Office
Mechanical Engineering Complex, Building M, Basement
Phone
+30-210-772-3656
Research Area
Underwater Robots
The Underwater Robotics group addresses semi-autonomous ROV and AUV navigation and control in complex underwater environments affected by nonlinear hydrodynamics and disturbances such as waves and currents. Work covers sensor fusion, localization, target tracking, and visual servoing for ship inspections, seabed mapping, and underwater manipulation. Current project: PANDORA.
Personnel
- Post-Doc Associates: George Karras
- PhD students: Shahab Heshmati-alamdari
Equipment
Seabotix LBV 150SE
- 4 DoF (surge, sway, heave, yaw)
- 5.5 kgf horizontal, 2.2 kgf vertical, 2.5 kgf lateral thrust
- 2 onboard cameras (1 CCD, 1 BW)
- 2 RS-232 channels
VideoRay Pro
- 3 DoF (surge, heave, yaw)
- 1.7 kgf horizontal, 0.2 kgf vertical thrust
- 1 onboard CCD camera
- 1 RS-232 channel
Laser Vision System (LVS)
- Onboard ROV camera with two laser pointers
- Computer-vision algorithms with laser calibration
- Target tracking and vehicle localization
MTi IMU (Xsens)
- Gyro-enhanced IMU
- 360° 3D orientation tracking
- 3D acceleration (5g FS), 3D rate of turn (300°/s FS)
- Earth-magnetic field data