TRIDENT progress

Marine Robot and
Dexterous Manipulatin for
Enabling Multipurpose
Intevention Missions
TRIDENT progress
2nd I-AUV TRIDENT School – Soller (Mallorca – Spain)
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
OVERVIEW
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
• FIELD TESTING
• INTEGRATION-1 (UdG, 3-7 SET 2012)
• INTEGRATION-2 (UdG, 17-21 SET 2012)
• FINAL DEMO
Santorini 2012
Underwater Vehicle
hicle
payload) & software.
he operability of the “Girona 500” AUV @ 500 meters
approximately 300 meter spacing) and surveyed in by the R/V
Aegeao prior to dive operations. Position estimates from each system was combined via a common
tion, extent and nature of hydrothermal activity
software
interface – DVLNAV (Kinsey and Whitcomb, 2003). DVLNAV software provided the
cal surveying.
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pilot and scientist from
with fluid
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temporally synchronized with
ng
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AUV @ 500 meters
nder
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er Vehicle
re.
dive operations. Position estimates from each system was combined via a common
and nature of hydrothermal activity
ace
. – DVLNAV (Kinsey and Whitcomb, 2003). DVLNAV software provided the
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Figure 1: (left) Photo taken from the Achilles ROV of the Gemini mass spectrometer operating aboard the Thetis
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Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
Santorini 2012
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
Santorini 2012
A U V D I V E S I N SA N T OR I N I
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
Payload Reconfiguration
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
Payload Reconfiguration
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
Dive 20: Santorini, August 2012
La Lune Ship wreck
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
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»
Michel l’hour
DRASM director
• 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
La Lune Ship wreck
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
La Lune Ship wreck
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
La Lune Ship wreck
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
Mission “La Lune”
[Luc long 2002]
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
La Lune Ship wreck
Bathymetry Map
La Lune Ship wreck
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
La Lune Ship wreck
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
La Lune Ship wreck
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
Mosaic Global Optimization with fiducidal points
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
La Lune Ship wreck
2.5D Multimodal Map
OVERVIEW
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
• FIELD TESTING
• INTEGRATION-1 (UdG, 3-7 SET 2012)
• INTEGRATION-2 (UdG, 17-21 SET 2012)
• FINAL DEMO
Free-Floating
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
OVERVIEW
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
• FIELD TESTING
• INTEGRATION-1 (UdG, 3-7 SET 2012)
• INTEGRATION-2 (UdG, 17-21 SET 2012)
• FINAL DEMO
Visually-guided grasping with occlusions
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
OVERVIEW
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
• FIELD TESTING
• INTEGRATION-1 (UdG, 3-7 SET 2012)
• INTEGRATION-2 (UdG, 17-21 SET 2012)
• FINAL DEMO
Cooperative robots: Nessie & Delfim
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
The Search & Recovery Problem
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions
Marine Robot and
Dexterous Manipulatin for
Enabling Multipurpose
Intevention Missions
TRIDENT progress
2nd I-AUV TRIDENT School – Soller (Mallorca – Spain)
Marine Robot and
Dexterous Manipula n for
Enabling Mul purpose
Inteven on Missions