Posted by Mario Prats

The IRSLab was in Girona during the last week (2-4/May), participating in the 2nd Annual Review of the TRIDENT FP7 european project. The main milestone to show was the mechatronic integration of the Girona 500 AUV, the Graaltech Arm (University of Genoa) and the hand (University of Bologna). All the systems were successfully integrated and a recovery mission was carried out in a tele-operated manner. See the following video for a summary:


Simultaneously, other two demos where performed in simulation using UWSim. They showed the leader following controller (Instituto Superior Técnico, Lisbon), and the free-floating controller (University of Genoa). They both integrated different parts of the whole TRIDENT architecture, such as target detection and tracking, pose estimation, arm/hand control, vehicle control and mission planning:


Triton consortium in the Kick-off meeting

The TRITON kick-off meeting was held  in Genoa (Italy), on 9/01/2012. Researchers (left-right): M. Prats (UJI), N. Palomeras (UdG), D. Ribas (UdG), P.J. Sanz (IP, UJI), P. Ridao (IP, UdG), G. Oliver (IP, UIB), J. Sales (UJI), J.C. García (UJI), A. Burguera (UIB).

Release v1.1 of UWSim

22 Dec 2011
Posted by Mario Prats

IRSLab is proud to announce the new release of UWSim, an open source simulator for underwater robotics integrated in ROS. These are the main improvements with respect to the previous version:

  • Introduced XML configuration files for scene description
  • Introduced support for URDF format. Allows to create robots from URDF files.
  • Support for multiple vehicles, multiple cameras and multiple ROS interfaces
  • Introduced a new intermediate frame for relating simulated to real worlds
  • Example ROS interface nodes for updating vehicle and arm position.
  • New and improved scenarios and 3D models
  • Restructured into a ROS stack

Please check the UWSim website for more information

This is a video covering 360º of one of the example scenes:

Posted by Mario Prats

IRSLab-UJI is actively participating at ROBOT2011 Workshop this week. We have presented two papers, one related to our activities in teaching using robotics, and another one about our underwater simulator UWSim. In addition, during this week we will hold several activities related with the European Robotics Week 2011, including a live stream of our activities at the lab.

Posted by Mario Prats

On October 2011 we were at Roses (Girona), doing experiments on autonomous underwater intervention in the harbour. The task was to find and recover a Flight Data Recorder (black box) at some 4m depth in the harbour. The only cable connected to the autonomous vehicle was an ethernet cable used for monitoring the task. Inside the vehicle, there were 3 PCs devoted to vehicle control, arm control and visual processing. The robot successfully performed a survey of the area, found the black box, kept its pose visually on top of it and recovered it using a hook.

The following two videos show a summary of the experiments, that were carried out using the Girona 500 underwater vehicle, the Lightweight ARM 5E manipulator and stereo vision. The first shows a summary of all the parts and the results obtained. The other was recorded by a local TV.



The IRS-Lab has gone to Girona University for the second RAUVI integration meeting. This is a video showing the results obtained in the RAUVI project on March 2011. An I-AUV (Intervention Autonomous Underwater Manipulator) recovers a data flight recorder from the bottom of a swimming-pool using vision-based control for both stabilizing the vehicle on top of the object, and guiding the end-effector through the task.

We have just created a YouTube channel where we will upload the most important videos. Here you have an example:


The IRS-Lab has gone to Girona University for the first RAUVI integration meeting. Take a look to some photos we took along the meeting:

The first version of the UnderWater robotics User Interface (UWUI) has been realise. This GUI will be used in the projects RAUVI and TRIDENT, both coordinated from our lab. Get more info and watch some videos about this work here.