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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

TY - DATA AB - 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. AU - Hollinger, Geoffrey A2 - Lawrance, Nicholas DB - Open Energy Data Initiative (OEDI) DP - Open EI | National Renewable Energy Laboratory DO - 10.15473/1439810 KW - MHK KW - Marine KW - Hydrokinetic KW - energy KW - power KW - underwater vehicles KW - python code KW - video KW - mp4 KW - AutoAMP KW - platform deployment KW - intervention trial KW - semi-autonomous KW - underwater vehicle KW - sAUV KW - Seabotix KW - vLBV300 KW - ALFA KW - laboratory KW - field KW - array KW - technology KW - near-shore KW - offshore KW - Newport Bay KW - Oregon State University KW - Python LA - English DA - 2017/06/19 PY - 2017 PB - Oregon State University T1 - ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300 UR - https://doi.org/10.15473/1439810 ER -
Export Citation to RIS
Hollinger, Geoffrey, and Nicholas Lawrance. ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300. Oregon State University, 19 June, 2017, MHKDR. https://doi.org/10.15473/1439810.
Hollinger, G., & Lawrance, N. (2017). ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300. [Data set]. MHKDR. Oregon State University. https://doi.org/10.15473/1439810
Hollinger, Geoffrey and Nicholas Lawrance. ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300. Oregon State University, June, 19, 2017. Distributed by MHKDR. https://doi.org/10.15473/1439810
@misc{OEDI_Dataset_7919, title = {ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300}, author = {Hollinger, Geoffrey and 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.}, url = {https://mhkdr.openei.org/submissions/247}, year = {2017}, howpublished = {MHKDR, Oregon State University, https://doi.org/10.15473/1439810}, note = {Accessed: 2025-05-04}, doi = {10.15473/1439810} }
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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