IRS Lab - Interactive & Robotic Systems · 2013-01-11 · 6. A redundant robotic arm endowed with a dexterous hand as an enabling technology for multipurpose manipulation underwater

IRS Labhttp://www.irs.uji.es/

OCT 2012

“Marine Robots and Dexterous

Manipulation for Enabling

Autonomous Underwater

Multipurpose Intervention Missions”

(FP7-ICT-248497)

“2ND FIELD TRAINING WORKSHOP ON

UNDERWATER ROBOTICS INTERVENTION”

http://www.irs.uji.es/

http://www.irs.uji.es/

Agenda

Programme

Dan Toal

Dep. of Electronic & Computer Eng.University of Limerick, Ireland

Carlos Balaguer

Robotics LabCarlos III University, Spain

4

The Reviewers

The Scientific Advisory Board

Dr. Gianluca Antonelli Prof. Dr. Andreas Birk Dr. Giacomo Marani

Universita` degli Studidi Cassino, Italy

Jacobs University Bremen, Germany

West Virginia University, USA

http://webuser.unicas.it/antonelli/

http://robotics.jacobs-university.de/people/birk/

http://robotics.jacobs-university.de/people/birk/

http://gmarani.org/

http://gmarani.org/

The Consortium

OVERVIEW

May 4th, 2012 UdG, SPAIN 7

1.INTRODUCTION1.1 THE AIM OF THE PROJECT1.2 THE STATE-OF-THE-ART1.3 THE ENVISIONED CONCEPT

2.PROJECT RESEARCH STATUS2.1 WORK PLAN IN PROGRESS2.2 MAIN EXPERIMENTAL RESULTS

3.CONCLUDING REMARKS

UdG, SPAIN 8May 5th, 2011

1.1 THE AIM

Underwater Intervention Missions: Potential Applications

Amphorae recovery

(using suction-pump)

Oil spill disaster Offshore industry

Underwater Exploration

• Flight Type Vehicle

• Autonomous Data logging

• No physical interaction with the

world

9

Prestige (ship) oil spill

Control panel

RO

V

The black-box search & recovery problem

I-A

UV

1.1 THE AIM

10

Prestige (ship) oil spill

Control panel

1.1 THE AIMFlight Data Recorder of Air France flight AF 447 found (Sunday, May 1st 2011)

(black box) from the Airbus A330, operating the Rio-Paris flight which disappeared over the Atlantic on June 1, 2009, has been found and retrieved (3.900 m on depth)

It was raised and lifted on board the ship Ile de Sein by the Remora 6000 ROV

11

1.1 THE AIMThe search was targeted in an area of about 10,000 square kilometers.

Phoenix’s Remora ROV Specifications

GeneralWeight in Air 900 kgs dryWeight in Water NeutralDimensions Length: 1.7 mWidth: 1.0 mHeight: 1.2 mMaximum Operating Depth 6,000 mVehicle DescriptionPropulsion 25 hp electro-hydraulicThrusters 4 x Axial / lateral thrusters

2 x Vertical thrusters Manipulators 2 x Hydro-Lek six function,

rate controlled

Approx. 30 M $ (three missions)


The improvement of the intervention capacities beyond the

state-of-the-art

1.1 THE AIM

“Paving the way towards a higher autonomy degree in those situations where physical

interaction is mandatory”B3.1 Strategic impact; Annex 1 - DoW

May 5th, 2011

1.2 THE STATE-OF-THE-ART

I-AUV (6 Ton) Intervention from mobile base AUV-Arm dynamically decoupled

ROV operated as AUV Adapted PA10 Manipulator Simulated Results

Dual arm with fixed base 7 DOF Three-fingered hand

ROV transported by an AUV AUV Docking Teleoperated Intervention

I-AUV (3.5 Ton) I-AUV Docking Intervention from fixed base

I-AUV

7 DOF Electric ManipulatorThree-fingered hand AUV 4 DOFAutonomous Intervention

Mobil Intervention 200 Kg. 500 m.Multipurpose Intervention

TRIDENT

The Envisioned Concept

PHASE I (Survey): 1) Launching.2) Survey.3) Recovery.

PHASE II (Intervention): 4) Launching.5) Approaching.6) Intervention.7) Recovery.

