Inspection-Class Remotely Operated Vehicles—A Review

Capocci, Romano; Dooly, Gerard; Omerdić, Edin; Coleman, Joseph; Newe, Thomas; Toal, Daniel

doi:10.3390/jmse5010013

Cited by 166 publications

(109 citation statements)

References 85 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…This is not an exhaustive list and we try to include platforms with available autonomy options (often as optional extras). A more thorough technical review of observation‐class ROVs without the discussion on autonomy can be found in Capocci et al ().…”

Section: Overview Of Autonomy For Low‐cost Observation‐class Underwamentioning

confidence: 99%

“…The demand for this type of vehicle has traditionally been driven by underwater inspection tasks such as for the oil and gas industry (Capocci et al, ), but recently the availability of these systems has started to attract a more diverse range of applications, including infrastructure inspection (Hollinger, Englot, Hover, Mitra, & Sukhatme, ), education (Deglinnocenti, ; Patterson, Elliott, & Niebuhr, ), fish stock monitoring (Chalkiadakis et al, ; Karimanzira et al, ) and marine renewable energy (Lawrance & Hollinger, ).…”

Section: Overview Of Autonomy For Low‐cost Observation‐class Underwamentioning

confidence: 99%

See 1 more Smart Citation

Shared autonomy for low‐cost underwater vehicles

Lawrance

DeBortoli

Jones

et al. 2018

Journal of Field Robotics

View full text Add to dashboard Cite

This field report presents an overview of the development and testing of a semiautonomous underwater vehicle (sAUV). The work presented here is aimed at bridging the gap between current remotely operated vehicles and autonomous research platforms by developing shared autonomy capabilities for low-cost underwater vehicles. We use commercially available components and open-source software interfaces to provide a wider range of capabilities for underwater autonomy research at a lower cost than previously available systems. We describe the overall structure of the system, discuss its capabilities, and provide results demonstrating system performance. We place particular emphasis on shared autonomy, where a human operator is assisted in controlling an underwater tethered vehicle. We present three capabilities developed for the sAUV: (a) an assisted control mode that provides a variable level of assistance using an on-line estimate of user skill level, (b) a planner to generate paths that avoid tether entanglement, and (c) a sonar processing algorithm that identifies informative sonar images for selecting features for 3D scene reconstruction. The vehicle has been deployed on five off-shore and near-shore marine field deployments since 2015, and this report includes selected results from four of those trials to demonstrate the capabilities and limitations of the sAUV system. K E Y W O R D S human robot interaction, perception, planning, underwater robotics 1 | INTRODUCTION Unmanned underwater vehicles (UUVs) are used for a wide variety of tasks, from short-duration (hour-scale) inspection tasks to longduration (month-scale) data gathering missions. Within this group of vehicles there exists a wide range of autonomous capability, from limited or no autonomy on most industry-standard remotely operated vehicles (ROVs) to full autonomy on research-grade autonomous underwater vehicles (AUVs). In this paper, we examine partial-autonomy approaches that leverage the capabilities of autonomous systems to complement the skills of human operators.We use the term semi-autonomous to refer to a system that has some autonomous capabilities but must rely on a human operator for certain mission-critical capabilities. In this study, we develop and demonstrate a semi-autonomous underwater vehicle (sAUV) system.One of the primary limitations to deployment of AUVs is the perception that autonomy capabilities are not sufficiently robust for wide adoption. In many cases, the expense and specialized design of AUVs for particular tasks limits their applicability to a wider audience.In time-sensitive deployments, the robustness and task flexibility of ROVs means that they can be more readily deployed for a wider variety of tasks than autonomous systems (Murphy et al., 2012). J Field Robotics. 2019;36:495-516.wileyonlinelibrary.com/journal/rob

show abstract

Section: Overview Of Autonomy For Low‐cost Observation‐class Underwamentioning

confidence: 99%

Section: Overview Of Autonomy For Low‐cost Observation‐class Underwamentioning

confidence: 99%

Shared autonomy for low‐cost underwater vehicles

Lawrance

DeBortoli

Jones

et al. 2018

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

“…Hydraulic manipulators utilizing mineral oil as the working medium, mounted on ROV or HOV, are used for a variety of subsea tasks in different applications within offshore oil and gas, marine renewable energy and marine civil engineering industries [4] as well as in marine science and military applications [5]. As they are being used in a wide range of applications, subsea manipulators are designed for different purposes and can work at any ocean depth with the pressure compensator balancing the tank pressure with the ambient pressure [6].…”

