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The telesupervised adaptive ocean sensor fleet architecture
Elfes, Alberto1; Podnar, Gregg W.2; Dolan, John M.2; Stancliff, Stephen2; Lin, Ellie2; Hosler, Jeffrey C.; Ames, Troy J.3,5; Higinbotham, John4; Moisan, John R.5; Moisan, Tiffany A.5; Kulczycki, Eric A.1
通讯作者Elfes, Alberto
会议名称2008 IEEE Aerospace Conference
会议日期MAR 01-08, 2008
会议地点Big Sky, MT
英文摘要

Earth science research must bridge the gap between the atmosphere and the ocean to foster understanding of Earth's climate and ecology. Ocean sensing is typically done with satellites, buoys, and crewed research ships. The limitations of these systems include the fact that satellites are often blocked by cloud cover, and buoys and ships have spatial coverage limitations. This paper describes a Multilevel Autonomy. Robot Telesupervision Architecture (MARTA) for multi-robot science exploration, and an embodiment of the MARTA architecture in a real-world system called the Telesupervised Adaptive Ocean Sensor Fleet (TAOSF). TAOSF supervises and coordinates a group of robotic boats, the OASIS platforms, to enable in-situ study of phenomena in the ocean/atmosphere interface, as well as on the ocean surface and sub-surface. The OASIS platforms are extended-deployment autonomous ocean surface vehicles, whose development is funded separately by the National Oceanic and Atmospheric Administration (NOAA). TAOSF allows a human operator to effectively supervise and coordinate multiple robotic assets using the MARTA multi-level autonomy control architecture, where the operating mode of the vessels ranges from autonomous control to teleoperated human control. TAOSF increases data-gathering effectiveness and science return while reducing demands on scientists for robotic asset tasking, control, and monitoring. The first field application chosen for TAOSF is the characterization of Harmful Algal Blooms (HABs). We discuss the overall TAOSF system and the underlying MARTA architecture, describe field tests conducted under controlled conditions using rhodamine dye as a HAB simulant, present initial results from these tests, and outline the next steps in the development of TAOSF.


来源出版物2008 IEEE AEROSPACE CONFERENCE, VOLS 1-9
ISSN1095-323X
出版年2008
页码2227-+
ISBN978-1-4244-1487-1
出版者IEEE
类型Proceedings Paper
语种英语
国家USA
收录类别CPCI-S
WOS记录号WOS:000258321201078
WOS类目Engineering, Aerospace ; Engineering, Electrical & Electronic
WOS研究方向Engineering
资源类型会议论文
条目标识符http://119.78.100.177/qdio/handle/2XILL650/296916
作者单位1.CALTECH, Jet Prop Lab, 4800 Oak Grove Dr, Pasadena, CA 91109 USA;
2.Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA;
3.NASA, Goddard Space Flight Fac, Code 916, Greenbelt, MD 20771 USA;
4.Emergent Space Technol, Greenbelt, MD 20770 USA;
5.NASA, Wallops Flight Facility, Wallops Isl, VA 23337 USA
推荐引用方式
GB/T 7714
Elfes, Alberto,Podnar, Gregg W.,Dolan, John M.,et al. The telesupervised adaptive ocean sensor fleet architecture[C]:IEEE,2008:2227-+.
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