ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300
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.
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
Original Source
https://mhkdr.openei.org/submissions/247Research Areas
Keywords
MHK, Marine, Hydrokinetic, energy, power, underwater vehicles, python code, video, mp4, AutoAMP, platform deployment, intervention trial, semi-autonomous, underwater vehicle, sAUV, Seabotix, vLBV300, ALFA, laboratory, field, array, technology, near-shore, offshore, Newport Bay, Oregon State University, PythonDOE Project Details
Project Name Advanced Laboratory and Field Arrays (ALFA)
Project Lead Tim Ramsey
Project Number EE0006816
