Details of Grant 

EPSRC Reference:	GR/J54390/01
Title:	THE DEVELOPMENT OF AN INTEGRATED DIVERLESS UNDERWATER ROBOTIC REPAIR SYSTEM (UND 213)
Principal Investigator:	McMaster, Dr R
Other Investigators:	Nixon, Mr J
Researcher Co-Investigators:
Project Partners:
Department:	Sch of Industrial and Manufacturing Scie
Organisation:	Cranfield University
Scheme:	Standard Research (Pre-FEC)
Starts:	01 March 1994	Ends:	28 February 1997	Value (£):	163,031
EPSRC Research Topic Classifications:	Robotics & Autonomy Underwater Engineering
EPSRC Industrial Sector Classifications:	Energy
Related Grants:
Panel History:
Summary on Grant Application Form
1. To prove the viability of a robotic underwater welding system for deep water repair of pipelines and structures. 2. To show improved tele operation and tele presence through the use of real time graphical simulation techniques. 3. To demonstrate the feasibility of robotic hyperbaric welding applied to the proposed diverless system. (1) To demonstrate that a suitable tele operated underwater robotic repair system can be constructed using the workspace simulator; at least for the purpose of this project. (2) To integrate into the GRASP simulator system current developments in resolved motion and joystick control in order to enhance operator ergonomics, and to maintain an intuitive linkage between the simulated worksite image and appropriate control stick movements. (3) Using this environments (initially as a simulation) to determine the most appropriate combination of features for the tele operated/automatic control system. (4) To determine how to achieve effective real time simulation using positional information fed to the package from the control stick and/or the slave manipulator. (5) To investigate techniques for integrating worksite geometrical information into the simulation. (6) To establish a workable robot controlled from the slave manipulator that can be pre programmed off line. (7) To establish the change point from tele operator to automatic mode with reference to hyperbaric welding.
Key Findings
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Further Information:
Organisation Website:	http://www.cranfield.ac.uk