MRI-R2: Acquisition of a Networked AUV-based Instrument for the Southern California Bight

该奖项是根据2009年《美国复苏和再投资法案》(公法111-5)资助的。提案#：09-60163PI(S)：Sukhatme，Gaurav；Caron，David A.；Edwards，Katrina J.；Jones，Burton，H；Mitra，UrbashiInstitution：南加州大学标题：磁共振成像-R2：ACQ南加州BightProject的网络化AUV仪器项目建议：该项目获得由两个互补的自主水下机器人(AUV)组成的网络化仪器，支持综合联网水上平台中心(CINAPS)在机器人学、水声通信和联网、海洋生物学、海洋学和生物地球化学方面的广泛研究计划。这两款AUV为CINAPS已经在使用的AUV增加了能力。这项工作解决了目前的两个关键限制：有限的深度(深度不超过200米)和有限的通信(仅支持空中通信，即当车辆不在水面以下时)。这些仪器影响两个主要领域的议程：南加州沿海海洋生态系统的研究(物理海洋学、地球生物海洋学和微生物生态学)，以及机器人、通信和网络的研究。仪器由Slocum电动滑翔机和EcoMapper-EP(可扩展有效载荷)自主水下机器人组成。斯洛克姆滑翔机是S在20世纪90年代初研制的，可用于1000米的高度，在这十年中已成为海洋科学不可或缺的工具。它完全由可变浮力系统驱动，而不是主动推进。滑翔机的机翼将依赖浮力的垂直运动转化为前进速度。Slocum滑翔机是真正自主的，只需要一艘水面舰艇进行部署和回收。机载通信能力包括一个双向射频调制解调器、Iridium卫星和一个Argos定位器。凭借其机载仪器，再加上其机动性和远程能力，滑翔机提供了关于海洋物理和生物地球化学的连续、近乎实时的信息。Ecomapper专为水质和水深测绘应用而设计，适用于浅水(最高200米)，是一种独特的AUV。只需一个人就可以轻松部署，它能够在没有水面工作船或相关人员的情况下执行大范围调查。EP级EcoMapper允许为定制的传感器集成提供额外的端口，并为第二个低功耗CPU提供空间，以支持额外的传感器和软件。这一额外的CPU使任务能够根据实时传感器读数进行动态调整，这些读数在试图探测和跟踪动态变化的海洋特征时是必要的，一系列重要的过程和相关问题只能在深水(1000米)和浅水(200米)的耦合情况下才能研究。这些影响包括：(A)更深处有害藻类大量繁殖的毒性影响；(B)低氧界面的时空变化(深水盆地因隔离而可能变得缺氧或缺氧)；(C)城市径流中向深海转移颗粒物质的通量，这些物质在时间和空间上都不连续；(D)这些物质的空间分布情况，用能够在几次事件中保持存在的自动驾驶车辆解决得最好。为了能够进行这些研究，多AUV通信和控制的新算法是必要的。在水下协调飞行器轨迹和任务的能力是目前的限制。这在研究地点南加州海湾特别令人担忧，该地区海上交通频繁，需要最大限度地减少AUV的浮出水面。作为部署在南加州海湾(SCB)的现场仪器，该仪器在洛杉矶南加州大学主校区的机器人嵌入式系统实验室进行了编程和台架测试。乐器经理由PI支持；S授予。南加州大学承担所有运营和维护成本。更广泛的影响：仪器设备影响教师研究和学生教育，有助于在不同的研究项目中启用新科学，并影响该机构正在进行的教学，并作为一种学习工具来发展学生的科学能力(通过现有课程和参与教师主导的研究)。此次收购在计划于2010年春季进行的南加州Bight研究中发挥了重要作用，该研究由南加州海岸水研究项目(SCCWRP)协调，该项目是一家专注于南加州沿海生态系统的公共机构。私家侦探与该机构有着密切的合作关系。此外，联网和自适应传感器系统提供了与南加州沿海海洋的气候和健康有关的重要数据。本科生通过南加州大学的REU Site奖项参与其中。由于PI运营着南加州大学计算机科学系REU网站，从事计算机科学的各个领域的研究，他实验室的学生经常帮助机器人船进行数据分析和编程。EcoMapper运载工具设计为便携和可在浅水中部署，特别适合下一代REU学生。其他PI作为教师导师参与南加州大学生物化学REU网站，鼓励生物学本科生类似的参与。

"This award is funded under the American Recovery and Reinvestment Act of 2009 (Public Law 111-5)." Proposal #: 09-60163PI(s): Sukhatme, Gaurav; Caron, David A.; Edwards, Katrina J.; Jones, Burton, H; Mitra, UrbashiInstitution: University of Southern California Title: MRI-R2: Acq. of a Networked AUV-based Instrument for the Southern California BightProject Proposed:This project, acquiring a networked instrument composed of two complementary Autonomous Underwater Vehicles (AUVs), supports an extensive program of research in robotics, underwater acoustic communication and networking, marine biology, oceanography, and biogeochemistry at the Center for Integrated Networked Aquatic PlatformS (CINAPS). These two AUVs add capability to those already in use by CINAPS. The work addresses two current key limitations: limited depth (depth no greater than 200m) and limited communication (only supports communication through the air, i.e., when the vehicles are not below the surface.) These instruments impact agendas in two main fields: research in the Southern California coastal marine ecosystem (in physical oceanography, geobiological oceanography, and microbial ecology), and research in robotics, communication, and networking.The instrumentation consists of a Slocum Electric Glider and an EcoMapper-EP (Expandable Payload) Autonomous Underwater Vehicle. The Slocum glider, for use up to 1000m, was developed by in the early 1990's, and has become an integral tool of ocean science in this decade. It is driven entirely by a variable buoyancy system rather than active propulsion. The glider's wings convert the buoyancy-dependent vertical motion into forward velocity. Slocum gliders are truly autonomous, requiring a surface vessel only for deployment and recovery. On-board