The Hydrobatic Dual-Arm Intervention AUV Cuttlefish

Christensen, Leif; Hilljegerdes, Jens; Zipper, Michael; Kolesnikov, Andrej; Hulsen, Benjamin; Koch, Christian Ernst Siegfried; Hildebrandt, Marc; Danter, Leon C.

doi:10.1109/oceans47191.2022.9977150

Cited by 5 publications

(12 citation statements)

References 6 publications

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“…For the close range sensing, turbidity invariant sensors would be favorable, but measures to avoid whirling up the seafloor could also be taken. As for the ability to navigate in crowded spaces, a hydrobatic AUV, which can turn about all axes might be a promising approach ( Christensen et al, 2022 ), but there are of course several ways to solve this challenge, depending on the specific use case.…”

Section: Requirements For Autonomymentioning

confidence: 99%

“…For environment perception the company reports, that the hybrid AUV/ROV is equipped with several ( Palomeras et al, 2014 ; Simetti et al, 2018 ; Christensen et al, 2022 ) fixed cameras, sonars and a hydrophone which is used as a self monitoring tool. While navigating in the SPS, the Sabertooth can use passive landmarks in the form of sonar reflectors or radio frequency identification tags.…”

Section: Current Technologymentioning

confidence: 99%

“…The Cuttlefish is a hydrobatic intervention AUV developed by the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI) in Bremen. Hydrobatic vehicles are typically able to take arbitrary poses in the water, and according to Christensen et al ( Christensen et al, 2022 ) the Cuttlefish can change its center of mass and buoyancy to transit between a more stable or more agile configuration. A special docking interface is also included to allow fast data transmission and human intervention once docked to a subsea panel.…”

Section: Current Technologymentioning

confidence: 99%

“…Autonomous Underwater Vehicles (AUVs) do not have said umbilical, and they do not need an extensive crew of operators, which makes them a good alternative to ROVs. Most common AUVs are only used for GVI, but there is a rising interest in Intervention AUVs (I-AUVs) which possess one or two manipulator arms and the appropriate tools to perform contact based inspection and basic maintenance tasks like valve turning or hot stab operations ( Palomeras et al, 2014 ; Simetti et al, 2018 ; Pi et al, 2021 ; Christensen et al, 2022 ).…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Inspection and maintenance of industrial infrastructure with autonomous underwater robots

Nauert,

Kampmann

2023

Front. Robot. AI

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Underwater infrastructure, such as pipelines, requires regular inspection and maintenance including cleaning, welding of defects and valve-turning or hot-stabbing. At the moment, these tasks are mostly performed by divers and Remotely Operated Vehicles (ROVs) but the use of intervention Autonomous Underwater Vehicles (intervention-AUVs) can greatly reduce operation time, risk, and cost. However, autonomous underwater manipulation has not yet reached a high technological readiness and is an intensively researched topic. This review identifies key requirements based on necessary inspection and maintenance methods, linking them to the current technology and deriving major challenges which need to be addressed in development. These include the handling of tools, where a separation between handheld and mounted tools is detected in already employed underwater intervention vehicles such as the Sabertooth by Saab Seaeye or the Aquanaut by Nauticus robotics, two vehicles capable of semi-autonomous intervention. The main challenge identified concerns high level autonomy, i.e., the process of decision-making. This process includes detecting the correct point of interest, maximizing the workspace of the manipulator, planning the manipulation considering required forces, and monitoring the progress to allow for corrections and high quality results. In order to overcome these issues, reliable close range sensing and precise end point navigation is needed. By identifying these persisting challenges, the paper provides inspiration for further development directions in the field of autonomous underwater intervention.

