|Funding Reference||FCT - PDCTM (Programa Dinamizador das Ciencias e Tecnologias do Mar)|
The objective of the present project is the development of a Remotely Operated Vehicle capable of semi-deep intervention (down to the 1000m range) to be used by the Portuguese scientific community in a variety of ocean research missions. Such a vehicle will allow for the investigation of a group of poorly known environments, including the Portuguese continental shelf, where the large majority of national fisheries are deployed, and the upper levels of the different canyons that cut into the Portuguese platform and that condition the Portuguese bathial environments to a high extent. Off the shelf vehicles can be found, capable of operating down to the proposed depth range, but none with the type of specifications needed for environmental observation and monitoring, namely in what relates to accurate positioning and work capacity sensors and probe installation, sampling gear, video signal processing, etc.
The key technical contribution of the project is the enhancement of a basic ROV structure to enable precise vehicle navigation, guidance, and control as well as acoustic and vision data acquisition, pre-processing, and transmission to a support ship. This will enable maneuvering the ROV along pre-determined searching paths without tight human supervision. Furthermore, it will endow scientific end-users with the capability to survey the ocean floor with great precision by acquiring, among other, side-scan, video, and photo images that are accurately time and position tagged, allowing for mapping of the sea-floor. The user is thus relieved from the tedious and often unsuccessful task of trying to achieve precise vehicle control, namely in the presence of sea currents, effectively shifting the focus of the whole operation to scientific data assessment and overall mission control.
Another objective of the project is the possibility of applying a new concept by developing a modular vehicle, capable of being reconfigured for different purposes and mission scenarios. Indeed, no vehicle will meet directly the need of different configuration levels, enabling its use from different vessels and at a variety of depth ranges from shallow intervention (c.a. 400m) onboard light vessels of opportunity to deep diving (down to c.a. 1000m) from a dedicated ship and a quick response time to solicitations such as unpredictable environmental phenomena (e.g. submarine eruptions, spills or other accidents).
The proposing team brings together to the core of the project complementary expertises:
i) the technical competence to develop such a vehicle from a brand system (ISR-IST);
This is an important step in the development of collaborative ventures between science and technology, where either of the two components directly depends on the contribution from the other. The concept also opens the possibility of addressing specific needs of end-users, including social concerns, namely relating to natural resources management. Finally, the proposal includes the execution of specific surveys at sea. This will allow for the actual testing and demonstration of the vehicle capacities, both in its original configuration and after project development.
Computer and Robot Vision Lab (VisLab)
Dynamical Systems and Ocean Robotics Lab (DSOR)
|Project Partners||IMAR/Laboratório da GUIA, CREMINER, Faculdade de Ciências da Universidade de Lisboa|
Development of a Semi-Deep ROV for Scientific Applications and Environmental Monitoring
 Christian Skaar, Coordination Motion Control, Master Thesis, Department of Engineering Cybernetics/NTNU, Trondheim, Norway and Instituto Superior Tecnico/ISR, Lisbon, Portugal, 2004
 Alex Alcocer, Paulo Oliveira, António Pascoal, Study and Implementation of an EKF GIB-based Underwater Positioning System, Proc. of CAMS 2004 - IFAC Conference on Control Applications in Marine Systems, Ancona, Italy, 2004 - PDF
 Danilo Carvalho, António Pascoal, Study of a Path Following Systems for a Fully Actuated Underwater Vehicle, Joint DSORL-ISR/UFES Technical Report, 2004
 A. Aguiar, António Pascoal, Regulation of a Nonholonomic Autonomous Underwater Vehicle with Parametric Modeling Uncertainty using Lyapunov Functions, Proc. 40th IEEE Conference on Decision and Control, Orlando, Florida, 2001
 Paulo Oliveira, António Pascoal, Periodic and Multirate Filter Design using LMIs, DSORL-ISR Technical Report. To be submitted for publication, 2001
 António Pedro Aguiar, Nonlinear Motion Control of Nonholonomic and Underactuated Systems, Ph.D. Thesis, Instituto Superior Tecnico, Lisboa, Portugal,, 2002
 Paulo Oliveira, Periodic and Non-Linear Estimators with Applications to the Navigation of Ocean Vehicles, Ph.D. Thesis, Instituto Superior Tecnico, Portugal, 2002 - PDF
 A. Aguiar, António Pascoal, Stabilization of an Underactuated Autonomous Underwater Vehicle Via Logic-Based Hybrid Control, Proc. MED2002 Conference, Lisbon, Portugal, 2002
 A. Aguiar, António Pascoal, Way-Point Tracking of Underactuated AUVs in the Presence of Ocean Currents, Proc. MED2002 Conference, Lisbon, Portugal, 2002
 A. Aguiar, António Pascoal, Practical Stabilization of the Extended Nonholonomic Double Integrator, Proc. MED2002 Conference, Lisbon, Portugal, 2002
 A. Aguiar, António Pascoal, Global Stabilization of an Underactuated Autnomous Underwater Vehicle Via Logic-Based Switching, Submitted for presentation at the IEEE 2002 Conference on Decision and Control, USA, 2002
 António Pedro Aguiar, António Pascoal, Dynamic Positioning and Way-Point Tracking of Underactuated AUVs in the Presence of Ocean Currents, Proc. IEEE Conference on Decision and Control, USA, 2002
 A. Aguiar, António Pascoal, Practical Stabilization of the ENDI Under Input Saturation Constraints via Logic-Based Hybrid Control, Submitted for presentation at the IEEE 2002 Conference on Decision and Control, USA, 2002
 A. Aguiar, António Pascoal, Dynamic Positioning of an Underactuated AUV in the Presence of a Constant Unknown Current Disturbance, Proc. 15th IFAC World Congress, Barcelona, Spain, 2002
 A. Aguiar, António Pascoal, From Local to Global Stabilization: a Hybrid System Approach, Proc. CONTROLO 2002 Conference, Aveiro, Portugal, 2002
 A. Aguiar, António Pascoal, Global Stabilization of an Underactuated Autonomous Underwater Vehicle Via Logic-Based Hybrid Control, Proc. IEEE Conference on Decision and Control, USA, 2002
 A. Aguiar, António Pascoal, Global Stabilization of an Underactuated AUV Via Logic-Based Hybrid Control, Proc. CONTROLO 2002 Conference, Aveiro, Portugal, 2002
 L. Lapierre, D. Soetanto, António Pascoal, Coordinated Motion Control of Marine Robots, Proc. MCMC 2003 - 6th IFAC Conference on Manoeuvering and Control of Marine Craft, Girona, Spain, 2003
 João Alves, Carlos Silvestre, A Reliable Datagram Protocol for Distributed Vehicular Aplications, DSORL-ISR Technical Report, 2003
 Danilo Carvalho, T. Filho, António Pascoal, Development of a Simulator for a Remotely Operated Vehicle (ROV), joint DSORL-ISR/UFES Technical Report, 2003