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IAUVcontrol

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Force position control system to enable compliant manipulation from a floating I...

Force position control system to enable compliant manipulation from a floating I AUV The aim of this project is the design and implementation of a control system for an intervention autonomous underwater vehicle (I-AUV), composed of an AUV equipped with a multi-degree-of-freedom (multi-DOF) manipulator, to enable... ver más

30/04/2019

UDG

158K€

Presupuesto del proyecto: 158K€

Líder del proyecto

UNIVERSITAT DE GIRONA No se ha especificado una descripción o un objeto social para esta compañía.

Total investigadores 228

Fecha límite participación Sin fecha límite de participación.

Financiación concedida El organismo H2020 notifico la concesión del proyecto el día 2019-04-30

MSCA-IF-2016: Individual Fellowships Objective:The goal of the Individual Fellowships is to enhance the creative and innovative potential...

I+D

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Características del participante

Este proyecto no cuenta con búsquedas de partenariado abiertas en este momento.

Información adicional privada

No hay información privada compartida para este proyecto. Habla con el coordinador.

1 Participantes

UDG

158.12K€ | Lider

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Duración del proyecto: 25 meses Fecha Inicio: 2017-03-08
Fecha Fin: 2019-04-30

Líder del proyecto

UNIVERSITAT DE GIRONA No se ha especificado una descripción o un objeto social para esta compañía.

Total investigadores 228

Presupuesto del proyecto 158K€

Fecha límite de participación Sin fecha límite de participación.

Descripción del proyecto The aim of this project is the design and implementation of a control system for an intervention autonomous underwater vehicle (I-AUV), composed of an AUV equipped with a multi-degree-of-freedom (multi-DOF) manipulator, to enable it to perform fully autonomous compliant underwater manipulation. During this fellowship the experienced researcher will implement algorithms based on dynamic control/force control and perform extensive experimental trials with the real system, to present results beyond the state of the art. This research is aimed to: (1) develop a dynamical model of the system to be able to use model-based control approaches (2) extend the underwater robot simulation software used in the lab to include manipulator dynamics (3) select the most appropriate control algorithm or a combination of algorithms to realise active compliance (4) develop the control system utilising control theory and simulation (5) extend the capabilities of the robot manipulator (6) implement the control system on the robot (7) perform extensive experimental trials in realistic scenarios, in the test tank and in the sea (port) (8) write a proposal for the funding of the next stage of the research. The experienced researcher will broaden his knowledge to the fields of modeling and identification of unmanned underwater vehicles (UUVs), mechanical design of underwater equipment, mapping and localisation in the underwater environment as well as operating UUVs in the sea. He will be able to work on a one-of-a-kind Girona500 I-AUV. He will also be involved in the supervision of research projects of Master students and a new PhD student. With the supervision of Dr. Pere Ridao, the researcher will hone his proposal writing skills. All of this will ensure, that with the help of this fellowship, the experienced researcher will reach professional maturity and independence. Moreover, the vast network of contacts in the field that the UdG has collected will open up many career possibilities.

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