Vision-Based Assisted Teleoperation for Inspection Tasks with a Small ROV

It is well-known that ROVs require human intervention to guarantee the success of their assignment, as well as the equipment safety. However, as its teleoperation is quite complex to perform, there is a need for assisted teleoperation. This study aims to take on this challenge by developing vision-based assisted teleoperation maneuvers, since a standard camera is present in any ROV. The proposed approach is a visual servoing solution, that allows the user to select between several standard image processing methods and is applied to a 3-DOF ROV. The most interesting characteristic of the presented system is the exclusive use of the camera data to improve the teleoperation of an underactuated ROV. It is demonstrated through the comparison and evaluation of standard implementations of different vision methods and the execution of simple maneuvers to acquire experimental results, that the teleoperation of a small ROV can be drastically improved without the need to install additional sensors.

Water jet based autonomous surface vehicle for coastal waters operations

This paper presents the design of low cost, small autonomous surface vehicle for missions in the coastal waters and specifically for the challenging surf zone. The main objective of the vehicle design described in this paper is to address both the capability of operation at sea in relative challenging conditions and maintain a very low set of operational requirements (ease of deployment). This vehicle provides a first step towards being able to perform general purpose missions (such as data gathering or patrolling) and to at least in a relatively short distances to be able to be used in rescue operations (with very low handling requirements) such as carrying support to humans on the water. The USV is based on a commercially available fiber glass hull, it uses a directional waterjet powered by an electrical brushless motor for propulsion, thus without any protruding propeller reducing danger in rescue operations. Its small dimensions (1.5 m length) and weight allow versatility and ease of deployment. The vehicle design is described in this paper both from a hardware and software point of view. A characterization of the vehicle in terms of energy consumption and performance is provided both from test tank and operational scenario tests. An example application in search and rescue is also presented and discussed with the integration of this vehicle in the European ICARUS (7th framework) research project addressing the development and integration of robotic tools for large scale search and rescue operations.

Estudo da antiga mina de volfrâmio das Aveleiras (Mire de Tibães): cartografia geotécnica e avaliação geomecânica

Este trabalho tem como objetivo sublinhar a importância de um estudo geológico‐geotécnico para apoiar a cartografia geotécnica do maciço rochoso subterrâneo da antiga mina de volfrâmio das Aveleiras (Mosteiro de Tibães, Braga). Foi realizado um trabalho de campo sistemático, ao longo de uma rede de galerias subterrâneas com uma extensão aproximada de 155 m. Estas galerias são constituídas, principalmente, por rochas metassedimentares, embora aflorem rochas graníticas num pequeno trecho de uma das galerias. A técnica de amostragem linear de descontinuidades aplicada ao grau de compartimentação do maciço rochoso esteve na base de todos os dados geológicos, geotécnicos e geomecânicos. Além disso, foram coligidos e integrados os dados de campanhas de campo anteriores, realizadas entre 2006 e 2011. Foram igualmente descritos os métodos de avaliação dos dados de campo, bem como a análise estatística dos parâmetros geológico‐geotécnicos. O zonamento geotécnico do maciço rochoso das Aveleiras foi desenvolvido tendo em conta o comportamento do maciço rochoso in situ, e foi apoiado por ensaios laboratoriais de resistência do material‐rocha através do Ensaio de Carga Pontual. Apresenta‐se uma proposta preliminar de zonamento geomecânico com o objectivo de apoiar o projeto de engenharia de maciços rochosos.