Technical Approach

This project will develop a method of co-robotic (human operator in partnership with a robot) removal of underwater UXO. The approach involves a novel underwater video+depth camera, similar in spirit to the Microsoft Xbox Kinect, but suitable for underwater conditions. This will be used to generate data that can be processed by recently developed haptic rendering algorithms, so as to provide a human operator with a ‘sense of touch’ of objects seen by the camera. Combined with a tele-operated robotic device, this will allow human directed robotic removal of UXO from lake, river, or sea bottom. An added feature is prevention of robot end effector contact with undesirable locations on the UXO, through imposition of a ‘no touch zone.’ This is done using both automatic control of the robot as well as haptic feedback to the operator. By demonstrating the effectiveness of these tools for use underwater, and studying the feasibility of integration with a number of platform options, the project will show that this technology has potential to impact the cost and effectiveness of UXO remediation operations.