I-AUV Docking and Panel Intervention at Sea
The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehic...
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| Format: | Article |
| Language: | English |
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MDPI AG
2016-10-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/16/10/1673 |
| _version_ | 1798006775017897984 |
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| author | Narcís Palomeras Antonio Peñalver Miquel Massot-Campos Pep Lluís Negre José Javier Fernández Pere Ridao Pedro J. Sanz Gabriel Oliver-Codina |
| author_facet | Narcís Palomeras Antonio Peñalver Miquel Massot-Campos Pep Lluís Negre José Javier Fernández Pere Ridao Pedro J. Sanz Gabriel Oliver-Codina |
| author_sort | Narcís Palomeras |
| collection | DOAJ |
| description | The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea. |
| first_indexed | 2024-04-11T13:00:59Z |
| format | Article |
| id | doaj.art-da60a252f4f34996abeb345907d850a8 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T13:00:59Z |
| publishDate | 2016-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-da60a252f4f34996abeb345907d850a82022-12-22T04:22:57ZengMDPI AGSensors1424-82202016-10-011610167310.3390/s16101673s16101673I-AUV Docking and Panel Intervention at SeaNarcís Palomeras0Antonio Peñalver1Miquel Massot-Campos2Pep Lluís Negre3José Javier Fernández4Pere Ridao5Pedro J. Sanz6Gabriel Oliver-Codina7Centre d’Investigació en Robótica Submarina (CIRS), Computer Vision and Robotics Institute, Universitat de Girona, Girona 17071, SpainInteractive and Robotic Systems Laboratory (IRSLab), Universitat Jaume I, Castelló 12071, SpainSystems Robotics and Vision Group, Universitat de les Illes Balears, Palma de Mallorca 07122, SpainSystems Robotics and Vision Group, Universitat de les Illes Balears, Palma de Mallorca 07122, SpainInteractive and Robotic Systems Laboratory (IRSLab), Universitat Jaume I, Castelló 12071, SpainCentre d’Investigació en Robótica Submarina (CIRS), Computer Vision and Robotics Institute, Universitat de Girona, Girona 17071, SpainInteractive and Robotic Systems Laboratory (IRSLab), Universitat Jaume I, Castelló 12071, SpainSystems Robotics and Vision Group, Universitat de les Illes Balears, Palma de Mallorca 07122, SpainThe use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea.http://www.mdpi.com/1424-8220/16/10/1673autonomous underwater vehiclesmanipulationunderwater interventionfield robotics |
| spellingShingle | Narcís Palomeras Antonio Peñalver Miquel Massot-Campos Pep Lluís Negre José Javier Fernández Pere Ridao Pedro J. Sanz Gabriel Oliver-Codina I-AUV Docking and Panel Intervention at Sea Sensors autonomous underwater vehicles manipulation underwater intervention field robotics |
| title | I-AUV Docking and Panel Intervention at Sea |
| title_full | I-AUV Docking and Panel Intervention at Sea |
| title_fullStr | I-AUV Docking and Panel Intervention at Sea |
| title_full_unstemmed | I-AUV Docking and Panel Intervention at Sea |
| title_short | I-AUV Docking and Panel Intervention at Sea |
| title_sort | i auv docking and panel intervention at sea |
| topic | autonomous underwater vehicles manipulation underwater intervention field robotics |
| url | http://www.mdpi.com/1424-8220/16/10/1673 |
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