TRIDENT progress. 2nd I-AUV TRIDENT School Soller (Mallorca Spain) Marine Robot and Dexterous Manipulatin for Enabling Multipurpose

Transcription

1 Dexterous Manipulatin for Enabling Multipurpose Intevention Missions TRIDENT progress 2nd I-AUV TRIDENT School Soller (Mallorca Spain)

2 OVERVIEW FIELD TESTING INTEGRATION-1 (UdG, 3-7 SET 2012) INTEGRATION-2 (UdG, SET 2012) FINAL DEMO

3 Santorini 2012 nderwater Vehicle icle ayload) & software. e operability of the Girona meters f software. two transponder beacons at approximately 300 meter spacing) and surveyed in by the R/V egeao prior to dive operations. Position estimates from each system was combined via a common ion, extent and nature of hydrothermal activity oftware al surveying. interface DVLNAV (Kinsey and Whitcomb, 2003). DVLNAV software provided the ubmersible s g f hydrothermal pilot and Girona 500 processes scientist 500 from with meters fluid real-time sampling XY navigation and temporally synchronized with der e. r ayload Vehicle beacons sensor at data. approximately 300 meter spacing) and surveyed in by the R/V dive operations. Position estimates from each system was combined via a common nd nature of hydrothermal activity ce DVLNAV (Kinsey and Whitcomb, 2003). DVLNAV software provided the mal ilot and processes scientist Funded from with fluid real-time by: sampling XY navigation and temporally synchronized with na meters s ata.! "#$%&' approximately ( )' * +,-. / &,%"0' / +1' 23' 300,- &' 4,$5. meter ' spacing) and surveyed in by the R/V ons. ) & +%&+' 6 Position software. ",- ' ',%+0: 4' 3%2/ ',- &' ; < =7 > ' estimates from each system was combined via a common of ( hydrothermal??@' &A1&5","2B' CDE+0: ' E"B&4F' activity +B5' AV "5&B,"3"&5' (Kinsey -. 5%2,- and &%/ +E' Whitcomb, +%&+4)' G > H' 2003). DVLNAV software provided the,- %2$#- ' G > I ' +%&',- &' 6 2%: "B#' +%&+4' ientist "B5"0+,&5' sses from with "B',- &' J fluid real-time %$"4&' KE+B)' G sampling XY 6 "EE' navigation and temporally synchronized with D&' E20+,&5'2$,4"5&',- &' L+B,2%"B"' J +E5&%+M' bility 0' / +1' 23' +B5',- of &',- 4,$5. &' the E20+,"2B' ' Girona 6 "EE' D&' 5&,&%/ 500 "B&5' 500 meters 4' 3%2/ ' 5$%"B#',- &' ; < =7,- > &' ' 0%$"4&)' N 25"3"&5' 3%2/ ' DE+0: ' L"#$%5442B'&,'+E)'C( E"B&4F' +B5'??@F)' / +E' +%&+4)'! G > H' ent and nature of hydrothermal activity,- &' 6 2%: "B#' +%&+4' 4&' ying. KE+B)' G 6 "EE' ' L+B,2%"B"' J +E5&%+M' "EE' thermal D&' 5&,&%/ "B&5' processes from fluid sampling and ' N! 25"3"&5' 3%2/ igure 1: (left) Photo taken from the Achilles ROV of the Gemini mass spectrometer operating aboard the Thetis D&' ubmersible 5&1E2. &5' 5$%"B#' at a 7depth 8 9 ' 2%' of < 8approximately 9 ' 5"Q&4' 340 meters in the Santorini caldera. The micro modem is visible in the upper right

4 Santorini 2012

5 Santorini 2012

6 Payload Reconfiguration

7 Payload Reconfiguration Dive 20: Santorini, August 2012

8 La Lune Ship wreck Some data La seule image connue de «La Lune» est ce dessin alise en 1690 par l'artiste toulonnais Pierre Puget (navire de gauche «sentation de trois vaisseaux avec les marques de leurs s» Royal Navy ship of Louis XIV Was shipwrecked in 1664 in Toulon (France) > 800 men onboard Discovered in 1993 by Nautile - IFREMER 90 m depth approx. Explored by DRASM Michel l hour DRASM director

9 La Lune Ship wreck

10 La Lune Ship wreck

11 La Lune Ship wreck Mission La Lune [Luc long 2002]

12 La Lune Ship wreck Bathymetry Map

13 La Lune Ship wreck

14 La Lune Ship wreck

15 La Lune Ship wreck Mosaic Global Optimization with fiducidal points

16 La Lune Ship wreck 2.5D Multimodal Map

17 OVERVIEW FIELD TESTING INTEGRATION-1 (UdG, 3-7 SET 2012) INTEGRATION-2 (UdG, SET 2012) FINAL DEMO

18 Free-Floating

19 OVERVIEW FIELD TESTING INTEGRATION-1 (UdG, 3-7 SET 2012) INTEGRATION-2 (UdG, SET 2012) FINAL DEMO

20 Visually-guided grasping with occlusions

21 OVERVIEW FIELD TESTING INTEGRATION-1 (UdG, 3-7 SET 2012) INTEGRATION-2 (UdG, SET 2012) FINAL DEMO

22 Cooperative robots: Nessie & Delfim

23 The Search & Recovery Problem

24 Dexterous Manipulatin for Enabling Multipurpose Intevention Missions TRIDENT progress 2nd I-AUV TRIDENT School Soller (Mallorca Spain)