Target Selection& InterventionSpecification

3 FINGER DEXTEROUS HAND

7 DOF MANIPULATOR

4 DOF AUV

3 DOF ASC

Robotic Tandem for Multipurpose Intervention

1 Prev. Review

1.1 THE OVERALL SYSTEM ARCHITECTURE

1 Prev. Review

1.3 THE PLAN FOR SYSTEM DEMONSTRATION:

The Roadmap

TR

ID

EN

T P

ert ch

art

M1

M4

M2

M3

M5

3.2 The Roadmap

1 Prev. Review

1.4 THE PROGRESS IN INDIVIDUAL WP’s

2 Status

1. Cooperative navigation techniques to achieve robust, high accuracy localization of ASC & I-AUV (WP1; WP2)

2. Innovative mapping algorithms to robustly build consistent multimodal maps of the seafloor (WP1)

3. New guidance and control algorithms for the team vehicles alone but also to cooperatively guide and control both vehicles in formation (WP2; WP3)

4. Embedded knowledge representation framework and the high-level reasoning agents required (WP3)

5. Advanced acoustic/optical image processing algorithms to allow for feature detection and tracking (WP4)

Specific Objectives

2 StatusSpecific Objectives

6. A redundant robotic arm endowed with a dexterous hand as an enabling technology for multipurpose manipulation underwater (WP6)

7. Innovative strategies for the coordinated control of the joint AUV-Manipulator system (WP5)

8. The mechatronics as well as the perception/action capabilities needed to face the autonomous docking of the I-AUV to the ASC (WP1; WP2; WP5; WP7)

9. A multisensory control architecture, including a knowledge-based approach, to guarantee the suitable manipulation actions for enabling a multipurpose intervention system (WP7; WP6; WP5; WP4)

WP6: Hand+Arm Mechatronics System

and ControlUNIBO

WP7: Multisensory Based Manipulation

ArchitectureUJI

WP4: Visual/Acoustic Image Processing

UIB

WP5: Floating ManipulationUNIGE-ISME

WP1: Navigation and Mapping

UdG

WP8: Dissemination, Education and Training UdG

WP9: Project Coordination and Management UJI

WP3: Vehicles Intelligent Control

ArchitectureHWU

WP’s Relationships


2 Status

WP2: Single and Multiple Vehicles

ControlIST

TR

ID

EN

T M

ile

ston

es

Milestone

no.

Milestone name WPs no's. Lead beneficiary

Responsible for the

milestone

Delivery date

from Annex I

1 Cooperative navigation WP1,4 IST 18

2 Object recovery from a

fixed base manipulator

WP4,7 UJI 18

3 Integrated

AUV/ARM/HAND

Prototype

WP6 UNIBO 25

4 Seafloor Mapping

Through Coordinated

Motion of the

ASC/AUV team

WP1,2,3,4 UdG 33

5 Object recovery from a

free floating

AUV/ARM/HAND

system

WP1,2,

3,4,5,6,7

UNIGE-ISME 34


2 Status


Milestone D State of Progress %

1. Cooperative Navigation

18 Two TR, one about the cooperative navigation of the ASC/I-AUV robot team

(D1.1) and another one concerning integrated bottom-path-following and

compliant leader following control strategies (D2.1), have been submitted in due

time.

100

2. Object recovery from a fixed base manipulator

18 Two TR, one concerning the methodology aspects and requirements on the

Multisensory and knowledge-based approach architecture for grasping and

dexterous manipulation (D7.1) and another one, about the visual and acoustic

image processors under development for the project (D4.1), have been

submitted in due time.

100

3. Integrated AUV/ARM/HAND Prototype

24 The expected TR on the design of the hand/arm system (D6.1) was submitted in

due time. During this month of April, the final integration process is ending in

Spain (Girona), with cooperation of UNIBO (responsible of this task), UdG and

GT.

100

4. Seafloor Mapping through Coordinated Motion of the ASC/AUV team

33 Advances in M4 require previous success in some tasks whose progress has been

reported in deliverables D1.1 (AUV/ASC cooperative navigation), D2.1 (bottom

path-following control strategies), D4.1 (image processors), all of them on

schedule.

75

5. Object recovery from a free floating AUV/ARM/HAND system

34 M5 concerns the final experimental validation of TRIDENT. So, Jointly effort

of the whole Consortium is crucial for its achievement. Letting apart the

aforementioned necessary deliverables, a TR on overall system modelling,

including all variables needed for reactive coordination (D5.1) has been

presently submitted.

80

2 Status

MarineRobotandDexterousManipula nforEnablingMul purposeInteven onMissionsWP1 Navigation & Mapping

Pose-based SLAM Probabilistic Surface Matching

Bat

hym

etry

Larg

eA

rea

2D

Ort

ho

Ph

oto

mo

saic

Mu

ltim

od

al 2

.5 D

map

p

Globally Optimized Visual Map (Bundle Adjustment)

•Fi

nd

ing

the

targ

et•

Pla

nn

ing

a Pa

thto

the

Targ

et•

Fin

e N

avig

atio

nar

ou

nd

the

targ

et.

