NDLI: Visual Servoing of an ROV for Servicing of Tethered Ocean Moorings

Content Provider	IEEE Xplore Digital Library
Author	Plotnik, A.M. Rock, S.M.
Copyright Year	2006
Description	Author affiliation: Aerospace Robotics Lab., Stanford Univ., CA (Plotnik, A.M.; Rock, S.M.)
Abstract	This paper presents an approach for shared control of a Remotely Operated Vehicle (ROV) to assist the vehicle's pilots in servicing of moored underwater platforms. By providing precise automatic control of the ROV with respect to the mooring, a shared control system is established such that the ROV hovers automatically with respect to the mooring and the pilot is free to focus only on the manipulation tasks. The positioning system uses a single calibrated camera to measure bearings to several fiduciary markers on a test mooring of known position in the mooring's coordinates. An Unscented Kalman Filter (UKF) fuses these bearing measurements with vehicle sensors such as compass, inclinometers and rate gyros to estimate the relative position and orientation of the mooring with respect to the ROV. The approach leverages technology that has been presented previously for vision-based automatic tracking and observation of deep ocean animals. Results from simulation and field trials of this positioning system using the ROV Ventana in Monterey Bay are presented
Starting Page	1
Ending Page	6
File Size	6707648
Page Count	6
File Format	PDF
ISBN	1424401143
DOI	10.1109/OCEANS.2006.306935
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-09-18
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Remotely operated vehicles Oceans Automatic control Sea measurements Position measurement Control systems Cameras Coordinate measuring machines System testing
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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