AMADEUS: advanced manipulation for deep underwater sampling

Lane, David M.; Davies, J.B.C.; Casalino, Giuseppe; Bartolini, G.; Cannata, Giorgio; Veruggio, G.; Canals, Miquel; Smith, Christopher J.; O'Brien, D.J.; Pickett, M.; Robinson, G.; Jones, David A.; Scott, E. Kilburn; Ferrara, Antonella; Angelleti, D.; Coccoli, Mauro; Bono, R.; Virgili, P.; Pallas, R.; Gracia, E.

doi:10.1109/100.637804

Cited by 119 publications

(41 citation statements)

References 12 publications

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“…Nowadays, these tasks require the use of work-class ROVs deployed from DP vessels making them very expensive. To face these new applications, the research to increase the autonomy of underwater intervention systems started early in the 90s with the pioneering works of OTTER (Wang et al (1995)), ODIN (Choi et al (1994)), UNION (Rigaud et al (1998), Fig.2) and AMADEUS (Lane et al (1997), Fig.1), but it was not until the 1st decade of the 21th century that field demonstrations arrived. Very successful approaches where based on hybrid ROV/AUV concepts like the one proposed by the SWIMMER project (Evans et al (2001), Fig.3 ) where an AUV shuttle transporting a ROV, autonomously homes and docks into a seabed docking station.…”

Section: State Of the Artmentioning

confidence: 99%

Intervention AUVs: The Next Challenge

Ridao

Carreras

Ribas

et al. 2014

IFAC Proceedings Volumes

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While commercially available AUVs are routinely used in survey missions, a new set of applications exists which clearly demand intervention capabilities. The maintenance of: permanent observatories underwater; submerged oil wells; cabled sensor networks; pipes; and the deployment and recovery of benthic stations are but a few of them. These tasks are addressed nowadays using manned submersibles or work-class ROVs, equipped with teleoperated arms under human supervision. Although researchers have recently opened the door to future I-AUVs, a long path is still necessary to pave the way to underwater intervention applications performed in an autonomous way. This paper reviews the evolution timeline in autonomous underwater intervention systems. Milestone projects in the state of the art are reviewed, highlighting their principal contributions to the field. To the best of the authors knowledge only three vehicles have demonstrated some autonomous intervention capabilities so far: ALIVE, SAUVIM and GIRONA 500 I-AUV. Next, GIRONA 500 I-AUV is presented and its software architecture discussed. Recent results in different scenarios are reported: 1) Valve turning and connector plugging/unplugging while docked to a sub-sea panel, 2) Free floating valve turning using learning by demonstration, and 3) Free floating multipurpose multisensory based object recovery. The paper ends discussing the lessons learned so far and presenting the authors view of the future.

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Section: State Of the Artmentioning

confidence: 99%

Intervention AUVs: The Next Challenge

Ridao

Carreras

Ribas

et al. 2014

IFAC Proceedings Volumes

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“…• AMADEUS 1993-99 [23]: Amadeus had two phases: develop a dexterous gripper suitable for underwater applications and coordinated control of two underwater electro-mechanical arms. The project demonstrated the coordinated motion of the two fixed based manipulators while manipulating a rigid object inside a water tank.…”

Section: State Of the Artmentioning

confidence: 99%

Visually-guided manipulation techniques for robotic autonomous underwater panel interventions

Peñalver

Pérez

Fernández

et al. 2015

Annual Reviews in Control

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The long term of this ongoing research has to do with increasing the autonomy levels for underwater intervention missions. Bearing in mind that the specific mission to face has been the intervention on a panel, in this paper some results in different development stages are presented by using the real mechatronics and the panel mockup. Furthermore, some details are highlighted describing two methodologies implemented for the required visually-guided manipulation algorithms, and also a roadmap explaining the different testbeds used for experimental validation, in increasing complexity order, are presented. It is worth mentioning that the aforementioned results would be impossible without previous generated know-how for both, the complete developed mechatronics for the autonomous underwater vehicle for intervention, and the required 3D simulation tool. In summary, thanks to the implemented approach, the intervention system is able to control the way in which the gripper approximates and manipulates the two panel devices (i.e. a valve and a connector) in autonomous manner and, results in different scenarios demonstrate the reliability and feasibility of this autonomous intervention system in water tank and pool conditions.

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“…Early works can be dated back to the 90's [1], [2], [3], [4]. However, the first relevant field demonstration is found in the context of the SWIMMER EU project [5].…”

Section: Introductionmentioning

confidence: 99%

I-AUV Mechatronics Integration for the TRIDENT FP7 Project

Ribas

Ridao

Turetta

et al. 2015

IEEE/ASME Trans. Mechatron.

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Abstract-Autonomous underwater vehicles (AUVs) are routinely used to survey areas of interest in seas and oceans all over the world. However, those operations requiring intervention capabilities are still reserved to manned submersibles or remotely operated vehicles (ROVs). In the recent years, few research projects have demonstrated the viability of a new type of submersible, the intervention AUV (I-AUV), which can perform underwater missions involving manipulations in a completely autonomous way. The EU FP7 TRIDENT project is one of the most recent examples of such technological concept.This article describes the different mechatronic components that constitute the I-AUV developed for the TRIDENT project, their hardware and software integration, and the performance of the vehicle during the project trials.

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AMADEUS: advanced manipulation for deep underwater sampling

Cited by 119 publications

References 12 publications

Intervention AUVs: The Next Challenge

Intervention AUVs: The Next Challenge

Visually-guided manipulation techniques for robotic autonomous underwater panel interventions

I-AUV Mechatronics Integration for the TRIDENT FP7 Project

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