•G

uid

ance

& C

on

tro

l•

Geo

-ref

eren

cin

g•

Surv

ey&

Co

vera

ge•

Co

arse

Nav

igat

ion

tota

rget

ε

Pose

Communica

on

t+τ

t

ASC/AUV USBL aided Navigation

Single Beacon Range only Navigation

ASC/AUV Cooperative Navigation

SBUSLAM: Single Beacon Bearing only

Navigation for black box localization

OFF

LIN

E M

AP

PIN

G

O

NLI

NE

NA

VIG

ATIO

N

Goal Work & Techniques

MarineRobotandDexterousManipula nforEnablingMul purposeInteven onMissions

WP2 Single & Multiple VehiclesControl

Coordinated leader-following

2 Journal articles for TDOA-based homing control and cooperative control on International Journal of Robust and Nonlinear Control

Docking between two transponders (currently under development)

Bottom path-following

Homing controller


WP3 Intelligent Control Architecture

«module»Mission Planner

«module»Mission Spooler

«module»Social Model

«module»Service

Matchmaker

«module»Geospatial

Model

«module»Mental Model

pkg World Model

Agent Beliefs

pkg Deliberation Unit

pkg Execution Unit

pkg Behavior Unit

pkg User Interface

Agent Desires

Agent Plans

Agent Interpreter

Pool of Services

«module»Operator Console

Agent Intentions

«module»Mission

Reasoner

Activity 1

Activity 7

Activity 6

Activity 2

Activity 3

Activity 4

Activity 5

AGENTS

Orchestration, Choreography

Planning, Matching

«Main goal»

«Goal D»«Goal C»

«Goal B»«Goal A»

SERVICES Co

mp

os

ing

Dis

co

ve

rin

g

Composite activity

BE

HA

VIO

UR

EX

EC

UT

ION

DE

LIB

ER

AT

ION

Objectives: • develop an architecture enabling goal based mission planning• Enable interoperability between platforms and its users

How?• Service Oriented architecture with capability discovery and advertising• On the fly mission planning using pre-stored mini-plans and online diagnostics• Based on ROS


WP4: Visual / Acoustic Image Processing

Design of the optical imaging infrastructure.Development of image processing modules

Feature detection and tracking:Visual odometry

Targ

et id

enti

fica

tio

n

…

Mo

tio

n e

stim

ate

Other ROS nodes

…

ROS vision node

Target visual recognition

Feature correspondenceanalysis

Long path motion estimation

Acoustic processorsdevelopment

SonarSeabed

Classification

Target detectionand classification

Sonar beam segmentation& Underwater Scan Matching

MarineRobotandDexterousManipula nforEnablingMul purposeInteven onMissionsWP5 Floating Manipulation

Classification of Control Objectives

Set-Objectives (safety or enabling inequality conditions to be achieved)

Precision-Objectives (precise motion or positions to be achieved; e.g. grasp)

Proposed Functional Control Architecture

Back-stepping two-layered hierarchical architecture:

Upper Kinematic layer

Lower Dynamic layer

Upper Kinematic Layer

Prioritized tasks

Prioritized subsystems

Priorities changeable on-fly

Uniform-invariant algorithmic structure

Computationally efficient

Distributable between vehicle and arm

Lower dynamic layerPrioritized subsystem

Uniform invariant algorithmic structure

Computationally efficient

Distributable between vehicle and arm

hosting simplified or complex dynamic models

Extensive simulation in progresspossible Auto-tuning

Possible chattering avoidance via adaptive gains

Vehicle Sensors &ActuationSystem Interface

x

q

General References(commands, parameters, etc.)

1 2

q

q m

q

Kinematic control layer

x Hz100

Hz20

1 2

Dynamic control layer

Tvg

Tvg


Objectives:

• Develop a hand/arm robotic system capable of underwater manipulation

• Redundant arm

• Multifingered hand

Moreover:

• Modular design, allowing different configurations for both the arm and the hand

• Equipped with position (arm and hand), force (wrist) and tactile (fingers) sensors

• Low level control integrated in the hand/arm

• System control integrated within the AUV control systems

Current state:

• Final integration of hand/arm achieved in due time

• Integration within the AUV has been achieved (May 2012) M3

WP6 Hand-Arm Mechatronic System and Control

F I E L D T E S T S

TRIDENT - Newsletter October 2011 5

THE TRIDENT ARM-HAND SYSTEM

The TRIDENT arm is now ready. Designed and

developped by Graaltech, S.L., it is a modular

underwater arm which may be mounted

with up to 7 DOF. Each arm join

includes its own power electronics

and control system. The control

software (UNIGE) runs in a

separated CPU and

communicates with the rest of

systems through a special ROS

proxy. It receives, as seen

during the demonstration,

velocity cartesian references. At the

moment, the controcollaboratel system

only implements a cartesian control based

on an iterative kinematic inversion; during next

weeks the whole task priority control is going to

be implemented.

