TRIDENT

Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions

Coordinatore	UNIVERSITAT JAUME I DE CASTELLON    more  Organization address address: AVENIDA VICENT SOS BAYNAT S/N city: CASTELLON DE LA PLANA postcode: 12006 contact info Titolo: Mr. Nome: Ismael Cognome: Rodrigo-Martínez Email: send email Telefono: -729657 Fax: -729660
Nazionalità Coordinatore	Spain [ES]
Totale costo	4˙267˙749 €
EC contributo	3˙247˙787 €
Programma	FP7-ICT Specific Programme "Cooperation": Information and communication technologies
Code Call	FP7-ICT-2009-4
Funding Scheme	CP
Anno di inizio	2010
Periodo (anno-mese-giorno)	2010-03-01   -   2013-02-28

 Partecipanti

#	participant	country	role	EC contrib. [€]
1	UNIVERSITAT JAUME I DE CASTELLON  Organization address address: AVENIDA VICENT SOS BAYNAT S/N city: CASTELLON DE LA PLANA postcode: 12006 contact info Titolo: Mr. Nome: Ismael Cognome: Rodrigo-Martínez Email: send email Telefono: -729657 Fax: -729660	ES (CASTELLON DE LA PLANA)	coordinator	0.00
2	ALMA MATER STUDIORUM-UNIVERSITA DI BOLOGNA  Organization address address: Via Zamboni city: BOLOGNA postcode: 40126 contact info Titolo: Dr. Nome: Alessandra Cognome: Villa Email: send email Telefono: -2093029 Fax: -2093085	IT (BOLOGNA)	participant	0.00
3	GRAAL TECH SRL  Organization address address: VIA GROPALLO city: GENOVA postcode: 16122 contact info Titolo: Mr. Nome: alessio Cognome: turetta Email: send email Telefono: 390109000000 Fax: 390109000000	IT (GENOVA)	participant	0.00
4	HERIOT-WATT UNIVERSITY  Organization address address: Riccarton city: EDINBURGH postcode: EH14 4AS contact info Titolo: Dr. Nome: Eva Cognome: Olszewska-Day Email: send email Telefono: -4513160 Fax: -4513280	UK (EDINBURGH)	participant	0.00
5	INSTITUTO SUPERIOR TECNICO  Organization address address: Avenida Rovisco Pais city: LISBOA postcode: 1049-001 contact info Titolo: Ms. Nome: Teresa Cognome: Malhoa Email: send email Telefono: +351 218417731 Fax: +351 218478619	PT (LISBOA)	participant	0.00
6	UNIVERSITA DEGLI STUDI DI GENOVA  Organization address address: Via Balbi city: GENOVA postcode: 16126 contact info Titolo: Ms. Nome: Bice Cognome: Del Papa Email: send email Telefono: +39 010 353 2807 Fax: +39 010 353 2948	IT (GENOVA)	participant	0.00
7	UNIVERSITAT DE GIRONA  Organization address address: Edificio Les Aligues Plaza San Domenec 3 city: GIRONA postcode: 17071 contact info Titolo: Mr. Nome: Miguel Cognome: Fernandez Email: send email Telefono: -972418835 Fax: +34 972418896	ES (GIRONA)	participant	0.00
8	UNIVERSITAT DE LES ILLES BALEARS  Organization address address: Crta. Valldemossa Km 7.5, Son Lledo city: PALMA DE MALLORCA postcode: 7122 contact info Titolo: Dr. Nome: Xavier Cognome: Garcias-Amengual Email: send email Telefono: -173877 Fax: -173574	ES (PALMA DE MALLORCA)	participant	0.00

Mappa

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 Obiettivo del progetto (Objective)

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.