Underwater manipulators: A review

Sivčev, Satja; Coleman, Joseph; Omerdić, Edin; Dooly, Gerard; Toal, Daniel

doi:10.1016/j.oceaneng.2018.06.018

Cited by 216 publications

(100 citation statements)

References 65 publications

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“…Fast forward over 25 years, this concept has seen vast technological refinement with the application of off-theshelf VR components, including HMDs, such as the Oculus Rift, and improved haptic devices, which add a greater field of view, faster head tracking, and more intuitive feedbacks for the remote control of the ROV manipulator arm (Lynch and Ellery, 2014;Candeloro et al, 2015). In addition, the feedback from these haptic control devices (e.g., vibration) can help avoid collisions with expensive equipment (Lynch and Ellery, 2014;Sivčev et al, 2018). These visualizations and controls have also been aided by stereoscopic cameras, which utilize synchronized cameras to take 3D images and have the advantage of mimicking human binocular vision while also enabling more accurate spatial measurement (Shortis et al, 2007).…”

Section: Previous Workmentioning

confidence: 99%

Virtual Reality and Oceanography: Overview, Applications, and Perspective

et al. 2019

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With the ongoing, exponential increase in ocean data from autonomous platforms, satellites, models, and in particular, the growing field of quantitative imaging, there arises a need for scalable and cost-efficient visualization tools to interpret these large volumes of data. With the recent proliferation of consumer grade head-mounted displays, the emerging field of virtual reality (VR) has demonstrated its benefit in numerous disciplines, ranging from medicine to archeology. However, these benefits have not received as much attention in the ocean sciences. Here, we summarize some of the ways that virtual reality has been applied to this field. We highlight a few examples in which we (the authors) demonstrate the utility of VR as a tool for ocean scientists. For oceanic datasets that are well-suited for three-dimensional visualization, virtual reality has the potential to enhance the practice of ocean science.

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Section: Previous Workmentioning

confidence: 99%

Virtual Reality and Oceanography: Overview, Applications, and Perspective

et al. 2019

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“…Exploring in deep sea environment has become one of the most challenging events in marine engineering [2]. Deep-sea manipulator is a typical operation tool which is widely used for performing deep sea tasks in different applications [3].…”

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

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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.

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“…Usually, human occupied vehicles (HOVs) and remotely operated vehicles (ROVs) are equipped with two manipulators, one simple, powerful grabber to hold the vehicle near the structure or wreck, while the other manipulator performs the actual task. And in some cases, underwater manipulators are equipped on autonomous underwater vehicles (AUVs) [5].…”

Section: Introductionmentioning

confidence: 99%

“…There are some systems designed for full ocean depth (11000 msw), one such manipulator for Mariana Trench exploration mission was designed by Woods Hole Oceanographic Institute and Kraft Robotics [13]. Others include "40500(R)" produced by Hydro-Lek, "Magnum 7", a product of ISE Ltd. and, "The ARM" and "MK-37" developed by the Western Space and Marine, Inc. [5]. However, a complete article encapsulating the design and key technical issues of a full ocean depth underwater hydraulic manipulator system cannot be found in any literature.…”

Section: Introductionmentioning

confidence: 99%

DOREP: An Educational Experiment Platform for Robot Control Based on MATLAB and the Real-Time Controller

Liu

Han

et al. 2019

Intelligent Robotics and Applications

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This paper presents the development of a full ocean depth masterslave hydraulic manipulator system for marine engineering and research in the harsh hadal environment. Three basic modules of the slave arm including a linear cylinder, a single-vane swing cylinder, and a new wrist joint are designed. The electronic system and software are developed then. Laboratory experiments on the single-vane swing cylinder and the new wrist joint were carried out to verify the performance of new joints. Additionally, a 11000 m pressure experiment is conducted, and the results demonstrate that the full ocean depth hydraulic manipulator system works well in the 11000 m environment.

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Underwater manipulators: A review

Cited by 216 publications

References 65 publications

Virtual Reality and Oceanography: Overview, Applications, and Perspective

Virtual Reality and Oceanography: Overview, Applications, and Perspective

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

DOREP: An Educational Experiment Platform for Robot Control Based on MATLAB and the Real-Time Controller

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