MAST/AM - Advanced Tracking and Telemetry Methodologies
to Study Marine Animals
POCTI/MAR/55609/2004
January 2011-December 2013
Brief description
The goal of this project is to endow the scientific community with new moderate cost robotic tools able to track multiple tagged marine animals supported on USBL aided INS systems. These advances are feasible according to results of a recently completed FCT project RUMOS - PDCT/MAR/55609/2004. Resorting to the low rate (1/30 Hz to 1/90 Hz) acoustic data emitted from commercially available tags and from high data rate (100 Hz) measurements from inertial MEMS sensors, installed onboard the robotic tools, (sub-) optimal nonlinear estimation techniques will be able to provide estimates on the trajectories of the multiple targets at rates of 1Hz to 1/5 Hz, with metric accuracy during the sea missions and sub-metric accuracy after post-processing.
Partners
IST/ISR-LA/LARSyS, (Portugal)
Centro de Ciências do Mar (CCMar / CIMAR) (Portugal)
Universidade Federal Rural de Pernambuco, Departamento de Pesca e Aquicultura (Brasil)
Project webpage
http://welcome.isr.ist.utl.pt/project/index.asp?accao=showproject&id_project=174
January 2011-December 2013
Brief description
The goal of this project is to endow the scientific community with new moderate cost robotic tools able to track multiple tagged marine animals supported on USBL aided INS systems. These advances are feasible according to results of a recently completed FCT project RUMOS - PDCT/MAR/55609/2004. Resorting to the low rate (1/30 Hz to 1/90 Hz) acoustic data emitted from commercially available tags and from high data rate (100 Hz) measurements from inertial MEMS sensors, installed onboard the robotic tools, (sub-) optimal nonlinear estimation techniques will be able to provide estimates on the trajectories of the multiple targets at rates of 1Hz to 1/5 Hz, with metric accuracy during the sea missions and sub-metric accuracy after post-processing.
Partners
IST/ISR-LA/LARSyS, (Portugal)
Centro de Ciências do Mar (CCMar / CIMAR) (Portugal)
Universidade Federal Rural de Pernambuco, Departamento de Pesca e Aquicultura (Brasil)
Project webpage
http://welcome.isr.ist.utl.pt/project/index.asp?accao=showproject&id_project=174
TRIDENT - Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions
EU FP-7, ICT Challenge 2: Cognitive Systems, Interaction, Robotics
Collaborative Project (STREP), Grant agreement No: ICT-248497
March 2010-February 2013
Final Evaluation by the European Commission: Excellent
The project has fully achieved its objectives and technical goals and has even exceeded expectations.
Brief description
TRIDENT proposes a new methodology for multipurpose underwater intervention tasks with diverse potential applications like underwater archaeology,oceanography and offshore industries, and goes beyond present-day methods typically based on manned and / or purpose-built systems. Trident is based on new forms of cooperation between an Autonomous Surface Craft and an Intervention Autonomous Underwater Vehicle.
Firstly, the I-AUV performs a path following survey, where it gathers optical and / or acoustic data from the seafloor, whilst the ASC provides geo-referenced navigation data and communications with the end user. The motion of the ASC will be coordinated with that of the I-AUV for precise 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. Secondly, the ASC navigates towards a waypoint near the intervention area to search for the object. When the target object has been found, the I-AUV switches to free floating navigation mode. The manipulation of the object takes place through a dextrous hand attached to a redundant robot arm and assisted with proper perception. Particular emphasis will be put on the research of the vehicle's 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 to be undertaken with regards to a particular target object, but after that the object is automatically recognised and manipulated by the robot in a completely autonomous way.
Partners
Universitat Jaume I - Robotics Intelligence Lab (Spain)
Universitat de Girona - Research Center In Undewater Robotics (Spain)
Universitat de Balears - Systems, Robotics and Vision (SRV) group (Spain)
Universita di Bologna - Laboratory of Automation and Robotics (Italy)
Universita di Genova - Genoa Robotics and Automation Laboratory (Italy)
IST/ISR-LA/LARSyS, (Portugal)
Heriot-Watt University - School of Engineering and Physical Sciences (United Kingdom)
Graal Tech SRL (Italy)
Project webpage
http://www.irs.uji.es/trident/
Collaborative Project (STREP), Grant agreement No: ICT-248497
March 2010-February 2013
Final Evaluation by the European Commission: Excellent
The project has fully achieved its objectives and technical goals and has even exceeded expectations.
Brief description
TRIDENT proposes a new methodology for multipurpose underwater intervention tasks with diverse potential applications like underwater archaeology,oceanography and offshore industries, and goes beyond present-day methods typically based on manned and / or purpose-built systems. Trident is based on new forms of cooperation between an Autonomous Surface Craft and an Intervention Autonomous Underwater Vehicle.
Firstly, the I-AUV performs a path following survey, where it gathers optical and / or acoustic data from the seafloor, whilst the ASC provides geo-referenced navigation data and communications with the end user. The motion of the ASC will be coordinated with that of the I-AUV for precise 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. Secondly, the ASC navigates towards a waypoint near the intervention area to search for the object. When the target object has been found, the I-AUV switches to free floating navigation mode. The manipulation of the object takes place through a dextrous hand attached to a redundant robot arm and assisted with proper perception. Particular emphasis will be put on the research of the vehicle's 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 to be undertaken with regards to a particular target object, but after that the object is automatically recognised and manipulated by the robot in a completely autonomous way.
Partners
Universitat Jaume I - Robotics Intelligence Lab (Spain)
Universitat de Girona - Research Center In Undewater Robotics (Spain)
Universitat de Balears - Systems, Robotics and Vision (SRV) group (Spain)
Universita di Bologna - Laboratory of Automation and Robotics (Italy)
Universita di Genova - Genoa Robotics and Automation Laboratory (Italy)
IST/ISR-LA/LARSyS, (Portugal)
Heriot-Watt University - School of Engineering and Physical Sciences (United Kingdom)
Graal Tech SRL (Italy)
Project webpage
http://www.irs.uji.es/trident/