Vision for multipurpose intervention missions with an Autonomous Underwater Vehicle (AUV)

Dienstag, 14.06.2011, 16:00 c.t., Raum B 017

Referent: Dr. Gabriel Oliver, Universitat de les Illes Balears

Gastgeber: Prof. Dr. Dieter Zöbel

Abstract:

Unmanned underwater vehicles that are used in maritime field operations often need intervention capabilities in order to complete the desired task. Typical applications include valve manipulation in the offshore industries, deployment and recovery of instruments in marine science or specific rescue operations. At present, most intervention operations are performed by manned submersibles or by Remotely Operated Vehicles (ROVs) equipped with robotic arms. The main drawback of these solutions is the high cost of the associated vessel needed to support the operations from the surface. Thanks to different technologies progress, some researchers have recently started the design and construction of Autonomous Underwater Vehicles with Intervention capabilities (I-AUV), which would only need light vessels to be operated. This challenging solution comes at the cost of endowing the robot with the sensorial capability and intelligence needed to keep the operator out of the control loop. I-AUVs must be operated in the close proximity of the seabed or artificial structures. They have to be able to identify the objects to be manipulated and the intervention tasks to be undertaken, while safely moving within a cluttered working area. Thus, while I-AUVs are the natural way of technological progress, they represent an authentic research challenge for the Robotics community.

The talk presents the research projects related to I-AUV design and application in which the Systems, Robotics and Vision Group at the University of the Balearic Islands is involved in. After an overall view of the projects, a more detailed discussion concerning the vision system under development will be presented.

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