Готові списки джерел за темами / Intervention class underwater vehicles

Добірка наукової літератури з теми "Intervention class underwater vehicles"

Автор: Grafiati

Опубліковано: 10 грудня 2022

Оновлено: 28 січня 2023

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Статті в журналах з теми "Intervention class underwater vehicles"

Wang, Junli, Shitong Wang, and Wenhao Leng. "Vision Positioning-Based Estimation Method and Its Simulation Studies on State of Underwater Manipulator." Mathematical Problems in Engineering 2021 (February 22, 2021): 1–12. http://dx.doi.org/10.1155/2021/6656928.

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Work class remote operated vehicles (ROVs) are generally equipped with underwater manipulators and are widely used in underwater intervention and maintenance tasks. As the load of underwater operation is relatively heavy, most commercial underwater manipulators are hydraulically actuated and are not equipped with any sensor for joint angles to keep their architectures compact. Therefore, the automatic control methods widely used in industrial robots cannot be simply applied to underwater manipulators. In this paper, an estimation method on joint angles of manipulator is presented, in which several markers are arranged on the arm links and positioned from the corresponding cameras; consequently, the joint angles of the manipulator are estimated. The simulation results show that under typical optical vision positioning error (RMS: 5 mm), the positioning error of the end effector can be estimated as about 10 mm (RMS), which means that the proposed estimation method is feasible for the state estimation for automatic control of underwater manipulators.

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Vallicrosa, Guillem, Khadidja Himri, Pere Ridao, and Nuno Gracias. "Semantic Mapping for Autonomous Subsea Intervention." Sensors 21, no. 20 (October 11, 2021): 6740. http://dx.doi.org/10.3390/s21206740.

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This paper presents a method to build a semantic map to assist an underwater vehicle-manipulator system in performing intervention tasks autonomously in a submerged man-made pipe structure. The method is based on the integration of feature-based simultaneous localization and mapping (SLAM) and 3D object recognition using a database of a priori known objects. The robot uses Doppler velocity log (DVL), pressure, and attitude and heading reference system (AHRS) sensors for navigation and is equipped with a laser scanner providing non-coloured 3D point clouds of the inspected structure in real time. The object recognition module recognises the pipes and objects within the scan and passes them to the SLAM, which adds them to the map if not yet observed. Otherwise, it uses them to correct the map and the robot navigation if they were already mapped. The SLAM provides a consistent map and a drift-less navigation. Moreover, it provides a global identifier for every observed object instance and its pipe connectivity. This information is fed back to the object recognition module, where it is used to estimate the object classes using Bayesian techniques over the set of those object classes which are compatible in terms of pipe connectivity. This allows fusing of all the already available object observations to improve recognition. The outcome of the process is a semantic map made of pipes connected through valves, elbows and tees conforming to the real structure. Knowing the class and the position of objects will enable high-level manipulation commands in the near future.

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Davies, Peter, and Danny Constantinis. "Innovative inspection techniques for ultra deepwater drillships and other floating O&G production assets saving costs, enhancing safety, while assuring operational availability and asset integrity." APPEA Journal 57, no. 2 (2017): 599. http://dx.doi.org/10.1071/aj16012.

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The Hull Inspection Techniques and Strategy (HITS) Joint Industry Project (JIP), a subgroup of the Floating Production Storage and Offloading (FPSO) Research Forum, called for new methods to be developed that enhance safety, reduce costs and support the assurance of integrated asset management. Hull integrity is critical to enhancing safety and operational effectiveness for production operations, particularly for high-value assets. Good hull integrity requires accurate, relevant hull-inspection data of the internal structure, isolation valves, moonpools, external appendages and positioning systems. Current methods use divers or remotely operated vehicles (ROVs); this often disrupts drilling operations and, in the case of divers, is a high but managed risk. HITS JIP called for methods to minimise diver and man intervention in confined spaces. This has now been achieved on several assets while on station, operational and on-hire by an innovative method of conducting inspections from within the hull and using advanced techniques to inspect critical isolation valves, moonpool high-stress areas, thrusters and hull appendages. Aligning internal and external structural inspections optimises operational availability further and is achieved by means of class-approved ‘long-term inspection plans’ that align the ‘underwater’ scope with other hull inspections and spreads the work over several 5-year cycles. As well as safety enhancements, benefits include over 70% persons on board (POB) reduction on diver under water inspection in lieu of drydocking (UWILD) operations, minimising downtime and operational impact, and high-value inspection data. Further advances in hull inspection have also been proven that eliminate man entry of confined spaces for inspection of ballast and other tanks.

