NDLI: I-AUV docking and intervention in a subsea panel

Content Provider	IEEE Xplore Digital Library
Author	Palomeras, N. Penalver, A. Massot-Campos, M. Vallicrosa, G. Negre, P.L. Fernandez, J.J. Ridao, P. Sanz, P.J. Oliver-Codina, G. Palomer, A.
Copyright Year	2014
Description	Author affiliation: Interactive & Robotic Syst. Lab. (IRSLab), Univ. Jaume I, Castelló, Spain (Penalver, A.; Fernandez, J.J.; Sanz, P.J.) \|\| Syst. Robot. & Vision Group, Univ. de les Illes Balears, Palma de Mallorca, Spain (Massot-Campos, M.; Negre, P.L.; Oliver-Codina, G.) \|\| Centre d'Investigacio en Robot. Submarina (CIRS), Univ. de Girona, Girona, Spain (Palomeras, N.; Vallicrosa, G.; Ridao, P.; Palomer, A.)
Abstract	While commercially available autonomous underwater vehicles (AUVs) are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities: the maintenance of permanent underwater structures as well as the recovery of benthic stations or black-boxes are a few of them. These tasks are addressed nowadays using manned submersibles or work-class remotely operated vehicles (ROVs), equipped with teleoperated arms under human supervision. In the context of the TRITON Spanish funded project, a subsea panel docking and an intervention procedure are proposed. The light-weight intervention AUV (I-AUV) Girona 500 is used to autonomously dock into a subsea panel using a funnel-based docking method for passive accommodation. Once docked, an autonomous fixed-based manipulation system, which uses feedback from a digital camera, is used to turn a valve and plug/unplug a connector. The paper presents the techniques used for the autonomous docking and manipulation as well as how the adapted subsea panel has been designed to facilitate such operations.
Starting Page	2279
Ending Page	2285
File Size	2020995
Page Count	7
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942870
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Valves Connectors Cameras Feature extraction Joints Probes
Content Type	Text
Resource Type	Article

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