Engineering Research Equipment: A High Performance GraphicsPlatform for Simulation, Control, and Communications with Unmanned Underwater Robotic Systems

9311269或俄亥俄州立大学电气工程系将购买一个高性能图形平台，该平台将致力于支持工程研究。这些设备将用于几个研究项目；每个项目都解决了与无人水下机器人系统相关的一个关键问题。人们对水下机器人的兴趣与日俱增，因为它在一系列应用中具有潜力，包括生态研究、打捞作业、地球物理勘探、救援和回收作业以及人造水下结构的维护和修复。所支助的项目尤其侧重于与危险和非结构化环境中的水下机器人的模拟、控制和监测有关的问题。主要项目包括：1)无人水下机器人和机械手系统及其相关控制器的实时动态仿真；2)水下行走机器人的实时动态仿真；3)包络动力抓取的动态仿真和神经控制；4)采用人工神经网络技术压缩视频数据的实时显示。

9311269 Orin The Department of Electrical Engineering at The Ohio State University will purchase a High Performance Graphics Platform which will be dedicated to support research in engineering. The equipment will be used for several research projects; each project addresses a critical problem associated with unmanned underwater robotic systems. Interest in underwater robotics is growing because of its potential for use in a range of applications, including ecological studies, salvage operations, geophysical exploration, rescue and recovery operations, and maintenance and repair of man-made underwater structures. In particular the supported projects focus on issues related to the simulation, control and monitoring of underwater robotics in hazardous and unstructured environments. The primary projects are: 1) real-time dynamic simulation of an unmanned underwater vehicle and manipulator system and its associated controller, 2) real-time dynamic simulation of an underwater walking vehicle, 3) dynamic simulation and neural control of enveloping power grasps, and 4) real-time display of video data compressed using a technique which employs artificial neural networks.