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Petillot, Yvan R., Gianluca Antonelli, Giuseppe Casalino, and Fausto Ferreira. "Underwater Robots: From Remotely Operated Vehicles to Intervention-Autonomous Underwater Vehicles." IEEE Robotics & Automation Magazine 26, no. 2 (June 2019): 94–101. http://dx.doi.org/10.1109/mra.2019.2908063.

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Curtin, Thomas B., Denise M. Crimmins, Joseph Curcio, Michael Benjamin, and Christopher Roper. "Autonomous Underwater Vehicles: Trends and Transformations." Marine Technology Society Journal 39, no. 3 (September 1, 2005): 65–75. http://dx.doi.org/10.4031/002533205787442521.

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Three examples of inter-agency cooperation utilizing current generation, individual Autonomous Underwater Vehicles (AUVs) are described consistent with recent recommendations of the U.S. Commission on Ocean Policy. The first steps in transforming individual AUVs into adaptive, networked systems are underway. To realize an affordable and deployable system, a network-class AUV must be designed with cost–size constraints not necessarily applied in developing solo AUVs. Vehicle types are suggested based on function and ocean operating regime: surface layer, interior and bottom layer. Implications for platform, navigation and control subsystems are explored and practical formulations for autonomy and intelligence are postulated for comparing performance and judging behavior. Laws and conventions governing intelligent maritime navigation are reviewed and an autonomous controller with conventional collision avoidance behavior is described. Network-class cost constraints can be achieved through economies of scale. Productivity and efficiency in AUV manufacturing will increase if constructive competition is maintained. Constructive strategies include interface and operating standards. Professional societies and industry trade groups have a leadership role to play in establishing public, open standards.

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Rogulsky, Oleg E., and Svyatoslav A. Faly. "Launcher for storage and launch of underwater vehicles on ice-class ships." Transactions of the Krylov State Research Centre 4, no. 394 (November 24, 2020): 99–108. http://dx.doi.org/10.24937/2542-2324-2020-4-394-99-108.

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Object and purpose of research. The object of the research is a launcher for storage and launch of underwater vehicles by ice-class ships in ice conditions. The purpose of the research is to develop a ship system for the underwater vehicles operation in ice. Materials and methods. This paper analyses underwater vehicle operations from ice-class ships in ice conditions and concludes that in ice conditions these vehicles are impossible to launch from the moving mothership. The study followed common methods of analysis, analogy and modeling. Main results. The design of a promising universal shipborne vertical submarine launcher for storage and launching of underwater vehicles, as well as the method of its accommodation aboard the ship, is described. Proposals for the components and accommodation of the launcher aboard an ice-class ship have been worked out. The main hydrodynamic problems associated with the vertical downward launching processes are considered. Conclusion. The results of the research can further used to work out a concept for a shipborne vertical submarine launcher for storing and launching UV and its placement on advanced ice-class ship.

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Herman, Przemyslaw. "A Quasi-Velocity-Based Tracking Controller for a Class of Underactuated Marine Vehicles." Applied Sciences 12, no. 17 (September 5, 2022): 8903. http://dx.doi.org/10.3390/app12178903.

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This paper investigates the trajectory tracking control problem for underactuated underwater vehicles, for which a model is expressed in terms of quasi-velocities arising from the inertia matrix decomposition. The control approach takes into account non-modeled dynamics and external disturbances and is suitable for symmetric vehicles. It is shown that such systems can be diagonalized using inertial quasi-velocities (IQVs). The strategy consists of the velocity controller and two adaptive integral sliding mode control algorithms. The proposed approach, introducing velocity transformation and using backstepping methods and integral sliding mode control, allows trajectory tracking for vehicles in described models with symmetric inertia matrix. Proof of the stability of the closed system was carried out using IQV. The proposed scheme has been verified on two 3 DOF models of underwater vehicles with thruster limitations. A brief discussion of the results is also given.

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Herman, P., and W. Adamski. "Non-adaptive velocity tracking controller for a class of vehicles." Bulletin of the Polish Academy of Sciences Technical Sciences 65, no. 4 (August 1, 2017): 459–68. http://dx.doi.org/10.1515/bpasts-2017-0051.

