Mar i neRobot sand Dext er ousMani pul at i onf or Enabl i ngAut onomous Under wat erMul t i pur pose I nt er vent i onMi ssi ons
Pr oj ecti nf or mat i on Thi spr oj ec tpr opos esanewmet hodol ogyt opr ov i demul t i pur pos edex t er ousmani pul at i onc apabi l i t i esf ori nt er v ent i onoper at i ons i n unk nown,uns t r uc t ur ed and under wat erenv i r onment s .I nt he TRI DENT pr oj ec t ,a mul t i pur pos e gener i ci nt er v ent i on i s c ompos edoft wophas es :
PHASEI( Sur vey) :TheAut onomousSur f ac eCr af t( ASC)i sl aunc hedt o c ar r yt heI nt er v ent i onAut onomousUnder wat erVehi c l e( I AUV)t owar ds t he ar ea t o be s ur v ey ed.Then,t he I AUV i sdepl oy ed ( 1)and bot h v ehi c l ess t ar tac oor di nat eds ur v eypat h( 2)t oex pl or et hear ea.The ASC/ I AUV t eam gat her snav i gat i ondat af orgeor ef er enc i ngt hemeas ur ement s( s eaf l oori magesandmul t i beam bat hy met r ypr of i l es ) .Fi nal l y , t he I AUV s ur f ac es ( 3)and c ont ac t st ot he end us ert os et up and ac ous t i c / opt i c almapoft hes ur v ey edar ea.Us i ngt hi smap,t heenus er s el ec t sat ar getobj ec t( anobj ec tofi nt er es t )aswel lasas ui t abl ei nt er v ent i ont as k( gr as pi ng,hook i ng,et c . . . ) .
PHASE I I( I nt er vent i on) :Af t er s el ec t i ng t he t ar get ,t he ASC/ I AUVt eam nav i gat est owar dst het ar getpos i t i on.Then, t heASC per f or ms dy nami c pos i t i on ( 4)whi l ek eepi ng t he I AUV i ns i det heUSBLc oneofc ov er age.Then,t heI AUV per f or msas ear c h( 5)l ook i ngf ort heT ar getofI nt er es t( T oI ) . Whent heobj ec tappear si nt her obotf i el dofv i ew,i ti si dent i f i edandt heI AUV s wi t c hest of r eef l oat i ngmodeus i ngi t s r obot i car m aswel last hedex t er oushandt odot hes mar t mani pul at i on ( 6) .Fi nal l y( 7) ,t he I AUV doc k st ot heASC bef or er ec ov er y .
Pr oj ectobj ect i ves
Consor t i um
Cooper at i v e nav i gat i on t ec hni ques t o ac hi ev er obus t ,hi gh ac c ur ac ynav i gat i on( l oc al i z at i on)ofal lt hev ehi c l esi nv ol v edi n t her obot i ct eam. I nnov at i v emappi ngal gor i t hmst or obus t l ybui l dc ons i s t entmul t i modal mapsoft hes eaf l oor . Gui danc eandc ont r olal gor i t hmsf ort het eam v ehi c l esal onebut al s ot oc ooper at i v el ygui deandc ont r ol bot hv ehi c l esi nf or mat i on. Embeddedk nowl edger epr es ent at i onf r amewor kandt hehi ghl ev el r eas oni ngagent sr equi r ed. Adv anc edac ous t i c / opt i c ali magepr oc es s i ngal gor i t hmst oal l ow f orf eat ur edet ec t i onandt r ac k i ng. Ar edundantr obot i car m endowedwi t hadex t er oushandasan enabl i ngt ec hnol ogyf ormul t i pur pos emani pul at i onunder wat er . I nnov at i v es t r at egi es f ort he c oor di nat ed c ont r oloft he j oi nt AUVMani pul at ors y s t em. Themec hat r oni c saswel last heper c ept i on/ ac t i onc apabi l i t i es neededt of ac et heaut onomousdoc k i ngoft heI AUVt ot heASC. Amul t i s ens or yc ont r ol ar c hi t ec t ur e,i nc l udi ngak nowl edgebas ed appr oac h,t o guar ant ee t he s ui t abl e mani pul at i on ac t i ons f or enabl i ngamul t i pur pos ei nt er v ent i ons y s t em.
Cont act :Pedr oJ.Sanz
Uni ver si t atJaumeIdeCast el l ón( Spai n) Dr .Pedr oJ .Sanz Mul t i s ens or yBas edMani pul at i onAr c hi t ec t ur e
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