Section: Introductionmentioning

confidence: 99%

Influence of Ambient Pressure on Performance of a Deep-sea Hydraulic Manipulator

Tian

Zhang

Chen

et al. 2019

OCEANS 2019 - Marseille

View full text Add to dashboard Cite

Deep-sea hydraulic manipulator is the most commonly used operation equipment for executing subsea operations in different applications. The increasing demands on underwater operational ease require the implementation of manipulator system which can maintain similar dynamic performance in different working conditions Considering the variations of seawater properties at different ocean depths, especially high hydrostatic pressure in deep-sea environment will make the kinematic viscosity of oil obviously increased, which has a significant influence on the performance of deep-sea hydraulic manipulator. The viscosity-pressure characteristics of working medium is tested. A detailed nonlinear mathematical model and related simulations considering the significant slender pipelines between valves and actuators due to the increased oil viscosity are conducted to analyze the ambient pressures against varying depths affecting the manipulator performance. The 115MPa online pressure experimental results indicate the joint response characteristics at different ambient pressures, which provides basis for response consistency control of deep-sea hydraulic manipulator. Keywords-Deep-sea hydraulic manipulator, Viscosity-pressure characteristics, Nonlinear mathematical model, 11000m on-line pressure experimentI.

show abstract

“…Over the past decades, the use of ROVs has become more widespread. This is due to the reduction in costs driven by military and oil and gas research, making the technology available for other commercial and scientific purposes [1]. In more recent years ROVs have been employed for survey contracts and, with the push in the marine renewable energy (MRE) sector, ROVs will need to be capable of operating in more difficult environments to carry out close quarters inspections of the MRE devices and structures, thus reducing operational costs within the sector.…”

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant Control for ROVs Using Control Reallocation and Power Isolation

Capocci¹,

Omerdić²,

Dooly³

et al. 2018

Preprint

Self Cite

View full text Add to dashboard Cite

This paper describes a novel thruster fault-tolerant control system (FTC) for open-frame remotely operated vehicles (ROVs). The proposed FTC consists of two subsystems: a model-free thruster fault detection and isolation subsystem (FDI) and a fault accommodation subsystem (FA). The FDI subsystem employs fault detection units (FDUs), associated with each thruster, to monitor their state. The robust, reliable and adaptive FDUs use a model-free pattern recognition neural network (PRNN) to detect internal and external faulty states of the thrusters in real time. The FA subsystem combines information provided by the FDI subsystem with predefined, user-configurable actions to accommodate partial and total faults and to perform an appropriate control reallocation. Software-level actions include penalisation of faulty thrusters in solution of control allocation problem and reallocation of control energy among the operable thrusters. Hardware-level actions include power isolation of faulty thrusters (total faults only) such that the entire ROV power system is not compromised. The proposed FTC system is implemented as a LabVIEW virtual instrument (VI) and evaluated in virtual (simulated) and real-world environments. The proposed FTC module can be used for open frame ROVs with up to 12 thrusters: eight horizontal thrusters configured in two horizontal layers of four thrusters each, and four vertical thrusters configured in one vertical layer. Results from both environments show that the ROV control system, enhanced with the FDI and FA subsystems, is capable of maintaining full 6 DOF control of ROV in the presence of up to 6 simultaneous total faults in the thrusters. With the FDI and FA subsystems in place the control energy distribution of the healthy thrusters is optimised so that the ROV can still operate in difficult conditions under fault scenarios.

show abstract

Inspection-Class Remotely Operated Vehicles—A Review

Cited by 166 publications

References 85 publications

Shared autonomy for low‐cost underwater vehicles

Shared autonomy for low‐cost underwater vehicles

Influence of Ambient Pressure on Performance of a Deep-sea Hydraulic Manipulator

Fault-Tolerant Control for ROVs Using Control Reallocation and Power Isolation

Contact Info

Product

Resources

About