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    • ALFA Shared Autonomy Manipulation Data with a Seabotix vLBV300

    Metadata Updated: January 20, 2025

    This report outlines marine field demonstrations for manipulation tasks with a semi-Autonomous Underwater Vehicle (sAUV). The vehicle is built off a Seabotix vLBV300 platform with custom software interfacing it with the Robot Operating System (ROS). The vehicle utilizes an inertial navigation system available from Greensea Systems, Inc. based on a Gladiator Landmark 40 IMU coupled with a Teledyne Explorer Doppler Velocity Log to perform station keeping at a desired location and orientation. We performed two marine trials with the vehicle: a near-shore shared autonomy manipulation trial and an offshore attempted intervention trial. These demonstrations were designed to show the capabilities of our sAUV system for inspection and basic manipulation tasks in real marine environments.

    Access & Use Information

    Public: This dataset is intended for public access and use. License: Creative Commons Attribution

    Downloads & Resources

    Dates

    Metadata Created Date January 11, 2025
    Metadata Updated Date January 20, 2025

    Metadata Source

    Harvested from OpenEI data.json

    Other Data Resources

    Additional Metadata

    Resource Type Dataset
    Metadata Created Date January 11, 2025
    Metadata Updated Date January 20, 2025
    Publisher Oregon State University
    Maintainer
    Doi 10.15473/1439810
    Identifier https://data.openei.org/submissions/7919
    Data First Published 2017-06-19T06:00:00Z
    Data Last Modified 2020-06-30T16:30:18Z
    Public Access Level public
    Bureau Code 019:20
    Metadata Context https://openei.org/data.json
    Metadata Catalog ID https://openei.org/data.json
    Schema Version https://project-open-data.cio.gov/v1.1/schema
    Catalog Describedby https://project-open-data.cio.gov/v1.1/schema/catalog.json
    Data Quality True
    Datagov Dedupe Retained 20250120171954
    Harvest Object Id d9766d2d-038d-463f-970b-53ed348fc625
    Harvest Source Id 7cbf9085-0290-4e9f-bec1-91653baeddfd
    Harvest Source Title OpenEI data.json
    Homepage URL https://mhkdr.openei.org/submissions/247
    License https://creativecommons.org/licenses/by/4.0/
    Old Spatial {"type":"Polygon","coordinates":-124.60405131836,44.53880979867,-124.05483608398,44.53880979867,-124.05483608398,44.873782791646,-124.60405131836,44.873782791646,-124.60405131836,44.53880979867}
    Program Code 019:009
    Projectlead Tim Ramsey
    Projectnumber EE0006816
    Projecttitle Advanced Laboratory and Field Arrays (ALFA)
    Source Datajson Identifier True
    Source Hash d7853b14a8e43e8462b29d9095329872606c3cda557ccb1ba6ab2f5191491f9d
    Source Schema Version 1.1
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