MRI: Development of Next Generation Collaborative Underwater Robotic Instrument

提案#：CNS 08-21607PI(S)：Metaxas，Dimitris N.Glenn，Scott M.；Kremer，Ulrich；Parashar，Manish；斯科菲尔德，奥斯卡州机构：罗格斯大学新不伦瑞克，NJ 08901-8559标题：磁共振成像/开发：Dev.下一代协作水下机器人仪器项目建议：该项目开发下一代协作水下机器人仪器(CURI)，目标是基于部署生物启发的半语言自主机器人网络的经验锚定的调查。这一新仪器由一组新的水下滑翔机机器人、一个计算机集群和人类与库里互动的监控器(以及新的硬件和软件)组成，能够展示生物启发的自主合作行为，如蜂群、高效机动、传感和决策。在其他目标中，这项工作的目的是能够跟踪和绘制一段时间内的水团，并评估随着时间的推移，海水中混合的水柱如何推动当地的初级生产力。Curi是该研究所和Webb Research(当前机器人滑翔机制造商)之间的合作努力，将展示并允许-生物学启发的行为，如蜂拥而至，-基于多维、多尺度和多感官数据的集成进行决策，-人-Curi交互以帮助指导大量水下机器人的任务目标，以及-Curi机器人之间的水下通信，基于来自分布式和自适应非固定拓扑网络的思想的实施，这些网络包括中间件、元数据和用于水下通信的低功率协议。影响重大的NSF，ONR，NOAA，USGS，在国土安全部和其他机构的投资下，Curi将在人口稠密的纽约-新泽西州大都市区、哈德逊河分水岭和河口、大西洋中部邻近的沿海海洋以及极地和热带环境的相互关联的生态系统中进行测试。收集到的各种数据将为计算分析和建模提供基础。更广泛的影响：这一发展具有强大的多学科组成部分，涉及控制、算法、海洋科学、统计学习、动态系统、人机交互(HCI)和分布式系统。这项工作适用于许多领域，涉及对单个单位的协调行为及其与环境的相互作用进行大规模、分布式建模。因此，当前和未来的海洋学应用有望得到改进，包括改进沿海水文循环的模拟，了解人类发起的行为，如污染、全球变暖和过度捕捞如何影响海岸、大气，并最终影响城市化环境中人类生活的质量和安全。库里将影响教育项目。将开发课程，并随后进行跨学科合作。

Proposal #: CNS 08-21607PI(s): Metaxas, Dimitris N. Glenn, Scott M.; Kremer, Ulrich; Parashar, Manish; Schofield, OscarInstitution: Rutgers University New Brunswick, NJ 08901-8559Title: MRI/Dev.: Dev. of Next Generation Collaborative Underwater Robotic InstrumentProject Proposed:This project, developing the next generation of Collaborative Underwater Robotic Instrument (CURI), targets empirically-anchored investigations based on the deployment of a semi-Langragian network of biologically inspired autonomous robots. This new instrument consists of a collection of new underwater glider robots, a computer cluster, and monitors for Human-CURI interaction (along with novel hardware and software), capable of exhibiting biologically inspired autonomous cooperative behaviors such as swarming, maneuvering efficiently, sensing, and making decisions. Among others goals, the work aims to be able to track and map a water mass over time and to assess how a water column mixing in ocean water drives local primary productivity over time. CURI, developed as a collaborative effort between the institution and Webb Research (manufacturers of current robotics gliders), will exhibit and allow- Biologically inspired behaviors such as swarming,- Decision making (in uncertain conditions) based on the integration of multi-dimensional, multi-scale, and multi-sensory data,- Human-CURI interaction to help guide the mission goals of the large number of underwater robotic vehicles, and- Underwater communication among the robots of the CURI based on the implementation of ideas from distributed and adaptive non-fixed topology networks which include middleware, metadata, and low power protocols for underwater communications.Leveraging significant NSF, ONR, NOAA, USGS, DHS, and other agency investments, CURI will be tested in the linked ecosystems of the densely populated NY-NJ metropolitan area, the Hudson River watershed and estuary, and the adjacent coastal ocean of the Mid-Atlantic, as well as Polar and Tropical environments. The diverse data gathered will provide foundation for computational analysis and modeling. Broader Impacts:This development has strong multidisciplinary components that involve control, algorithms, marine science, statistical learning, dynamic systems, human-computer interaction (HCI), and distributed systems. The work is applicable in many areas that involve large-scale, distributed modeling of coordinated behaviors of individual units and their interaction with the environment. Thus, current and future oceanographic applications are expected, including improved modeling of the Coastal Hydrologic Cycle and understanding how a human initiated act such as pollution, global warming, and over-fishing affects the coast, the atmosphere, and ultimately, the quality and security of human life in urbanized environment. CURI will influence the educational program. Courses will be developed and collaboration across disciplines will ensue.