Reconfigurable AUV for intervention missions: a case study on underwater object recovery

Autor: Prats, Mario, Campos Dausà, Ricard, Ribas Romagós, David, Palomeras Rovira, Narcís, García, Juan Carlos, Nannen, Volker, Wirth, Stephan, Fernández, José Javier, Beltran Amengual, J.P., Ridao Rodríguez, Pere, Sanz, Pedro José, Oliver Codina, Gabriel, Carreras Pérez, Marc, Grácias, Nuno Ricardo Estrela, Marín, Raúl Gella, Ortiz, Alberto
Přispěvatelé: Ministerio de Ciencia e Innovación (Espanya)
Rok vydání: 2012
Předmět:
0209 industrial biotechnology
Vehicles submergibles
Computer science
Autonomous underwater manipulation
Graphical user interfaces
Robots autònoms
Computational Mechanics
02 engineering and technology
Underwater robotics
Intervention AUV
Submersibles
020901 industrial engineering & automation
Artificial Intelligence
Autonomous robots
0202 electrical engineering
electronic engineering
information engineering
Underwater
Engineering (miscellaneous)
Simulation
Graphical user interface
business.industry
Mechanical Engineering
Underwater computer vision
Object (computer science)
Graphical user interfaces (Computer systems)
Intervention (law)
Underwater vehicle
Systems engineering
020201 artificial intelligence & image processing
Interfícies gràfiques d'usuari (Informàtica)
State (computer science)
business
Zdroj: © Intelligent Service Robotics, 2012, vol. 5, núm. 1, p. 19-31
Articles publicats (D-ATC)
DUGiDocs – Universitat de Girona
instname
Repositori Universitat Jaume I
Universitat Jaume I
ISSN: 2008-0654
Popis: Starting in January 2009, the RAUVI (Reconfigurable Autonomous Underwater Vehicle for Intervention Missions) project is a 3-year coordinated research action funded by the Spanish Ministry of Research and Innovation. In this paper, the state of progress after 2 years of continuous research is reported. As a first experimental validation of the complete system, a search and recovery problem is addressed, consisting of finding and recovering a flight data recorder placed at an unknown position at the bottom of a water tank. An overview of the techniques used to successfully solve the problem in an autonomous way is provided. The obtained results are very promising and are the first step toward the final test in shallow water at the end of 2011 This research was partly supported by Spanish Ministry of Research and Innovation DPI2008-06548-C01-02-03 (RAUVI Project), by the European Commissions Seventh Framework Programme FP7/2007-2013 underGrant agreement 248497 (TRIDENT Project), by Fundació Caixa Castelló-Bancaixa P1-1B2009-50, and by the Spanish Ministry of Education and Science (MCINN Grant CTM2010-15216), Ramon Y Cajal Program (N. Gracias) and the FPI program (R. Campos)
Databáze: OpenAIRE
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