Collaborative Research: CRI: IAD: Research/Education Infrastructure Based on Modular Miniature Robot Teams

提案#：CNS 07-07939 07-08344PI(S)：Isler，Ibrahim V.Papanikolopoulos，Nikolaos Drineas，Petros；Trinkle，Jeffrey He，天津研究所：明尼苏达大学伦斯勒理工学院-双城大学特洛伊，NY 12180-3522Minneapolis，MN 55455-5200标题：IAD：ColLab RSCH：基于模块化微型机器人系统的研究/教育基础设施项目建议：这个合作项目，开发一个模块化的硬件和软件基础设施(带有相关软件的微型机器人)，旨在确定完成对大多数机器人传感器应用至关重要的任务所需的最低能力。这项工作涉及调查单个单位的能力与整个机器人团队的集体能力之间的关系。主要的创新之处在于根据各个单位的能力，为研究和教育创造了灵活的设计范围。在较低端，基本设计的“探索者”，一个基于Gumstix单位和其中一个机构的早期机器人设计的机器人，提供了一个廉价但功能强大的解决方案。在高端，基于Intel Pentium M处理器和RoboAudioStix主板的机器人平台“MicroVision”使用标准的现成硬件和开源视频算法提供实时视频流和处理。这两种设计的模块化允许添加特殊的硬件功能。该基础设施的目标是低成本、易于使用的平台，这些平台支持研究并可用于课程。具体地说，这一发展使机器人传感器网络系统的设计成为可能。在网络拓扑频繁变化的情况下，通过多跳实现可靠高效的通信；迅速准确地确定机器人团队成员之间的相对位置，以进行有效的协调；实现节能的有袋类动物机动；为协作传感提供空间、时间和时空覆盖保证；通过抓取和操纵与环境互动。更深远的影响：这个基础设施将用于高级论文，K-12学生将通过学校参观和科学实地考察日参与进来。一年一度的机器人夏令营将举行。这些活动将由国家工程技术教育中心(NCETE)提供帮助。与伯里亚和史密斯学院以及弗吉尼亚大学的协调，确保了本科生和少数族裔服务机构之间的交流。

Proposal #: CNS 07-07939 07-08344PI(s): Isler, Ibrahim V. Papanikolopoulos, Nikolaos Drineas, Petros; Trinkle, Jeffrey He, TianInstitution: Rensselaer Polytechnic Institute University of Minnesota - Twin Cities Troy, NY 12180-3522 Minneapolis, MN 55455-5200Title: IAD: Collab Rsch: Research/Education Infrastructure Based on Modular Miniature Robot SystemsProject Proposed:This collaborative project, developing a modular hardware and software infrastructure (miniature robots with the pertinent software), aims to identify minimum capabilities required for accomplishing tasks which are crucial for most robotics-sensor applications. The work involves investigating the relationship between the capabilities of individual units and the collective capabilities of the entire robotic team. The major innovation lies in the creation of a flexible design spectrum for both research and education based on the capabilities of the individual units. On the lower end of the spectrum, the basic design "Explorer," a robot based on a Gumstix unit and earlier robot designs from one of the institutions, provides an inexpensive and yet significantly powerful solution. On the higher end, the platform "MicroVision," a robot based on the Intel Pentium M processor and RoboAudioStix board, provides real-time video streaming and processing using standard off-the-shelf hardware and open-source video algorithms. The modularity of both designs allows the addition of special hardware capabilities. The infrastructure aims at low-cost, easy-to-use platforms that support research and can be adopted into courses. Specifically, this development enables design of robotics sensor-network systems that can. Communicate reliably and efficiently via multi-hop in the presence of frequent network topology changes;. Identify relative positions among members of a robotic team promptly and accurately for effective coordination;. Enable energy-efficient marsupial maneuvering;. Provide collaborative sensing with spatial, temporal, and spatiotemporal coverage guarantees; and. Interact with environments through grasping and manipulation.Broader Impacts: This infrastructure will be used for senior theses and K-12 students will be engaged via school visits and science field days. An annual Robot Camp will be held. The activities will be helped by the National Center for Engineering and Technology Education (NCETE). Coordination with Berea and Smith College, as well as UVA ascertains exchange among undergraduate- and minority-serving institutions.