Precision navigation sensors facilitate full auto pilot control of Smart ROV for ocean energy applications

Toal, Daniel; Omerdić, Edin; Dooly, Gerard

doi:10.1109/icsens.2011.6127381

Cited by 19 publications

(7 citation statements)

References 2 publications

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“…The system includes vision sensors in the control loop and combines pattern recognition and optical flow techniques. Improvement of the automatic control functionality and autopilot control systems has also been developed and tried on the ROV [94]. A complete pilot interface presents all important control data to the ROV's pilot, who is able to use a combination of touch display, joystick, gamepad and other input devices to generate commands, switch operating modes and enable/disable low-level controllers.…”

Section: Robotic Technological Advancesmentioning

confidence: 99%

Innovative study methods for the Mediterranean coralligenous habitats

Ramírez

Scaradozzi

Sorbib

et al. 2013

Advances in Oceanography and Limnology

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Section: Robotic Technological Advancesmentioning

confidence: 99%

Innovative study methods for the Mediterranean coralligenous habitats

Ramírez

Scaradozzi

Sorbib

et al. 2013

Advances in Oceanography and Limnology

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“…In order to overcome limitations seen in the current state of the art, the joystick proposed in this paper makes the user feel a force when the vehicle goes over its thruster saturation boundaries or far from a predetermined point or path. The joystick has been tested on a simulator/emulator system controlling in real-time a smart Internet-enabled ROV operating in remote locations around the world (Toal, Omerdic & Dooly, 2011;Omerdic et al, 2011). A good piloting system for ROVs cannot leave out of consideration the possibility of fully sensing the work environment.…”

Section: Introductionmentioning

confidence: 99%

Robotic Tools and Techniques for Improving Research in an Underwater Delicate Environment

Sorbi¹,

Scaradozzi²,

Zoppini³

et al. 2015

mar technol soc j

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A B S T R A C TThe use of versatile and multipurpose robotic systems in underwater sites constitutes a high-value technology, useful in the exploration, monitoring, and documentation of important archaeological findings or biological parameters. Intervention must always be nondestructive, noninvasive, and delicate; for this reason, it is important to develop tools and systems that allow telepresence and improve the pilot's ability to work in conditions and environments that are dangerous and often inaccessible for divers. One of the most important objectives of underwater robotic research includes developing easy-to-use devices and systems that can safely and efficiently be operated by relatively inexperienced operators. Nowadays, archaeological and marine sanctuaries require a significant budget to be studied and preserved by national and international organizations because of their large number and the challenges related to conducting surveys with "light" equipment and robots. This paper presents a set of tools and technological solutions developed with the common aim of improving the efficiency of diving operations and commercial lowcost micro-ROVs (remotely operated vehicles) in surveying and documenting fragile underwater sites. In particular, this paper describes a force feedback joystick for ROV precise guidance and positioning, an innovative 3D live streaming capability for better perception of the work environment, and an innovative cloud strategy for processing, archiving, and elaborating on underwater data at the time of survey. Results have demonstrated that the developed tools significantly improve the efficiency of survey investigations performed directly by scientists and that they have a variety of applications and their design prepares them for future integration.

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“…Often called telemanipulators, these devices are usually deployed to worksites onboard support base vehicles which are also remotely operated—therefore referred to as Remotely Operated Vehicles (ROVs). Work-class ROV technology has served subsea Intervention, Repair, and Maintenance (IRM) operations in various offshore industries, including oil and gas, marine construction, marine science, naval defence, and Marine Renewable Energy (MRE) [ 1 , 2 , 3 ]. Submarine work-class ROVs are generally equipped with two manipulators; one dexterous seven function manipulator that is used to perform the actual intervention task, and one simple, powerful grabber that is used to hold the ROV stationary relative to the structure on which the operation is taking place.…”

Section: Introductionmentioning

confidence: 99%

Collision Detection for Underwater ROV Manipulator Systems

Sivčev

Rossi

Coleman

et al. 2018

Sensors

Self Cite

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Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.

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Precision navigation sensors facilitate full auto pilot control of Smart ROV for ocean energy applications

Cited by 19 publications

References 2 publications

Innovative study methods for the Mediterranean coralligenous habitats

Innovative study methods for the Mediterranean coralligenous habitats

Robotic Tools and Techniques for Improving Research in an Underwater Delicate Environment

Collision Detection for Underwater ROV Manipulator Systems

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