Objectif AMADEUS is a programme of work focused on improving the dexterity and sensory abilities of underwater manipulation systems, in support of marine geology and benthic science. It aims to enhance the generic manipulative abilities of Unmanned Underwater Vehicles (UUV), to supplement or substitute for surface deployed dredgers, corers and samplers. Phase 1 of the programme will draw to a close at the end of December 1995. In it, a dextrous three fingered underwater gripper has been developed, incorporating force and slip sensors, which employs a control system to allow automatic grasping of objects up to 150mm diameter and 5Kg mass in conditions of zero visibility. At the end of phase 1, it will operate as a laboratory prototype, and demonstrate sampling operations on typical objects. Phase 2 will progress to grasping much larger and heavier objects, and to carrying out trials in the ocean with marine geologists and benthic scientists. Of particular interest is the co-ordinated use of a pair of UUV manipulators for grasping and manipulation, and the incorporation and use of additional sensory information such as optical and acoustic vision. This addresses areas C.2.1 C.2.2 C.1.1 and C.1.3 of the MAST III workplan. To this end, the sensing and control computational hierarchy will be implemented for automatic grasping and manipulation using a pair of underwater manipulators. Also, the existing gripper technology from phase 1 will be ruggedised, reduced in size and mounted on an existing 7 function underwater manipulator. In parallel, an investigation into the use of vision information using CCD cameras, fibre optic bundles and echo sounders will enhance the gripper/manipulator sensor suite. The manipulators and gripper will be mounted on a suitable test frame, and deployed in the ocean in shallow water to carry out practical experiments. Marine biologist and benthic scientists will specify the system requirements and final experiments, and will provide access and facilities at trial sites in the Mediterranean Sea. Automatic sampling of a wide variety of object sizes and types will thus be demonstrated in a practical context, in conditions of varying visibility. The consortium comprises 1 Scottish, 2 Italian, 1 Spanish and 1 Greek partner, providing a balance of engineering, subsea robotics, marine geology and benthic science expertise from across the EU. The phase 1 consortium has worked well, and has therefore been maintained and extended as necessary. The number of partners (5) remains a manageable number. Although the project demonstrator is pre-competitive, several aspects of the technology have other applications in marine engineering. Where appropriate we anticipate more commercial exploitation through EUREKA and EUROMAR at the end of phase 2. Champ scientifique engineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringcontrol systemsengineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringsensorsoptical sensorsengineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringroboticsnatural sciencesearth and related environmental sciencesgeologyengineering and technologymechanical engineeringvehicle engineeringnaval engineering Programme(s) FP4-MAST 3 - Specific programme of research and technological development in the field of marine science and technology, 1994-1998 Thème(s) 030201 - Unmanned platforms and autonomous systems Appel à propositions Data not available Régime de financement CSC - Cost-sharing contracts Coordinateur Heriot-Watt University Contribution de l’UE Aucune donnée Adresse Riccarton EH14 4AS Edinburgh Royaume-Uni Voir sur la carte Coût total Aucune donnée Participants (4) Trier par ordre alphabétique Trier par contribution de l’UE Tout développer Tout réduire Consiglio Nazionale delle Ricerche (CNR) Italie Contribution de l’UE Aucune donnée Adresse Viale F.Causa 18/R 16145 Genova Voir sur la carte Coût total Aucune donnée INSTITUTE OF MARINE BIOLOGY OF CRETE Grèce Contribution de l’UE Aucune donnée Adresse Port of Heraklion 71003 POROS IRAKLEIOU KRITIS Voir sur la carte Coût total Aucune donnée UNIVERSITY OF GENOVA Italie Contribution de l’UE Aucune donnée Adresse 13,Via all'Opera Pia 13 16145 GENOVA Voir sur la carte Coût total Aucune donnée Universitat de Barcelona Espagne Contribution de l’UE Aucune donnée Adresse S/N,LLuis Solé Sabarís 08028 Barcelona Voir sur la carte Coût total Aucune donnée
