,包括标称惯性导航系统(INS)机械化方程,动态约束的平台,学习未建模的动态,和模型与不同的随机噪声参数。此外,存在的冗余传感器源,从视觉,惯性,超宽带,激光雷达,和GPS的研究,以实现强大的导航系统的性能,扩展平台的操作包线。该NSERC RTI提案要求为“多传感器无人机导航研究试验台”提供设备支持,该试验台包括配备定制视觉惯性激光雷达导航传感器包和RTK GPS系统的六旋翼无人机。建议的设备是必要的,以完成现场实验验证的多模型机器人导航的研究成果,在操作过程中使用实际的传感器数据反馈。该设备将使用最先进的软件和硬件工具为HQP提供有关无人机导航技术操作规模验证的实践培训。这些能力可高度转移到加拿大的技术和研究部门,并显着增强MUN ISL的行业合作研究伙伴关系。

项目成果

期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)

数据更新时间:{{ journalArticles.updateTime }}

{{ item.title }}
{{ item.translation_title }}
  • DOI:
    {{ item.doi }}
  • 发表时间:
    {{ item.publish_year }}
  • 期刊:
  • 影响因子:
    {{ item.factor }}
  • 作者:
    {{ item.authors }}
  • 通讯作者:
    {{ item.author }}

数据更新时间:{{ journalArticles.updateTime }}

{{ item.title }}
  • 作者:
    {{ item.author }}

数据更新时间:{{ monograph.updateTime }}

{{ item.title }}
  • 作者:
    {{ item.author }}

数据更新时间:{{ sciAawards.updateTime }}

{{ item.title }}
  • 作者:
    {{ item.author }}

数据更新时间:{{ conferencePapers.updateTime }}

{{ item.title }}
  • 作者:
    {{ item.author }}

数据更新时间:{{ patent.updateTime }}

DeSilva, Oscar其他文献

DeSilva, Oscar的其他文献

{{ item.title }}
{{ item.translation_title }}
  • DOI:
    {{ item.doi }}
  • 发表时间:
    {{ item.publish_year }}
  • 期刊:
  • 影响因子:
    {{ item.factor }}
  • 作者:
    {{ item.authors }}
  • 通讯作者:
    {{ item.author }}

{{ truncateString('DeSilva, Oscar', 18)}}的其他基金

Multi Model State Estimator Design for Micro Aerial Vehicle Navigation Systems
微型飞行器导航系统多模型状态估计器设计
  • 批准号:
    RGPIN-2017-04367
  • 财政年份:
    2022
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Discovery Grants Program - Individual
Multi Model State Estimator Design for Micro Aerial Vehicle Navigation Systems
微型飞行器导航系统多模型状态估计器设计
  • 批准号:
    RGPIN-2017-04367
  • 财政年份:
    2021
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Discovery Grants Program - Individual
Multi Model State Estimator Design for Micro Aerial Vehicle Navigation Systems
微型飞行器导航系统多模型状态估计器设计
  • 批准号:
    RGPIN-2017-04367
  • 财政年份:
    2020
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Discovery Grants Program - Individual
Multi Model State Estimator Design for Micro Aerial Vehicle Navigation Systems
微型飞行器导航系统多模型状态估计器设计
  • 批准号:
    RGPIN-2017-04367
  • 财政年份:
    2019
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Discovery Grants Program - Individual
Multi Model State Estimator Design for Micro Aerial Vehicle Navigation Systems
微型飞行器导航系统多模型状态估计器设计
  • 批准号:
    RGPIN-2017-04367
  • 财政年份:
    2018
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Discovery Grants Program - Individual
Multi Model State Estimator Design for Micro Aerial Vehicle Navigation Systems
微型飞行器导航系统多模型状态估计器设计
  • 批准号:
    RGPIN-2017-04367
  • 财政年份:
    2017
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Discovery Grants Program - Individual

相似海外基金

How Does Particle Material Properties Insoluble and Partially Soluble Affect Sensory Perception Of Fat based Products
不溶性和部分可溶的颗粒材料特性如何影响脂肪基产品的感官知觉
  • 批准号:
    BB/Z514391/1
  • 财政年份:
    2024
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Training Grant
PriorCircuit:Circuit mechanisms for computing and exploiting statistical structures in sensory decision making
PriorCircuit:在感官决策中计算和利用统计结构的电路机制
  • 批准号:
    EP/Z000599/1
  • 财政年份:
    2024
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Research Grant
Unlocking the sensory secrets of predatory wasps: towards predictive tools for managing wasps' ecosystem services in the Anthropocene
解开掠食性黄蜂的感官秘密:开发用于管理人类世黄蜂生态系统服务的预测工具
  • 批准号:
    NE/Y001397/1
  • 财政年份:
    2024
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Research Grant
MCA Pilot PUI: Neural Signaling and Mechanisms Underlying Sensory Integration and Plasticity
MCA Pilot PUI:感觉统合和可塑性背后的神经信号和机制
  • 批准号:
    2322317
  • 财政年份:
    2024
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Standard Grant
Sensory processing during sleep
睡眠期间的感觉处理
  • 批准号:
    EP/Y032071/1
  • 财政年份:
    2024
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Research Grant
ZooCELL: Tracing the evolution of sensory cell types in animal diversity: multidisciplinary training in 3D cellular reconstruction, multimodal data ..
ZooCELL:追踪动物多样性中感觉细胞类型的进化:3D 细胞重建、多模态数据方面的多学科培训..
  • 批准号:
    EP/Y037049/1
  • 财政年份:
    2024
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Research Grant
Tracing the evolution of sensory cell types in animal diversity: multidisciplinary training in 3D cellular reconstruction, multimodal data analysis
追踪动物多样性中感觉细胞类型的进化:3D 细胞重建、多模式数据分析的多学科培训
  • 批准号:
    EP/Y037081/1
  • 财政年份:
    2024
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Research Grant
PROTSENS Rethinking Alternative PROTein Extraction: Decoding SENsory-Protein Extraction Relationships
PROTSENS 重新思考替代性蛋白质提取:解码感觉-蛋白质提取关系
  • 批准号:
    EP/Z000785/1
  • 财政年份:
    2024
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Fellowship
Sensory and bioengineering approaches to predict hearing abilities in fish
预测鱼类听力的感官和生物工程方法
  • 批准号:
    DE240100188
  • 财政年份:
    2024
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Discovery Early Career Researcher Award
Sensory Engineering: Investigating Altered and Guided Perception and Hallucination
感官工程:研究改变和引导的感知和幻觉
  • 批准号:
    AH/Y007638/1
  • 财政年份:
    2024
  • 资助金额:
    $ 5.39万
  • 项目类别:
    Research Grant
{{ showInfoDetail.title }}

作者:{{ showInfoDetail.author }}

知道了