Underwater autonomous manipulation for intervention missions AUVs

Marani, Giacomo; Choi, Sang Jun; Yuh, J.

doi:10.1016/j.oceaneng.2008.08.007

Cited by 305 publications

(135 citation statements)

References 9 publications

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“…There are the known cases of using the autonomous UV for the performing of the simplest manipulation operations in the automatic mode [9,10]. In these cases, a stereo vision system and sophisticated image processing algorithms for detecting objects, which have a previously known form, are used to determine locations and spatial orientations of working objects with respect to the UV.…”

Section: Introductionmentioning

confidence: 99%

Technology for Automatic Soil Sampling by Manipulators Mounted on Underwater Vehicles

Filaretov¹,

Konoplin²,

Konoplin³

et al. 2017

DAAAM Proceedings

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The work proposes the technology for an automatic implementation of the soil sampling by means of underwater multilink manipulators which are attached to submergible autonomous and remotely controlled vehicles. This technology includes the strategy of the safe approaching of a vehicle to a sea bottom surface, and also the formation of manipulator trajectories for the efficient soil sampling by hermetically sealed tubes and soil scoops. The results of sea tests are presented for the study of the working capacity of the proposed technology.

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Section: Introductionmentioning

confidence: 99%

Technology for Automatic Soil Sampling by Manipulators Mounted on Underwater Vehicles

Filaretov¹,

Konoplin²,

Konoplin³

et al. 2017

DAAAM Proceedings

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“…To the best of the authors' knowledge this was the first time an autonomous intervention was ever made into a subsea panel. Another relevant achievement towards an operational I-AUV came in 2009 as a result of the SAUVIM project [7], During its final demonstration tests, the SAUVIM vehicle was capable of finding and navigating towards an object marked with artificial landmarks and whose position was roughly known a priori. The intervention consisted on recovering this object by hooking a cable to it while the vehicle was hovering over the seafloor.…”

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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“…Until recently, subsea supporting services have mainly been performed using remotely operated vehicles (ROVs) equipped with one or more manipulator arms (Marani et al, 2009), also referred to as underwater vehicle manipulator systems (UVMS) (Fossen, 1991;Schjølberg and Fossen, 1994).…”

Section: Introductionmentioning

confidence: 99%

A control framework for biologically inspired underwater swimming manipulators equipped with thrusters**This research was partly funded by the Research Council of Norway through the Centres of Excellence funding scheme, project No. 223254 NTNU AMOS, and partly funded by VISTA, a basic research program in collaboration between The Norwegian Academy of Science and Letters, and Statoil.

et al. 2016

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In this paper we present a control framework for a novel biologically inspired underwater swimming manipulator (USM) equipped with thrusters. The framework consists of a kinematic part and a dynamic part. The kinematic part of the framework controls the velocity of the head link of the USM by coordinating the motion of the body of the USM and the articulated joints. Various methods based on inverse kinematics is presented and the applicability of each method for kinematic control of the USM is discussed. The dynamic part of the framework ensures that the velocity references generated by the inverse kinematics method are followed and that the thruster forces are appropriately distributed among the available thrusters. The significance of the relationship between the inverse kinematics routine and the thruster allocation algorithm is explained and simulations are included to validate the concept for control of the USM.

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Underwater autonomous manipulation for intervention missions AUVs

Cited by 305 publications

References 9 publications

Technology for Automatic Soil Sampling by Manipulators Mounted on Underwater Vehicles

Technology for Automatic Soil Sampling by Manipulators Mounted on Underwater Vehicles

I-AUV Mechatronics Integration for the TRIDENT FP7 Project

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