Intervention AUVs: The next challenge

While commercially available AUVs are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities. The maintenance of permanent underwater observatories, submerged oil wells, cabled sensor networks, pipes and the deployment and recovery of benthi...

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Autores: Ridao Rodríguez, Pere, Carreras Pérez, Marc, Ribas Romagós, David, Sanz, Pedro José, Oliver Codina, Gabriel
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2015
País:España
Institución:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repositorio:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10256/13212
Acceso en línea:http://hdl.handle.net/10256/13212
Access Level:acceso embargado
Palabra clave:Robots autònoms
Autonomous robots
Vehicles submergibles
Submersibles
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spelling Intervention AUVs: The next challengeRidao Rodríguez, PereCarreras Pérez, MarcRibas Romagós, DavidSanz, Pedro JoséOliver Codina, GabrielRobots autònomsAutonomous robotsVehicles submergiblesSubmersiblesWhile commercially available AUVs are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities. The maintenance of permanent underwater observatories, submerged oil wells, cabled sensor networks, pipes and the deployment and recovery of benthic stations are a few of them. These tasks are addressed nowadays using manned submersibles or work-class ROVs, equipped with teleoperated arms under human supervision. Although researchers have recently opened the door to future I-AUVs, a long path is still necessary to achieve autonomous underwater interventions. This paper reviews the evolution timeline in autonomous underwater intervention systems. Milestone projects in the state of the art are reviewed, highlighting their principal contributions to the field. To the best of the authors' knowledge, only three vehicles have demonstrated some autonomous intervention capabilities so far: ALIVE, SAUVIM and GIRONA 500, being the last one the lightest one. In this paper GIRONA 500 I-AUV is presented and its software architecture discussed. Recent results in different scenarios are reported: (1) valve turning and connector plugging/unplugging while docked to a subsea panel, (2) free floating valve turning using learning by demonstration, and (3) multipurpose free-floating object recovery. The paper ends discussing the lessons learned so farThis work was supported by the Spanish project MERBOTS (DPI2014-57746-C3) and three European Commissions Seventh Framework Program 2011–2015 projects: FP7-ICT-2011-7-288704 (MORPH) and FP7-INFRASTRUCTURES-2012-312762 (EUROFLEETS2)ElsevierMinisterio de Economía y Competitividad (Espanya)infoinfo2015info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/10256/13212http://hdl.handle.net/10256/13212© Annual Reviews in Control, 2015, vol. 40, p. 227-241Articles publicats (D-ATC)reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)Inglésinfo:eu-repo/semantics/altIdentifier/doi/10.1016/j.arcontrol.2015.09.015info:eu-repo/semantics/altIdentifier/issn/1367-5788info:eu-repo/grantAgreement/MINECO//DPI2014-57746-C3-3-Rinfo:eu-repo/grantAgreement/EC/FP7/288704info:eu-repo/grantAgreement/EC/FP7/312762Tots els drets reservatsinfo:eu-repo/semantics/embargoedAccessoai:recercat.cat:10256/132122026-05-29T05:05:01Z
dc.title.none.fl_str_mv Intervention AUVs: The next challenge
title Intervention AUVs: The next challenge
spellingShingle Intervention AUVs: The next challenge
Ridao Rodríguez, Pere
Robots autònoms
Autonomous robots
Vehicles submergibles
Submersibles
title_short Intervention AUVs: The next challenge
title_full Intervention AUVs: The next challenge
title_fullStr Intervention AUVs: The next challenge
title_full_unstemmed Intervention AUVs: The next challenge
title_sort Intervention AUVs: The next challenge
dc.creator.none.fl_str_mv Ridao Rodríguez, Pere
Carreras Pérez, Marc
Ribas Romagós, David
Sanz, Pedro José
Oliver Codina, Gabriel
author Ridao Rodríguez, Pere
author_facet Ridao Rodríguez, Pere
Carreras Pérez, Marc
Ribas Romagós, David
Sanz, Pedro José
Oliver Codina, Gabriel
author_role author
author2 Carreras Pérez, Marc
Ribas Romagós, David
Sanz, Pedro José
Oliver Codina, Gabriel
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Ministerio de Economía y Competitividad (Espanya)
dc.subject.none.fl_str_mv Robots autònoms
Autonomous robots
Vehicles submergibles
Submersibles
topic Robots autònoms
Autonomous robots
Vehicles submergibles
Submersibles
description While commercially available AUVs are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities. The maintenance of permanent underwater observatories, submerged oil wells, cabled sensor networks, pipes and the deployment and recovery of benthic stations are a few of them. These tasks are addressed nowadays using manned submersibles or work-class ROVs, equipped with teleoperated arms under human supervision. Although researchers have recently opened the door to future I-AUVs, a long path is still necessary to achieve autonomous underwater interventions. This paper reviews the evolution timeline in autonomous underwater intervention systems. Milestone projects in the state of the art are reviewed, highlighting their principal contributions to the field. To the best of the authors' knowledge, only three vehicles have demonstrated some autonomous intervention capabilities so far: ALIVE, SAUVIM and GIRONA 500, being the last one the lightest one. In this paper GIRONA 500 I-AUV is presented and its software architecture discussed. Recent results in different scenarios are reported: (1) valve turning and connector plugging/unplugging while docked to a subsea panel, (2) free floating valve turning using learning by demonstration, and (3) multipurpose free-floating object recovery. The paper ends discussing the lessons learned so far
publishDate 2015
dc.date.none.fl_str_mv 2015
info
info
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10256/13212
http://hdl.handle.net/10256/13212
url http://hdl.handle.net/10256/13212
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1016/j.arcontrol.2015.09.015
info:eu-repo/semantics/altIdentifier/issn/1367-5788
info:eu-repo/grantAgreement/MINECO//DPI2014-57746-C3-3-R
info:eu-repo/grantAgreement/EC/FP7/288704
info:eu-repo/grantAgreement/EC/FP7/312762
dc.rights.none.fl_str_mv Tots els drets reservats
info:eu-repo/semantics/embargoedAccess
rights_invalid_str_mv Tots els drets reservats
eu_rights_str_mv embargoedAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv © Annual Reviews in Control, 2015, vol. 40, p. 227-241
Articles publicats (D-ATC)
reponame:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,81155

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