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I-AUV Mechatronics Integration for the TRIDENT FP7 Project

Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept. This paper describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials

This work was supported by the TRIDENT EU FP7 Project under Grant ICT-248497 and the Spanish Project DPI2011-27977-C03v (TRITON)

Institute of Electrical and Electronics Engineers (IEEE)

Director: Ministerio de Economía y Competitividad (Espanya)
Autor: Ribas Romagós, David
Ridao Rodríguez, Pere
Turetta, Alessio
Melchiorri, Claudio
Palli, Gianluca
Fernández, José Javier
Sanz, Pedro José
Data: 1 octubre 2015
Resum: Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept. This paper describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials
This work was supported by the TRIDENT EU FP7 Project under Grant ICT-248497 and the Spanish Project DPI2011-27977-C03v (TRITON)
Format: application/pdf
Accés al document: http://hdl.handle.net/10256/13203
Llenguatge: eng
Editor: Institute of Electrical and Electronics Engineers (IEEE)
Col·lecció: info:eu-repo/semantics/altIdentifier/doi/10.1109/TMECH.2015.2395413
info:eu-repo/semantics/altIdentifier/issn/1083-4435
info:eu-repo/grantAgreement/MICINN//DPI2011-27977-C03-02/ES/COMAROB: ROBOTICA COOPERATIVA MARINA PARA EL MAPEO ACUSTICO Y LA INTERVENCION/
info:eu-repo/grantAgreement/EC/FP7/248497/EU/Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions/TRIDENT
Drets: Tots els drets reservats
Matèria: Vehicles submergibles
Submersibles
Robots autònoms
Autonomous robots
Títol: I-AUV Mechatronics Integration for the TRIDENT FP7 Project
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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