{"id":327,"date":"2023-11-01T10:36:33","date_gmt":"2023-11-01T09:36:33","guid":{"rendered":"https:\/\/blogs.uji.es\/irs\/?page_id=327"},"modified":"2023-11-01T10:41:35","modified_gmt":"2023-11-01T09:41:35","slug":"eu-fp7-trident","status":"publish","type":"page","link":"https:\/\/blogs.uji.es\/irs\/projects\/eu-fp7-trident\/","title":{"rendered":"EU FP7 TRIDENT"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\"><strong>Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img fetchpriority=\"high\" decoding=\"async\" width=\"1024\" height=\"747\" src=\"https:\/\/blogs.uji.es\/irs\/files\/2023\/11\/image-1024x747.png\" alt=\"\" class=\"wp-image-328\" srcset=\"https:\/\/blogs.uji.es\/irs\/files\/2023\/11\/image-1024x747.png 1024w, https:\/\/blogs.uji.es\/irs\/files\/2023\/11\/image-300x219.png 300w, https:\/\/blogs.uji.es\/irs\/files\/2023\/11\/image-768x560.png 768w, https:\/\/blogs.uji.es\/irs\/files\/2023\/11\/image.png 1065w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">TRIDENT proposes a new methodology for multipurpose underwater intervention tasks with diverse potential applications like underwater archaeology,oceanography and offshore industries, and goes beyond present-day methods typically based on manned and \/ or purpose-built systems. Trident is based on new forms of cooperation between an Autonomous Surface Craft and an Intervention Autonomous Underwater Vehicle.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Firstly, the I-AUV performs a path following survey, where it gathers optical and \/ or acoustic data from the seafloor, whilst the ASC provides geo-referenced navigation data and communications with the end user. The motion of the ASC will be coordinated with that of the I-AUV for precise Ultra Short Base Line positioning and reliable acoustic communications. After the survey, the I-AUV docks with the ASC and sends the data back to a ground station where a map is set up and a target object is identified by the end user. Secondly, the ASC navigates towards a waypoint near the intervention area to search for the object. When the target object has been found, the I-AUV switches to free floating navigation mode. The manipulation of the object takes place through a dextrous hand attached to a redundant robot arm and assisted with proper perception. Particular emphasis will be put on the research of the vehicle&#8217;s intelligent control architecture to provide the embedded knowledge representation framework and the high level reasoning agents required to enable a high degree of autonomy and on-board decision making of the platform.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">The new methodology will allow the user to specify an intervention task to be undertaken with regards to a particular target object, but after that the object is automatically recognised and manipulated by the robot in a completely autonomous way.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"FP7 TRIDENT S\u00f3ller Final Experiments (Oct&#039;12)\" width=\"625\" height=\"352\" src=\"https:\/\/www.youtube.com\/embed\/2qf7ukrUcCc?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption class=\"wp-element-caption\">Video of the Final Experiments<\/figcaption><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Project started on:&nbsp;01\/03\/2010<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Project finished on:&nbsp;28\/02\/2013<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Project official website:&nbsp;<a href=\"http:\/\/www.irs.uji.es\/trident\" target=\"_blank\" rel=\"noreferrer noopener\">Trident EU-FP7-Project<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions TRIDENT proposes a new methodology for multipurpose underwater intervention tasks with diverse potential applications like underwater archaeology,oceanography and offshore industries, and goes beyond present-day methods typically based on manned and \/ or purpose-built systems. Trident is based on new forms of cooperation between [&hellip;]<\/p>\n","protected":false},"author":184,"featured_media":0,"parent":118,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":""},"class_list":["post-327","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.7 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>EU FP7 TRIDENT - UJI-IRSLab<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/blogs.uji.es\/irs\/projects\/eu-fp7-trident\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"EU FP7 TRIDENT - UJI-IRSLab\" \/>\n<meta property=\"og:description\" content=\"Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions TRIDENT proposes a new methodology for multipurpose underwater intervention tasks with diverse potential applications like underwater archaeology,oceanography and offshore industries, and goes beyond present-day methods typically based on manned and \/ or purpose-built systems. 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