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ALFA 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.
Complete Metadata
| @type | dcat:Dataset |
|---|---|
| accessLevel | public |
| bureauCode |
[
"019:20"
]
|
| contactPoint |
{
"fn": "Geoffrey Hollinger",
"@type": "vcard:Contact",
"hasEmail": "mailto:geoff.hollinger@oregonstate.edu"
}
|
| dataQuality |
true
|
| description | 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. |
| distribution |
[
{
"@type": "dcat:Distribution",
"title": "Technical Report.pdf",
"format": "pdf",
"accessURL": "https://mhkdr.openei.org/files/247/Hollinger-M2.3.2.pdf",
"mediaType": "application/pdf",
"description": "Technical report describing intervention trial, AutoAMP platform deployment, and a summary of the results."
},
{
"@type": "dcat:Distribution",
"title": "Experimental Data.zip",
"format": "zip",
"accessURL": "https://mhkdr.openei.org/files/247/grasp_data.zip",
"mediaType": "application/zip",
"description": "README file, data (csv), plots (pdf), sample python script (for pulling and plotting data), and videos from the deployment."
}
]
|
| DOI | 10.15473/1439810 |
| identifier | https://data.openei.org/submissions/7919 |
| issued | 2017-06-19T06:00:00Z |
| keyword |
[
"ALFA",
"AutoAMP",
"Hydrokinetic",
"MHK",
"Marine",
"Newport Bay",
"Oregon State University",
"Python",
"Seabotix",
"array",
"energy",
"field",
"intervention trial",
"laboratory",
"mp4",
"near-shore",
"offshore",
"platform deployment",
"power",
"python code",
"sAUV",
"semi-autonomous",
"technology",
"underwater vehicle",
"underwater vehicles",
"vLBV300",
"video"
]
|
| landingPage | https://mhkdr.openei.org/submissions/247 |
| license | https://creativecommons.org/licenses/by/4.0/ |
| modified | 2020-06-30T16:30:18Z |
| programCode |
[
"019:009"
]
|
| projectLead | Tim Ramsey |
| projectNumber | EE0006816 |
| projectTitle | Advanced Laboratory and Field Arrays (ALFA) |
| publisher |
{
"name": "Oregon State University",
"@type": "org:Organization"
}
|
| spatial |
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|
| title | ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300 |