communications capabilities include a two-way RF modem, Iridium satellite and an ARGOS locator. With its onboard instrumentation, combined with its mobility and long-range capabilities, the glider provides continuous, near-real-time information, about the physics and biogeochemistry of the ocean. Designed specifically for water quality and bathymetry mapping applications, the Ecomapper for shallow use (up to 200m) is a unique AUV. Easily deployed by one person, it is able to perform a wide-area survey without a surface workboat or associated personnel. The EP class EcoMapper allows for additional ports for customized sensor integration and space for a second low-power CPU to support the additional sensors and software. This additional CPU enables mission adaptations to occur on-the-fly based on real-time sensor readings that are necessary when trying to detect and track dynamically changing oceanic features a range of important processes and associated questions can only be studied with the coupling of deep AUV operations (up to 1000m) with shallow (up to 200m). These include (a) the toxic effect of harmful algal blooms at greater depth, (b) the temporal and spatial variations of the low oxygen interface (deep basins can become hypoxic or anoxic due to isolation), and (c) fluxes of particulate material from urban runoff to the deeper sea that are discontinuous in both time and space; the spatial extent of which can be best resolved with autonomous vehicles that can maintain a presence over several events. To enable these studies, new algorithms for multi-AUV communication and control are necessary. The ability to coordinate vehicle trajectories and missions while submerged presents a current limitation. This is of particular concern in the Southern California Bight, the study site, a region with high maritime traffic where surfacing of the AUVs needs to be minimized. Used as a field instrument deployed in the Southern California Bight (SCB), the instrument is programmed and bench-tested in the Robotic Embedded Systems Laboratory on the USC main campus in LA. The instrument manager is supported by the PI;s grants. USC covers all operational and maintenance costs.Broader Impacts: The instrumentation impacts faculty research and student education, contributing to enable new science in diverse research projects and impacting the ongoing instruction at the institution and serves as a learning tool to develop student scientific proficiency (through existing courses and participation in faculty-led research). This acquisition plays an important role in the Southern California Bight Study planned for Spring 2010, coordinated by the Southern California Coastal Water Research Project (SCCWRP), a public agency focusing on the coastal ecosystems of Southern California. The PIs have close collaborative ties to this agency. Moreover, the networked and adaptive sensor systems provide important data relating to the climate and health of Southern California coastal ocean.Undergraduate students are involved through REU site awards at USC. Since the PI runs the USC Computer Science department REU site for research in various areas of computer science, students in his lab often assist with data analysis and programming for the robotic boats. The EcoMapper vehicle, which is designed to be portable and deployable in shallow water, is particularly suitable for the next generation of REU students. Other PIs participate as faculty mentors in USC biochemistry REU site encouraging similar participation from undergraduate students in biology.