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AbstractA non-adaptive controller for a class of vehicles is proposed in this paper. The velocity tracking controller is expressed in terms of the transformed equations of motion in which the obtained inertia matrix is diagonal. The control algorithm takes into account the dynamics of the system, which is included into the velocity gain matrix, and it can be applied for fully actuated vehicles. The considered class of systems includes underwater vehicles, fully actuated hovercrafts, and indoor airship moving with low velocity (below 3 m/s) and under assumption that the external disturbances are weak. The stability of the system under the designed controller is demonstrated by means of a Lyapunov-based argument. Some advantages arising from the use of the controller as well as the robustness to parameters uncertainty are also considered. The performance of the proposed controller is validated via simulation on a 6 DOF robotic indoor airship as well as for underwater vehicle model.

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Kabanov, Aleksey, Vadim Kramar, and Igor Ermakov. "Design and Modeling of an Experimental ROV with Six Degrees of Freedom." Drones 5, no. 4 (October 8, 2021): 113. http://dx.doi.org/10.3390/drones5040113.

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With the development of underwater technology, it is important to develop a wide range of autonomous and remotely operated underwater vehicles for various tasks. Depending on the problem that needs to be solved, vehicles will have different designs and dimensions, while the issues surrounding reduced costs and increasing the functionality of vehicles are relevant. This article discusses the development of inspection class experimental remotely operated vehicles (ROVs) for performing coastal underwater inspection operations, with a smaller number of thrusters, but having the same functional capabilities in terms of controllability (as vehicles with traditionally-shaped layouts). The proposed design provides controllability of the vehicle in six degrees of freedom, using six thrusters. In classical design vehicles, such controllability is usually achieved using eight thrusters. The proposed design of the ROV is described; the mathematical model, the results of modeling, and experimental tests of the developed ROVs are shown.

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Kohnen, William. "MTS Manned Underwater Vehicles 2017‐2018 Global Industry Overview." Marine Technology Society Journal 52, no. 5 (September 1, 2018): 125–51. http://dx.doi.org/10.4031/mtsj.52.5.9.

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AbstractThe manned underwater vehicle industry continues to build momentum into 2018; much of this has been driven by strong market trends and technology. There is renewed growth in the luxury yachting industry, in citizen science, and in ocean philanthropy. Tourism submersibles offer high-end touring expeditions for boutique destinations and specialty cruise ships. In Asia, notably China, Japan, and India, deep-ocean science is gathering attention for research and commercial applications. The industry also benefits from an accepted use of lithium batteries by class societies and strong developments in the areas of navigation and communication technology. Finally, although military development typically focuses on unmanned capabilities, there is more investment in deep submergence submarine rescue vessels.

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Більше джерел

Дисертації з теми "Intervention class underwater vehicles"

Carrera, Viñas Arnau. "Robot learning applied to autonomous underwater vehicles for intervention tasks." Doctoral thesis, Universitat de Girona, 2017. http://hdl.handle.net/10803/450868.

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The interest in performing underwater tasks using Autonomous Underwater Vehicles (AUVs) has been growing over the past few years. In this thesis, a flexible framework for underwater interventions using a Learning by Demonstration algorithm as a core has been developed. This algorithm allows to the robot's user to transfer a skill or knowledge to the I-AUV using a natural and intuitive form. The developed framework for interventions has been tailored to the GIRONA 500 AUV in order to enable it to perform an underwater valve turning task under different conditions. The GIRONA 500 has been equipped with a 4 DOF Manipulator and a custom end-effector. Throughout this thesis, the experiments developed have been carried out in a mock-up scenario of a sub-sea installation with a valve panel. The difficulty of the task has been increased gradually in order to test the new improvements and the robustness in the proposed framework
Durant les últimes dècades ha augmentat l’interès en la utilització de Vehicles Autònoms Submarins (AUVs) per realitzar tasques submarines. En aquesta tesis s’ha desenvolupat un marc de treball (framework) per a realitzar intervencions submarines amb AUVs basat en un algorisme d’Aprenentatge per Demostració (LbD). Aquest algorisme permet a l’usuari del robot transferir el seu coneixement al vehicle d’intervenció d’una forma natural. El framework desenvolupat s’ha ajustat a les característiques del GIRONA 500 AUV, amb l’objectiu de que pugui girar vàlvules submarines en diverses condicions. El GIRONA 500 s’ha equipat amb un braç robòtic i un element terminal personalitzat. Al llarg de tota la tesis s’ha utilitzat com entorn de desenvolupament un tanc d’aigua amb una recreació d’un escenari d’intervenció subaquàtic on s’han de girar determinades vàlvules d’un panell. El grau de dificultat de la tasca s’ha incrementat de forma gradual, per tal de poder provar les noves millores

