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Project 7: Haptic Shared Control for Sub-Sea Mining



People involved:


Dr. ir. Sape Miedema
Project function: Project Leader; Supervisor 7.1
Organisation: Delft University of Technology, Offshore Engineering

Dr.ir. David Abbink
Project function: Supervisor 7.2
Organisation: Delft University of Technology, BioMechanical Engineering

MSc. Xiuhan Chen
Project function: PhD candidate 7.1
Organisation: Delft University of Technology

MSc Roel Kuiper
Project function: PhD candidate 7.2
Organisation: Delft University of Technology, BioMechanical Engineering

Dr. Tricia Gibo
Project function: Postdoc fellow 7.2
Organisation: Delft University of Technology, BioMechanical Engineering

Prof. dr. ir. Frans van der Helm
Project function:
Organisation: Delft University of Technology


Project Goal

Remote control of sub-sea robots is very difficult for the human operator, due to the unpredictable environments, limited visual and haptic feedback, and slow vehicle dynamics. This project aims to design and evaluate a novel human-machine interface using haptic shared control, based on good models of the environment (soil and water properties), of the task and of the human.
The final application is a shared control interface for the prototype design for deep-sea mining, at depths of up to 2000 m. 
Project 7.1
In this project models will be developed that describe soil properties at different water depths. This will give better insight into the expected cutting forces that are required. 
Project 7.2
This project aims to develop haptic shared control algorithms for sub-sea mining, and test several prototypes in simulations, based on soil models developed in 7.1. Extensive cooperation with experienced companies such as SeaTools and Tree-C will ensure realistic simulations.  
Involved Companies
SeaTools - www.seatools.com
Tree-C - www.tree-c.nl