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ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300

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This report outlines marine field demonstrations for manipulation tasks with a semi-Autonomous Underwater Vehicle (sAUV). The vehicle is built off a Seabotix vLBV300 platform with custom software interfacing it with the Robot Operating System (ROS). The vehicle utilizes an inertial navigation system available from Greensea Systems, Inc. based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation. We performed two marine trials with the vehicle: a near-shore shared autonomy manipulation trial and an offshore attempted intervention trial. These demonstrations were designed to show the capabilities of our sAUV system for inspection and basic manipulation tasks in real marine environments.

Citation Formats

Oregon State University. (2017). ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300 [data set]. Retrieved from https://dx.doi.org/10.15473/1439810.
Export Citation to RIS
Hollinger, Geoffrey, Lawrance, Nicholas. ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300. United States: N.p., 19 Jun, 2017. Web. doi: 10.15473/1439810.
Hollinger, Geoffrey, Lawrance, Nicholas. ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300. United States. https://dx.doi.org/10.15473/1439810
Hollinger, Geoffrey, Lawrance, Nicholas. 2017. "ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300". United States. https://dx.doi.org/10.15473/1439810. https://mhkdr.openei.org/submissions/247.
@div{oedi_4005, title = {ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300}, author = {Hollinger, Geoffrey, Lawrance, Nicholas.}, abstractNote = {This report outlines marine field demonstrations for manipulation tasks with a semi-Autonomous Underwater Vehicle (sAUV). The vehicle is built off a Seabotix vLBV300 platform with custom software interfacing it with the Robot Operating System (ROS). The vehicle utilizes an inertial navigation system available from Greensea Systems, Inc. based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation. We performed two marine trials with the vehicle: a near-shore shared autonomy manipulation trial and an offshore attempted intervention trial. These demonstrations were designed to show the capabilities of our sAUV system for inspection and basic manipulation tasks in real marine environments.}, doi = {10.15473/1439810}, url = {https://mhkdr.openei.org/submissions/247}, journal = {}, number = , volume = , place = {United States}, year = {2017}, month = {06}}
https://dx.doi.org/10.15473/1439810

Details

Data from Jun 19, 2017

Last updated Jun 30, 2020

Submitted Jan 30, 2018

Organization

Oregon State University

Contact

Geoffrey Hollinger

541.737.5906

Authors

Geoffrey Hollinger

Oregon State University

Nicholas Lawrance

Oregon State University

DOE Project Details

Project Name Advanced Laboratory and Field Arrays (ALFA)

Project Lead Tim Ramsey

Project Number EE0006816

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