An Intervention-AUV learns how to perform an underwater valve turning

Carrera, Arnau; Palomeras, Narcís; Ribas, David; Kormushev, Petar; Carreras, Marc

doi:10.1109/oceans-taipei.2014.6964483

Cited by 13 publications

(12 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…, λ N ] is the vector of overall interaction forces and torques. By substituting (7) into (12) one obtains: (14) which, after substituting (10), (11), (8) and rearranging terms, yields the overall system coupled dynamics:…”

Section: A Coupled Dynamicsmentioning

confidence: 99%

A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems

Heshmati-alamdari

Karras

Kyriakopoulos

2019

2019 International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC) approach for a team of UVMSs in order to transport an object while avoiding significant constraints and limitations such as: kinematic and representation singularities, obstacles within the workspace, joint limits and control input saturations. More precisely, by exploiting the coupled dynamics between the robots and the object, and using certain load sharing coefficients, we design a distributed NMPC for each UVMS in order to cooperatively transport the object within the workspace's feasible region. Moreover, the control scheme adopts load sharing among the UVMSs according to their specific payload capabilities. Additionally, the feedback relies on each UVMS's locally measurements and no explicit data is exchanged online among the robots, thus reducing the required communication bandwidth. Finally, real-time simulation results conducted in UwSim dynamic simulator running in ROS environment verify the efficiency of the theoretical finding.

show abstract

Section: A Coupled Dynamicsmentioning

confidence: 99%

A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems

Heshmati-alamdari

Karras

Kyriakopoulos

2019

2019 International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

show abstract

“…Em [7] foi apresentado um método numérico para resolver o problema da cinemática inversa para um manipulador subaquático comercial, Schilling Titan 2. O projeto PANDORA explorou o aprendizado da trajetória do veículo e do manipulador por demonstração para realizar o torneamento de válvulas [8]. No projeto MERBOTS, [9] utilizou o pacote de planejamento de movimento ROS MoveIt para calcular trajetórias.…”

Section: Sistemas De Controle De Manipuladores Subaquáticosunclassified

Intellmanipulator: Modelo Computacional Baseado Em Sistemas Multiagente Para Automatizar Operações Com Manipuladores Subaquáticos

Nardy¹,

Pinheiro²,

Lepikson³

2019

Blucher Engineering Proceedings

View full text Add to dashboard Cite

Resumo: Este projeto de investigação propõe um modelo computacional baseado em sistemas multiagentes para automatizar operações com manipuladores subaquáticos. O desenvolvimento do modelo foi baseado na metodologia GAIA, utilizada em projetos de sistemas complexos baseados na abordagem multiagentes, uma proposta de arquitetura foi projetada para implementar e facilitar a utilização dos vários módulos do modelo computacional. Os resultados preliminares indicam que deve ser melhorada a otimização dos algoritmos em referência ao tempo de distribuição da lista local dos agentes. Espera-se que esta plataforma facilite o desenvolvimento de novas metodologias relativas a automatização de operações com os manipuladores subaquáticos.

show abstract

“…We propose to parametrize the previous DMP algorithm presented in [5], which was successfully used to perform an underwater valve turning task.…”

Section: Learning a Parametric-dynamic Movement Primitivementioning

confidence: 99%

“…The I-AUV implements an underwater vehicle manipulator scheme (UVMS) which is guided by a visual system to grasp the object. The TRITON project [3] demonstrated docked manipulation with an I-AUV connected Authors 1,2,3,5 are with Computer Vision and Robotics Group (VICOROB), University of Girona, 17071 Girona, Spain.…”

Section: Introductionmentioning

confidence: 99%

“…However, this paper aims to extend this work and perform autonomous underwater intervention in a more challenging environment, targeting a valve turning task under the influence of more intense underwater currents, which will require different strategies to perform the task correctly. An intervention framework based on a learning by demonstration (LbD) algorithm was previously proposed [5]. It is based on a machine learning technique that enables a robotic platform to easily learn a new task.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Learning multiple strategies to perform a valve turning with underwater currents using an I-AUV

Carrera

Palomeras

Hurtós

et al. 2015

OCEANS 2015 - Genova

Self Cite

View full text Add to dashboard Cite

Abstract-Recent efforts in the field of interventionautonomous underwater vehicles (I-AUVs) have started to show promising results in simple manipulation tasks. However, there is still a long way to go to reach the complexity of the tasks carried out by ROV pilots. This paper proposes an intervention framework based on parametric Learning by Demonstration (p-LbD) techniques in order to acquire multiple strategies to perform an autonomous intervention task adapted to different environment conditions. The manipulation skills of a pilot are acquired thought a set of demonstrations done under different environment circumstances, in our case different levels of water current. The proposed algorithm is able to learn these different strategies and depending on the estimated water current, autonomously reproduce a combined strategy to perform the task. The p-LbD algorithm as well as its interplay with the rest of the modules that take part in the proposed framework are described in this paper. We also present results on a free-floating valve turning task, using the Girona 500 I-AUV equipped with a manipulator and a customized end-effector. The obtained results show the feasibility of the p-LbD algorithm to perform autonomous intervention tasks combining the learned strategies depending on the environment conditions.

show abstract

An Intervention-AUV learns how to perform an underwater valve turning

Cited by 13 publications

References 14 publications

A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems

A Distributed Predictive Control Approach for Cooperative Manipulation of Multiple Underwater Vehicle Manipulator Systems

Intellmanipulator: Modelo Computacional Baseado Em Sistemas Multiagente Para Automatizar Operações Com Manipuladores Subaquáticos

Learning multiple strategies to perform a valve turning with underwater currents using an I-AUV

Contact Info

Product

Resources

About