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IAUVcontrol

Force/position control system to enable compliant manipulation from a floating I-AUV

Total Cost €

EC-Contrib. €

Partnership

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Outcomes and
results

IAUVcontrol project word cloud

Explore the words cloud of the IAUVcontrol project. It provides you a very rough idea of what is the project "IAUVcontrol" about.

scenarios vehicle broaden write extend underwater modeling experimental unmanned auv intervention port student vehicles compliant skills dr independence active mechanical writing sea manipulator freedom software pere robot fellowship simulation trials combination master realise phd ridao tank he researcher realistic utilising perform force algorithms degree manipulation dof professional localisation contacts girona500 lab hone vast udg career environment model network theory dynamical stage dynamic collected dynamics algorithm students maturity autonomous supervision uuvs equipped identification select possibilities appropriate compliance mapping extensive

Project "IAUVcontrol" data sheet

The following table provides information about the project.

Coordinator	UNIVERSITAT DE GIRONA Organization address address: PLACA SANT DOMENEC 3 city: GIRONA postcode: 17004 website: www.udg.es contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.
Coordinator Country	Spain [ES]
Project website	https://vicorob.udg.edu/portfolio_page/iauv-control/
Total cost	158˙121 €
EC max contribution	158˙121 € (100%)
Programme	1. H2020-EU.1.3.2. (Nurturing excellence by means of cross-border and cross-sector mobility)
Code Call	H2020-MSCA-IF-2016
Funding Scheme	MSCA-IF-EF-ST
Starting year	2017
Duration (year-month-day)	from 2017-05-01 to 2019-04-30

Partnership

Take a look of project's partnership.

#	participants	country	role	EC contrib. [€]
1	UNIVERSITAT DE GIRONA UNIVERSITAT DE GIRONA Organization address address: PLACA SANT DOMENEC 3 city: GIRONA postcode: 17004 website: www.udg.es contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	ES (GIRONA)	coordinator	158˙121.00

Map

Project objective

The aim of this project is the design and implementation of a control system for an intervention autonomous underwater vehicle (I-AUV), composed of an AUV equipped with a multi-degree-of-freedom (multi-DOF) manipulator, to enable it to perform fully autonomous compliant underwater manipulation. During this fellowship the experienced researcher will implement algorithms based on dynamic control/force control and perform extensive experimental trials with the real system, to present results beyond the state of the art. This research is aimed to: (1) develop a dynamical model of the system to be able to use model-based control approaches (2) extend the underwater robot simulation software used in the lab to include manipulator dynamics (3) select the most appropriate control algorithm or a combination of algorithms to realise active compliance (4) develop the control system utilising control theory and simulation (5) extend the capabilities of the robot manipulator (6) implement the control system on the robot (7) perform extensive experimental trials in realistic scenarios, in the test tank and in the sea (port) (8) write a proposal for the funding of the next stage of the research. The experienced researcher will broaden his knowledge to the fields of modeling and identification of unmanned underwater vehicles (UUVs), mechanical design of underwater equipment, mapping and localisation in the underwater environment as well as operating UUVs in the sea. He will be able to work on a one-of-a-kind Girona500 I-AUV. He will also be involved in the supervision of research projects of Master students and a new PhD student. With the supervision of Dr. Pere Ridao, the researcher will hone his proposal writing skills. All of this will ensure, that with the help of this fellowship, the experienced researcher will reach professional maturity and independence. Moreover, the vast network of contacts in the field that the UdG has collected will open up many career possibilities.

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The information about "IAUVCONTROL" are provided by the European Opendata Portal: CORDIS opendata.