When: Thurs 15th of Oct, 1p AEST
Where: This seminar will be presented online, RSVP here.
Speaker: Wilhelm Marais
Title: Coupled Control of Underwater Vehicle Manipulator Systems
Abstract: Autonomous and remotely operated underwater vehicles are often fitted with one or more manipulators to increase the number of degrees of freedom of the system. This allows them to simultaneously achieve an end effector pose and a number of secondary objectives. These secondary objectives may include keeping an object of interest within camera field of view, avoiding configuration limits, and avoiding collisions with the environment. We look at two related secondary objectives, wrench optimisation and disturbance rejection. We compare the optimisation of new objective functions to existing methods, and consider cases which are unique to underwater environments.
Bio: Wilhelm graduated from the University of Sydney with an undergrad degree in Mechatronic Engineering and Science. He is currently a PhD student in the marine group at ACFR.