Autonomous UUV inspection — Revolutionizing undersea inspection

McLeod, Dan; Jacobson, John R.

doi:10.23919/oceans.2011.6106972

Cited by 9 publications

(12 citation statements)

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“…Preliminary work in the field of autonomous inspection was carried out in the early 2000s in [10], but seems not to be widely applied. More recent publications [11], [12] seem to focus on the development of ROVs and automatic image acquisition, without comparing the data to ground truth models.…”

Section: B Autonomous Inspection Of Underwater Structuresmentioning

confidence: 99%

Towards Automated Structural Health Monitoring for Offshore Wind Piles

Kleiser

Woock

2020

Global Oceans 2020: Singapore – U.S. Gulf Coast

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Simulation plays an important role in the development, testing and evaluation of new robotic applications, reducing implementation time, cost and risk. In this paper we show a digital twin simulation model of an inspection ROV which is capable of performing structural health monitoring by automated creation of a map of an offshore wind monopile. The data is compared to a known reference model. The digital twin simulation model is extended by a physical sensor data input device to bridge the gap between simulation and testing in water.

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Section: B Autonomous Inspection Of Underwater Structuresmentioning

confidence: 99%

Towards Automated Structural Health Monitoring for Offshore Wind Piles

Kleiser

Woock

2020

Global Oceans 2020: Singapore – U.S. Gulf Coast

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“…Current research in subsea robotics focuses strongly on using autonomous underwater vehicles (AUVs) for inspections [24,34,39]. The idea of this approach is to have a subsea resident AUV with a docking station in the offshore asset and let the robot perform inspections on the infrastructure whenever it is needed.…”

Section: Application Targetmentioning

confidence: 99%

Multiobjective coverage path planning: Enabling automated inspection of complex, real-world structures

Ellefsen

Lepikson

Albiez

2017

Applied Soft Computing

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An important open problem in robotic planning is the autonomous generation of 3D inspection paths -that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for planning paths allowing the inspection of complex 3D structures, given a triangular mesh model of the structure. The method differs from previous approaches in its emphasis on generating and considering also plans that result in imperfect coverage of the inspection target. In many practical tasks, one would accept imperfections in coverage if this results in a substantially more energy efficient inspection path. The key idea is using a multiobjective evolutionary algorithm to optimize the energy usage and coverage of inspection plans simultaneously -and the result is a set of plans exploring the different ways to balance the two objectives. We here test our method on a set of inspection targets with large variation in size and complexity, and compare its performance with two state-of-the-art methods for complete coverage path planning. The results strengthen our confidence in the ability of our method to generate good inspection plans for different types of targets. The method's advantage is most clearly seen for real-world inspection targets, since traditional complete coverage methods have no good way of generating plans for structures with hidden parts. Multiobjective evolution, by optimizing energy usage and coverage together ensures a good balance between the two -both when 100% coverage is feasible, and when large parts of the object are hidden.

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“…While tools for primary intervention during module replacement need to specify operational issues, environmental attributes, access to subsea facility, frequency of intervention, and physical limits of the module to be replaced (e.g., mass, dimensions). Functional requirements and recommendations with respect to deployment and landing, surface equipment, control system, tie-in operations, and module replacement are extensively listed [4][page [8][9][10][11][12][13][14][15][16][17][18].…”

Section: Iso 13628-9: 2000 (E)mentioning

confidence: 99%

“…Demonstrations of underwater vehicles capable of performing autonomous IMR operations are steadily increasing with added functionalities [10][11][12][13][14][15][16][17][18]. Research projects are experimenting with manipulator arms installed on AUVs to perform IMR operations and have been successful in their early trials [19,20].…”

Section: Introductionmentioning

confidence: 99%

Applicability of Current Remotely Operated Vehicle Standards and Guidelines to Autonomous Subsea IMR Operations

Hegde

Utne

Schjølberg

2015

Volume 7: Ocean Engineering

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This paper employs a combination of literature review and case study methodology to assess the gap between current remotely operated vehicle (ROV) standards and future autonomous IMR operation requirements. With advent of autonomous subsea and underwater vehicle systems, current ROV standards and guidelines may not offer the same benefit in designing and setting guidelines for safe autonomous operations. The reasons for this claim are two-fold. Firstly, the literature review shows that existing requirements in the ROV standards lack specifications related to autonomous subsea interventions. Secondly, the results from the case study demonstrates existence of knowledge and technology gaps, which pose challenges in development of future autonomous IMR operations.

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Autonomous UUV inspection — Revolutionizing undersea inspection

Cited by 9 publications

References 0 publications

Towards Automated Structural Health Monitoring for Offshore Wind Piles

Towards Automated Structural Health Monitoring for Offshore Wind Piles

Multiobjective coverage path planning: Enabling automated inspection of complex, real-world structures

Applicability of Current Remotely Operated Vehicle Standards and Guidelines to Autonomous Subsea IMR Operations

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