research_text_graphic.jpg (3230 bytes)

1999 Projects

Current Projects

Green_Ball.gif (257 bytes) Benthic processes
Green_Ball.gif (257 bytes) Midwater research
Green_Ball.gif (257 bytes) Upper ocean biogeochemistry
Green_Ball.gif (257 bytes) New research platforms
Green_Ball.gif (257 bytes) ROV improvements
Green_Ball.gif (257 bytes) Mooring improvements
Green_Ball.gif (257 bytes) New in-situ Instruments
Green_Ball.gif (257 bytes) Information management and archiving
Green_Ball.gif (257 bytes) Education and outreach
Green_Ball.gif (257 bytes) 1998 Projects
Green_Ball.gif (257 bytes) 1997 Projects


1999 Projects: ROV improvements

Automated robotic arm control

Project lead/manager: Andrew Pearce
Project team: Mark Brown, Kurt Buck, Daniel Davis, Dale Graves, and Rob McEwen

The collection of samples during ROV operations is largely accomplished through manual control of the manipulator arm. A typical sample collection scenario might require a pilot to manually select a tool from the tool quiver on the vehicle, place the tool at the collection site, manipulate the tool to pick up an object or make a measurement, and replace the tool back in the quiver.

This project will apply advances in manipulator control to automate steps of the tool-selection and sample-collection processes, thereby improving the precision of manipulator operations and making these tasks easier for the pilot.

Next: Automatic station-keeping

Last updated: 07 October 2004