U.S. past military activities has left large areas, some on land and some underwater, contaminated with munitions. In the underwater setting, the munitions are both an environmental hazard and an explosive hazard. Currently, dismantling them is done either through blow-in-place strategies or by sending divers for manual extraction.
A software platform built on Robot Operating System (ROS) and Simulink is developed for the remediation of these munitions through teleoperation. The platform serves as a framework for the visual display of the underwater environment and the teleoperated control of a robotic system. The software platform is built to work on the Oculus VR headset and the Razer Hydra.
Affiliated Students: Zaid Gharaybeh