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Title: ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300

Abstract

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:
Other Number(s):
247
DOE Contract Number:  
EE0006816
Product Type:
Dataset
Research Org.:
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)
Subject:
16 Tidal and Wave Power
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
OSTI Identifier:
1439810
DOI:
10.15473/1439810

Citation Formats

Hollinger, Geoffrey, and Lawrance, Nicholas. ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300. United States: N. p., 2017. Web. doi:10.15473/1439810.
Hollinger, Geoffrey, & Lawrance, Nicholas. ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300. United States. doi:10.15473/1439810.
Hollinger, Geoffrey, and Lawrance, Nicholas. 2017. "ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300". United States. doi:10.15473/1439810. https://www.osti.gov/servlets/purl/1439810. Pub date:Mon Jun 19 00:00:00 EDT 2017
@article{osti_1439810,
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.},
doi = {10.15473/1439810},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2017},
month = {6}
}

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