Title :
Grasper HIL simulation towards autonomous manipulation of an underwater panel in a permanent observatory
Author :
Sanz, Pedro J. ; Perez, J.M. ; Penalver, Antonio ; Fernandez, J. Javier ; Fornas, D. ; Sales, Jorge ; Marin, Raul
Author_Institution :
Comput. Sci. & Eng. Dept., Univ. of Jaume-I, Castellón de la Plana, Spain
Abstract :
This paper explains how the autonomous grasp of a valve situated in a permanent underwater observatory is performed, using camera and laser sensors. The experiment has been performed within the benchmarking UWSim Underwater Simulator [1][4], which makes it possible to test the hardware ROS (Robot Operating System) interfaces in a simulated environment, which can be directly applied to the real robot later on. This architecture enables the design of Hardware-In-the-Loop (HIL) experiments, which has been shown to be very useful, especially when integrating components of several partners in complex research projects.
Keywords :
autonomous underwater vehicles; cameras; control engineering computing; grippers; marine control; GRASPER project; HIL experiment design; HIL simulation; UWSim underwater simulator benchmarking; autonomous valve grasp; camera; complex research projects; hardware ROS interface; hardware-in-the-loop experiment design; integrating components; laser sensors; permanent observatory; permanent underwater observatory; real robot; robot operating system interface; simulated environment; underwater panel autonomous manipulation; Cameras; Lasers; Robot kinematics; Three-dimensional displays; Valves; Vehicles; 3D simulation; Hardware-In-the-Loop (HIL); autonomous manipulation; laser reconstruction; underwater intervention;
Conference_Titel :
Oceans - San Diego, 2013
Conference_Location :
San Diego, CA
