Subsea intervention using autonomous systems

Develop control algorithms to enable safe semi -autonomous subsea manipulation with communications delay.
Description of the Project: 

Subsea inspection of structures is now commercial and the next frontier in subsea robotics is the safe physical interactions with underwater structures. This requires the development of new control algorithms with force compliance which can take into account external disturbances. There is also a need to work across a variety of control models, from full teleoperation across high bandwidth data to shared autonomy (our goal) across low and intermittent connection to enable shore-based control of remote platforms.

Heriot-Watt is ideally placed to carry out this work as we have a Stewart platform enabling a full 6DOF simulation of an underwater vehicle (including dynamics) as well as a variety of manipulators with force feedback. We also have autonomous platforms with underwater arms. We can therefore develop the algorithms, test them in simulation, then on the Stewart platform and finally in water.  This is a very attractive setup for publications. Finally, we have strong links to many industrial partners who are likely to adopt the technology quickly.

Resources required: 
High power computer, potentially second event camera for stereo vision work
Project number: 
124024
First Supervisor: 
University: 
Heriot-Watt University
First supervisor university: 
Heriot-Watt University
Essential skills and knowledge: 
Computer vision and machine learning
Desirable skills and knowledge: 
Strong mathematical background
References: 

1] H. Rebecq, D. Gehrig, D. Scaramuzza, ESIM: an Open Event Camera Simulator Conference on Robot Learning (CoRL), Zurich, 2018.

[2] D. Gehrig, H. Rebecq, G. Gallego, D. Scaramuzza, Asynchronous, Photometric Feature Tracking using Events and Frames, European Conference on Computer Vision (ECCV), Munich, 2018.

[3] Y. Zhou, G. Gallego, H. Rebecq, L. Kneip, H. Li, D. Scaramuzza, Semi-Dense 3D Reconstruction with a Stereo Event Camera, European Conference on Computer Vision (ECCV), Munich, 2018.