The arm will be equipped with a 3 fingered hand

system (UNIBO) able to do a much advanced

grasping that the one being carried out currently

using the light weight arm 5E currently mounted

on GIRONA500 I-AUV. The final arm/ hand/ AUV

integration will be completed before March 2012.

USBL

According to the roadmap for the TRIDENT

project, the IST team proposed the achievement of

two main goals during the first

intervention week: the experimental

validation of the Ultra-Short

Baseline (USBL) and the

integration and experimental

test of control laws.

The fist goal revealed that the

spread spectrum acoustic

signals that were selected do

not interfere with the remaining

acoustic-based systems operating in

the vicinity, thus allowing for its

integration in the near future onboard the G-500 I-

AUV. It was also possible to successfully operate

the USBL from the surface, providing the position

estimate of a transponder installed on-board a

support vessel. The homing control law that was

previously developed was successfully integrated

in ROS jointly with the Heriot-Watt University, in

a reduced period of time. It was possible to

validate the software integration and the control

law performance at sea with minimal effort, thus

paving the way to joint efforts to pursue the next

steps in TRIDENT roadmap.

Nessie AUV

Heriot-Watt University, United Kingdom,

participated in the experiments providing their

Nessie VI underwater vehicle for algorithms

testing and integration into their intelligent control

architecture. The vehicle is a five degrees of

freedom torpedo-shaped vehicle equipped with 2

stereo pairs and a forward looking sonar. It also

has an acoustic modem enabling vehicle to vehicle

communications and Long Baseline positioning.

During the experiments, video and acoustic

imagery were gathered for further analysis and

geo-referenced. In a second step, the ability of the

vehicles to be located using a Long Baseline

System was tested. Finally, we integrated video

based motion estimation algorithms and control

strategies for homing developed at the University

of the Balearic Islands, Spain, and the Instituto

Superior Tecnico of Lisbon, Portugal. Both were

tested successfully.

A week later in Mallorca, UIB and HWU

collaborated mounting the UBI stereo pair on

Nessie AUV to test visual dead rckoning.

Three Vehicles operated at seaNessie AUV was used to test LBL Navigation & Homing Control

SPARUS AUV performed navigation & guidance tests

TRIDENT I -

AUV will be the

lightest I -AUV (< 200

Kg) ever and the unique

including a modular

arm with a 3 finger

hand.

Three-fingered hand (6 DOF)

7 DOF arm

MarineRobotandDexterousManipula nforEnablingMul purposeInteven onMissionsWP7 Multisensory Based Manipulation


2 Status

2.2 MAIN EXP. RESULTS

HIL Simulation

(January 2011, UJI)

Water tank demonstration

(May 2011, UdG)

Harbour demonstration

(October 2011, Roses harbour,

Girona)

NewsletterDVD

http://www.youtube.com/watch?v=Acswo0oLmpM&feature=player_embedded

Local News:




SIE017 35

Object Search and Recovery from simulation to field Harbour Tests

Video-2

Video-1

..\..\..\..\Videos\Mario\TridentFallSchoolRoses_v2.m4v

Temas a tratar

Urgente: Pasar info del JR3 a Claudio y Alessio: Modelo CAD?

Field Experiments (Roses Oct 11)

F I E L D T E S T S










separated CPU and










be implemented.







USBL



























Nessie AUV

























TRIDENT I -

AUV will be the



including a modular

arm with a 3 finger

hand.

F I E L D T E S T S










separated CPU and










be implemented.







USBL



























Nessie AUV

























TRIDENT I -

AUV will be the



including a modular

arm with a 3 finger

hand.

MarineRobotandDexterousManipula nforEnablingMul purposeInteven onMissionsMechatronics Integration

MarineRobotandDexterousManipula nforEnablingMul purposeInteven onMissionsSoftware Integration


UdG, 1st Annual Project ReviewMay 2011


..\..\..\..\Videos\TRIDENT\video-2012-05-03-18-39-31.mp4


2010UJI

UJI

Zadar


Lisbon

Roses, Girona

2011

S. Francisco (IROS 2011)


2012

Genova


3 Remarks

TRIDENT is progressing as expected so far

Planned demos for today include: • M3

(Full mechatronics integration in water tank conditions)

• M4 & M5 in3D Simulation

TRIDENT final demonstration is approaching

..\..\..\..\Videos\TRIDENT\video-2012-05-03-18-39-31.mp4

47

3 Remarks

48

3 Remarks

49

3 Remarks

50

3 Remarks

51

3 Remarks

IRS Lab - Interactive & Robotic Systems · 2013-01-11 · 6. A redundant robotic arm endowed with a dexterous hand as an enabling technology for multipurpose manipulation underwater

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