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INCORP - Improved Navigation with Cooperative Robotic Platforms (2005-2008)

The main goal of the project is the development and testing of an infra-structure to improve navigation capabilities of AUVs operating in shallow waters. The infra-structure will be based on an ASV that will move in coordination with an AUV, both to provide more accurate AUV positioning and to enable the coverage of larger areas of operation.

Besides its use as a navigation aid for AUVs, the ASV will also be used to carry an interferometric synthetic aperture sonar (In-SAS) developed by some members of the research team.

Funding

Fundação para a Ciência e a Tecnologia (POSC) - 80 k€

Research team

  • Aníbal Matos (OceanSys) - ASV guidance and control

  • António Santos (OceanSys) - ASV software

  • Inês Carvalho (FEUP) - digital signal processing

  • Júlio Ferreira (OceansSys) - acoustic navigation

  • Nuno Cruz (OceanSys) - ASV hardware and acoustic navigation

  • Nuno Santos (OceanSys) - AUV/ASV software

  • Patrícia Ramos (OceanSys) - ASV mission programming

  • Sérgio Cunha (FEUP/CIIMAR) - ASV navigation and In-SAS

  • Sérgio Silva (FEUP) - ASV navigation and In-SAS

Research team in the first Zarco tests, FEUP,
October 2005

   

Milestones

The first task of the project (ASV assembly) was successfully completed in October/2005 and the results validated with field tests in river Douro in December/2005.

Both the navigation system, based on a L1-L2 RTK GPS receiver and on an inertial measurement unit, and the mission control software were developed during 2006. These systems were successfully tested during the autonomous operation of the Zarco ASV in January/2007. In these tests, Zarco was carrying a In-SAS system.

A modular acoustic system for underwater navigation was successfully tested in an operational scenario in September 2007.

Positioning control of the Zarco ASV was tested in river Douro in March/2008.

Off-line coordinated operation of MARES AUV and Zarco ASV was tested in river Douro in June 2008.

Moving baseline operation of MARES AUV was successfully tested in July/2008.

 
   

Publications

Nuno Cruz, Aníbal Matos, "The MARES AUV, a Modular Autonomous Robot for Environment Sampling", Proceedings of the MTS-IEEE Conference Oceans'2008, Quebec, Canada, September 2008.

Aníbal Matos, Nuno Cruz, "Positioning Control of an Underactuated Surface Vessel", Proceedings of the MTS-IEEE Conference Oceans'2008, Quebec, Canada, September 2008.

José Melo, Aníbal Matos, "Guidance and control of an ASV in AUV tracking operations", Proceedings of the MTS-IEEE Conference Oceans'2008, Quebec, Canada, September 2008.

Nuno Santos, Aníbal Matos, Nuno Cruz, "Navigation of an Autonomous Underwater Vehicle in a Mobile Network", Proceedings of the MTS-IEEE Conference Oceans'2008, Quebec, Canada, September 2008.

Sérgio Silva, Sérgio Cunha, Aníbal Matos, Nuno Cruz, "Sub-Band Processing of Synthetic Aperture Sonar Data", Proceedings of the MTS-IEEE Conference Oceans'2008, Quebec, Canada, September 2008.

Sérgio Silva, Sérgio Cunha, Aníbal Matos, Nuno Cruz, "An Algebraic Approach to Synthetic Aperture Sonar Image Reconstruction", Proceedings of the MTS-IEEE Conference Oceans'2008, Quebec, Canada, September 2008.

Sérgio Silva, Sérgio Cunha, Aníbal Matos, Nuno Cruz, "Shallow Water Height Mapping With Interferometric Synthetic Aperture Sonar", Proceedings of the MTS-IEEE Conference Oceans'2008, Quebec, Canada, September 2008.

Aníbal Matos, Nuno Cruz, "Coordinated Operation of Autonomous Underwater and Surface Vehicles", Proceedings of the MTS-IEEE Conference Oceans'2007, Vancouver, Canada, October 2007.

Sérgio Silva, Sérgio Cunha, Aníbal Matos, Nuno Cruz, "An Autonomous Boat Based Synthetic Aperture Sonar", Proceedings of the MTS-IEEE Conference Oceans'2007, Vancouver, Canada, October 2007.

Nuno Cruz, Aníbal Matos, Sérgio Cunha, Sérgio Silva, "Zarco - An Autonomous Craft for Underwater Surveys", Proceedings of the 7th Geomatic Week, Barcelona, Spain, February 2007.

Sérgio Silva, Sérgio Cunha, Aníbal Matos, Nuno Cruz, "An In-SAS System for Shallow Water Surveying", Proceedings of the 7th Geomatic Week, Barcelona, Spain, February 2007.

António Santos, Aníbal Matos, "WaVeSim - Water Vehicle Simulator”, Proceedings of Conference MCMC - Maneuvering and Control of Marine Crafts 2006, September 20-22, 2006, Lisbon, Portugal.

Aníbal Matos, Nuno Cruz, "AUV navigation and guidance in a moving acoustic network", Proceedings of the IEEE Oceans'2005 Europe, Brest, France, June 2005.

 

 

 

 
 
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