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Title: 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.
Authors:
;
Publication Date:
Report Number(s):
247
DOE Contract Number:
EE0006816
Product Type:
Dataset
Research Org(s):
Marine and Hydrokinetic Data Repository (MHKDR); Oregon State Univ., Corvallis, OR (United States)
Sponsoring Org:
USDOE Office of Energy Efficiency and Renewable Energy (EERE), Wind and Water Technologies Office (EE-4W)
Geolocation:
POLYGON ((-124.05483608398 44.873782791646,-124.05483608398 44.53880979867,-124.60405131836 44.53880979867,-124.60405131836 44.873782791646,-124.05483608398 44.873782791646))
Subject:
16 Tidal and Wave Power; MHK; Marine; Hydrokinetic; energy; power; underwater vehicles; python code; video; mp4; AutoAMP; platform deployment; intervention trial
Related Identifiers:
OSTI Identifier:
1439810

Hollinger, Geoffrey, and Lawrance, Nicholas. Shared Autonomy Manipulation Data with a Seabotix vLBV300. United States: N. p., Web. doi:10.15473/1439810.
Hollinger, Geoffrey, & Lawrance, Nicholas. Shared Autonomy Manipulation Data with a Seabotix vLBV300. United States. doi:10.15473/1439810.
Hollinger, Geoffrey, and Lawrance, Nicholas. 2017. "Shared Autonomy Manipulation Data with a Seabotix vLBV300". United States. doi:10.15473/1439810. https://www.osti.gov/servlets/purl/1439810.
@misc{osti_1439810,
title = {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.},
doi = {10.15473/1439810},
year = {2017},
month = {6} }
  1. The DOE Marine and Hydrokinetic Data Repository was established to receive, manage and make available all marine and hydrokinetic-relevant data generated from projects funded by the DOE Water Power Programs. This includes data from DOE-funded projects associated with any portion of the marine and hydrokinetic project life-cycle (e.g. resource characterization, device development, demonstration), as well as data produced by DOE-funded research. The database includes wave, tidal, current, and ocean thermal energy, and contains information on the various energy conversion technologies, companies active in the field, and development of projects in the water.
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