ITR/AP+SI: Real-Time Spatio-Temporal Interfaces for Remote Oceanographic Exploration with Underwater Robotic Vehicles

摘要ROV、AUV和其他潜艇机器人系统以巨大且不断升级的速度提供来自传感器的定量数据。通常，这些数据被存储起来以供以后处理，并以屏幕上闪过的数字的形式实时查看。需要的是一种更充分地实时利用这些数据的方法，以优化机器人车辆的科学使用。该提案探讨了在实现这一目标方面取得进展的三种方式。1)开发用于数据显示的交互式三维图形界面；2)开发基于传感器的宏，用于执行常规任务，如测量、对接、避障和其他功能；3)测试在低带宽水声信道上优先传输数据对任务性能的影响，这些将在全尺寸动态定位航行器上开发，并将扩展现有水下机器人的能力，以执行更困难和复杂的任务。

AbstractROVs, AUVs and other submarine robotic systems deliver quantitative data from sensors at a huge and escalating rate. Usually these data are stored for later processing and are viewed in real time as numbers flashing by on a screen. What is needed is a way to utilize these data more fully in real time to optimize the use of robotic vehicles for science. This proposal explores three ways of making progress on this goal. 1) develop interactive 3-D graphic interfaces for data display, 2) develop sensor-based macros for performing routine tasks such as surveys, docking, obstacle avoidance and other functions, 3) Test the effect on mission performance of prioritizing data transmission over low-bandwidth acoustic channels, These will be developed on full-scale dynamically positioned vehicles and will extend the present capabilities of underwater robotic vehicles for more difficult and complex tasks.