End of the project: some thoughts from our partner NTUA

The Final Year for the Pandora Project has ended successfully for the whole Consortium, but also for NTUA specifically. During the last Year the NTUA Team succesfully collaborated with all the Partnerns (HWU, UdG, KCL, IIT) for the last scientific and technical contributions, participated in the Final Integration Meeting in UdG (Girona, Spain) . A significant part of the work was dedicated to the fine tuning of the software implementations related to the vehicles (Girona500, Nessie VI) motion and interaction control schemes, which played a very important role in the three Demonstration Scenarios.
Moreover, during the Final Year NTUA worked towards transferring an important part of the PANDORA Project technological achievements to the local NTUA underwater infrastructure. More specific, the NTUA Team: i) developed a local ROS simulator based on the UWSim in order to test robust motion control schemes for underactuated underwater vehicles ii) submitted a journal paper entitled : “Trajectory Tracking with Prescribed Performance for Underactuated Underwater Vehicles with Model Uncertainties” at IEEE Transactions on Control Systems Technology Journal, which for the time being is condiatially accepted for publication iii) Designed and Implemented a small 4 DoF underwater manipulator which was installed on the NTUA Seabotix LBV, iv) Designed and implemeted an EKF based Navigation System for the NTUA UVMS (Seabotix LBV – 4 DoF manipulator), v) Designed and implemented various position, velocity and visual servo control schemes for the NTUA UVMS, which were succesfully tested in the local CSL new test tank.

Experiments at NTUA Local Infrastructure

 Experiments at NTUA Local Infrastructure




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