Project description
Cognitive Systems and Robotics
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. TRIDENT 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.
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.
Fields of science (EuroSciVoc)
CORDIS classifies projects with EuroSciVoc, a multilingual taxonomy of fields of science, through a semi-automatic process based on NLP techniques. See: The European Science Vocabulary.
CORDIS classifies projects with EuroSciVoc, a multilingual taxonomy of fields of science, through a semi-automatic process based on NLP techniques. See: The European Science Vocabulary.
- humanities history and archaeology archaeology underwater archaeology
- engineering and technology electrical engineering, electronic engineering, information engineering electronic engineering robotics
- natural sciences earth and related environmental sciences oceanography
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Programme(s)
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Multi-annual funding programmes that define the EU’s priorities for research and innovation.
Topic(s)
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Calls for proposals are divided into topics. A topic defines a specific subject or area for which applicants can submit proposals. The description of a topic comprises its specific scope and the expected impact of the funded project.
Call for proposal
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Procedure for inviting applicants to submit project proposals, with the aim of receiving EU funding.
FP7-ICT-2009-4
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Funding Scheme
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Funding scheme (or “Type of Action”) inside a programme with common features. It specifies: the scope of what is funded; the reimbursement rate; specific evaluation criteria to qualify for funding; and the use of simplified forms of costs like lump sums.
Coordinator
12006 Castellon De La Plana
Spain
The total costs incurred by this organisation to participate in the project, including direct and indirect costs. This amount is a subset of the overall project budget.