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Section: Requirements For Autonomymentioning

confidence: 99%

Section: Current Technologymentioning

confidence: 99%

Section: Current Technologymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Inspection and maintenance of industrial infrastructure with autonomous underwater robots

Nauert,

Kampmann

2023

Front. Robot. AI

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show abstract

“…More recently, with the increasing demand for multipurpose vehicle platforms in the field of ocean engineering and scientific investigation, a couple of vehicles that are capable of highly autonomous free‐swimming and teleoperation have been developed in recent years to narrow the substantial gaps between ROVs and AUVs. For instance, Nereus (Bowen et al, 2008), Nereid (Bowen et al, 2014; Jakuba, German, et al, 2018; McFarland et al, 2015), Mesobot (Yoerger et al, 2021) of WHOI, Ariane of Ifremer (Brignone et al, 2015; Raugel et al, 2019), Girona500 of University of Girona (Cieslak et al, 2015; Youakim et al, 2020), and dual‐arm Cuttlefish AUV of German Research Center for Artificial Intelligence (Christensen et al, 2022). This type of vehicle could execute completely autonomous behaviors and remote‐control close‐range visual inspection on the assigned site.…”

Section: Introductionmentioning

confidence: 99%

The Haidou‐1 hybrid underwater vehicle for the Mariana Trench science exploration to 10,908 m depth

Wang,

Tang,

et al. 2024

Journal of Field Robotics

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An unmanned Autonomous and Remotely Operated Vehicle (ARV), Haidou‐1, visited the Challenger Deep in the Mariana Trench, and performed observation, sampling and bathymetric mapping explorations at the trench bottom. The Haidou‐1 vehicle reached a depth of 10,908 m in the west pool of the Challenger Deep and probed a depth of 10,909 m in the east pool. The 2600 kg underwater robotic vehicle could conduct survey missions with full autonomy and can also be remotely operated through a light fiber tether. Haidou‐1 carries an electric manipulator to implement lightweight intervention tasks. The fiber‐optical tether enables long‐distance real‐time high‐bandwidth communication at full‐ocean depth, thereby providing situational awareness and remote intervention. The hybrid concept we defined for the Haidou‐1 vehicle refers to three typical working modes: Autonomous Underwater Vehicle mode, Remotely Operated Vehicle mode, and ARV mode. There is no need to change any structural configuration at sea to meet the needs of multidisciplinary oceanographic investigation. This paper reports the overview design of Haidou‐1. Practical field trials at the Challenger Deep were conducted to validate the feasibility and performance of the developed system. In the aggregate, eight dives exceeded 10,000 m counting all three operation modes. Some of the initial results are presented including the high‐resolution bathymetric map created by Haidou‐1 onboard sonar, and no similar results have been found yet.

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Three-Dimensional Marine Ranching Cage Inspection Path Planning Integrating the Differential Evolution and Particle Swarm Optimization Algorithms

Hu,

Wang,

et al. 2023

IEEE Access

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This study addressed the autonomous planning of three-dimensional (3D) underwater inspection paths for autonomous underwater vehicles (AUVs) in marine ranching by integrating differential evolution and particle swarm optimization (PSO) algorithms. First, a modified PSO algorithm incorporating swap operators, mutation, and crossover strategies was employed to enable autonomous obstacle avoidance during the inspection of offshore net cages in fish farms situated within a 3D marine environment. This approach addresses the problem of planning full-traversal paths for multiple inspection points. Second, the performance of the proposed algorithm was assessed through comparative tests with other algorithms. The proposed algorithm demonstrated significant improvements in convergence speed, accuracy, and stability under complex scenarios involving multiple optima and intense oscillations. To validate the superiority and overall planning proficiency of the modified method, an experimental setup comprising of two distinct 3D marine cage environments with a series of checkpoints was utilized. The experimental results demonstrated the ability of the proposed algorithm to generate an optimal path while traversing all inspection points of fish farm offshore net cages. By ensuring the safety of AUVs and closely adhering to the surfaces of offshore net cages during the inspection process, the algorithm exhibits remarkable adaptability to specific application scenarios, effectively mitigating concerns related to local optima and premature convergence.

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The Hydrobatic Dual-Arm Intervention AUV Cuttlefish

Cited by 5 publications

References 6 publications

Inspection and maintenance of industrial infrastructure with autonomous underwater robots

Inspection and maintenance of industrial infrastructure with autonomous underwater robots

The Haidou‐1 hybrid underwater vehicle for the Mariana Trench science exploration to 10,908 m depth

Three-Dimensional Marine Ranching Cage Inspection Path Planning Integrating the Differential Evolution and Particle Swarm Optimization Algorithms

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