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TRIDENT

Project ID: 248497
Financé au titre de

Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions

De 2010-03-01 à 2013-02-28, projet clôturé | TRIDENT Site web

Détails concernant le projet

Coût total:

EUR 4 267 749

Contribution de l'UE:

EUR 3 247 787

Coordonné à/au(x)/en:

Spain

Appel à propositions:

FP7-ICT-2009-4See other projects for this call

Régime de financement:

CP - Collaborative project (generic)

Description

Developing new methodology to provide multipurpose dexterous manipulation capabilities for intervention operations in unknown, unstructured and underwater environments
There is an ever increasing demand for technology which provides autonomous assistance in underwater scenarios, ranging from maritime rescue to marine bapplications, and including specific tasks in offshore industries. <a href="http://www.irs.uji.es/trident/" target="_blank">TRIDENT</a> proposes a new methodology for multipurpose underwater intervention tasks with diverse potential applications such as underwater archaeology, coastal and ocean observatories, oceanography and offshore industries, going beyond present-day methods typically based on manned and/or purpose-built systems. The TRIDENT project brings together research skills specific to the marine environments in navigation and mapping for underwater robotics, multi-sensory perception and a range of control techniques relating to intelligent control architectures, vehicle-manipulator systems and dexterous manipulation.

Objectif

TRIDENT proposes a new methodology for multipurpose underwater intervention tasks with diverse potential applications like underwater archaeology, oceanography and offshore industries, going beyond present-day methods typically based on manned and / or purpose built systems.A team of two cooperative heterogeneous robots with complementary skills, an Autonomous Surface Craft (ASC) and an Intervention Autonomous Underwater Vehicle (I-AUV) endowed with a dexterous manipulator, will be used to perform underwater manipulation tasks.The proposed methodology is based on two steps.During the first step, the I-AUV is deployed from the ASC to perform a cooperative path following survey, where it gathers optical/acoustic data from the seafloor whilst the ASC provides geo-referenced navigation data as well as communication with the end user. During this phase of the mission the I-AUV will be doing accurate path following and terrain tracking, to maximize bottom coverage and data quality. The motion of the ASC will be coordinated with that of the I-AUV to achieve precise USBL (Ultra Short Base Line) positioning and reliable acoustic communications. After the survey, the I-AUV docks with the ASC and sends the data back to a ground station where a map is set up and a target object is identified by the end user.At the second step, the ASC navigates towards a waypoint near the intervention area where the I-AUV is launched to search for the object. When the object (i.e. the target of the intervention) has been found, the I-AUV switches to free floating navigation mode. The manipulation of the object takes place through a dexterous hand attached to a redundant robot arm and assisted with proper perception. Particular emphasis will be put on the research of the vehicles intelligent control architecture to provide the embedded knowledge representation framework and the high-level reasoning agents required to enable a high degree of autonomy and on-board decision making of the platform. The new methodology will allow the user to specify an intervention task, among a set of predefined ones, to be undertaken with regards to a particular target object selected by the end user by means of the map previously built. Hence the intervention task is seen as a semi-automatic process where the target is manually selected but then it is automatically recognized and manipulated by the robot in a complete autonomous way. The TRIDENT project brings together research skills specific to marine environments in navigation and mapping for underwater robotics, multi-sensory perception and a range of control techniques relating to intelligent control architectures, vehicle-manipulator systems and dexterous manipulation.

Informations connexes

Documents et Publications

Coordonnées du coordinateur

Prof. Pedro J. SANZ, (Project Coordinator)
Tél.: + 34 964 72 82 85
Fax: + 34 964 72 84 86
E-mail

Coordinateur

UNIVERSITAT JAUME I DE CASTELLON
Spain

Contribution de l'UE: EUR 456 988


AVENIDA VICENT SOS BAYNAT S/N
12006 CASTELLON DE LA PLANA
Spain
Activity type: Higher or Secondary Education Establishments
Contact administratif: Ismael Rodrigo-Martínez
Tél.: +34-964-728727
Fax: +34-964-728730
E-mail

Participants

UNIVERSITAT DE LES ILLES BALEARS
Spain

Contribution de l'UE: EUR 353 145


CARRETERA DE VALLDEMOSSA KM 7.5
07122 PALMA DE MALLORCA
Spain
Activity type: Higher or Secondary Education Establishments
Contact administratif: Xavier Garcias-Amengual
Tél.: +34-971-172940
Fax: +34-971-172637
E-mail
UNIVERSITAT DE GIRONA
Spain

Contribution de l'UE: EUR 461 480


PLACA SANT DOMENEC 3
17004 GIRONA
Spain
Activity type: Higher or Secondary Education Establishments
Contact administratif: Miguel Fernandez
Tél.: +34-972418869
Fax: +34 972418896
E-mail
UNIVERSITA DEGLI STUDI DI GENOVA
Italy

Contribution de l'UE: EUR 403 515


VIA BALBI 5
16126 GENOVA
Italy
Activity type: Higher or Secondary Education Establishments
Contact administratif: Bice Del Papa
Tél.: +39 010 353 2807
Fax: +39 010 353 2948
E-mail
ALMA MATER STUDIORUM - UNIVERSITA DI BOLOGNA
Italy

Contribution de l'UE: EUR 370 488


VIA ZAMBONI 33
40126 BOLOGNA
Italy
Activity type: Higher or Secondary Education Establishments
Contact administratif: Alessandra Villa
Tél.: +39-051-2093017
Fax: +39-051-2093073
E-mail
GRAAL TECH SRL
Italy

Contribution de l'UE: EUR 383 140


VIA GROPALLO 4/10
16122 GENOVA
Italy
Activity type: Private for-profit entities (excluding Higher or Secondary Education Establishments)
Contact administratif: alessio turetta
Tél.: +390108597683
Fax: +390108597684
E-mail
INSTITUTO SUPERIOR TECNICO
Portugal

Contribution de l'UE: EUR 401 887


AVENIDA ROVISCO PAIS 1
1049-001 LISBOA
Portugal
Activity type: Higher or Secondary Education Establishments
Contact administratif: Teresa Malhoa
Tél.: +351 218417731
Fax: +351 218478619
E-mail
HERIOT-WATT UNIVERSITY
United Kingdom

Contribution de l'UE: EUR 417 144


Riccarton
EH14 4AS EDINBURGH
United Kingdom
Activity type: Higher or Secondary Education Establishments
Contact administratif: Eva Olszewska-Day
Tél.: +44-131-4513073
Fax: +44-131-4513193
E-mail
Numéro d'enregistrement: 93968 / Dernière mise à jour le: 2017-04-13