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Smith, Christopher Michael 1969. "Action seletion and vertical plane dynamic control for survey-class autonomous underwater vehicles." Thesis, Massachusetts Institute of Technology, 1994. http://hdl.handle.net/1721.1/38362.

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Youakim, Isaac Dina Nagui. "Advanced underwater vehicle manipulation through real-time motion planning." Doctoral thesis, Universitat de Girona, 2019. http://hdl.handle.net/10803/667910.

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A key challenge in autonomous mobile manipulation is the ability to determine in real-time how to safely execute complex tasks when placed in an unknown world. In response to those arising needs in the underwater domain, this thesis focused on investigating the use of Motion Planning to increase the autonomy of I-AUVs. we initially present a modeling and integration of our I-AUV through MoveIt! framework, in the presence of virtual obstacles. Then, we performed a deep analysis of the state of the art motion planning techniques. Later, we identified planner specifications for underwater intervention: Real-Time response for a high DOF system, Consistency, Efficient trajectories in terms of safety, and system loose coupling. As a consequence, we propose a new motion planning algorithm under the umbrella of search-based method, that exploits the loose coupling nature of an I-AUV while generating consistent, efficient, and safe trajectories in unknown environments. The proposed algorithm has been validated both in simulation and in a water tank
La capacitat de decidir en temps real com executar de manera segura uns tasca complexa en un entorn desconegut és un repte clau en la manipulació mòbil autònoma. Per abordar-ho, s'utilitzen habitualment tècniques de Planificació de Moviment tant en robots terrestres, mentre la seva aplicació a l'àmbit submarí roman inexplorada. Aquesta tesi doctoral avança l’estat de l’art investigant l'ús dels mètodes de Planificació de Moviment per augmentar l'autonomia dels I-AUVs per aplicacions d'Inspecció, Manteniment i Reparació executades en entorns desconeguts. A través del nostre treball, presentem la modelització i integració del nostre I-AUV en MoveIt!. Amb l’objectiu de fonamentar científicament l'elecció del mètode de Planificació de Moviment apropiat al nostre problema, s’ha dut a terme un anàlisi comparatiu de l'estat de l'art. L’anàlisi dels resultats ens ha permès establir les guies per a l'elecció de la tècnica més apropiada a les nostres necessitats. Posteriorment, s'han identificat les especificacions desitjades pels planificadors en aplicacions d’intervenció submarina: Resposta a temps real d'un sistema amb un elevat nombre de graus de llibertat, Consistència Generació de trajectòries eficients en termes de seguretat, així com l’ús de sistemes dèbilment acoblats. A partir dels resultats de l’anàlisi, es proposa un nou algoritme de planificació de moviment, dintre de la família dels mètodes de cerca, que explota l'acoblament dèbil entre el manipulador i el vehicle, generant, al mateix temps, trajectòries consistents, eficients i segures en entorns desconeguts

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Josserand, Timothy Matthew. "Optimally-robust nonlinear control of a class of robotic underwater vehicles." Thesis, 2006. http://hdl.handle.net/2152/3452.

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Zand, Jonathan. "Enhanced navigation and tether management of inspection class remotely operated vehicles." Thesis, 2009. http://hdl.handle.net/1828/1964.

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Remotely Operated Vehicles (ROVs) provide access to underwater environments too deep and dangerous for commercial divers. A tether connects the ROV to a vessel on the surface, providing power and communication channels. During extended manoeuvres, hydrodynamic forces on the tether produce large tensions which hinder ROV manoeuvrability. The research presented in this thesis focuses on the design of new tether management strategies that alleviate the tether disturbance problem, and the implementation of a navigation suite for tracking the ROV position and velocity which are needed to close the loop on the tether management method. To improve the estimation of the ROV state, an Extended Kalman Filter (EKF) is developed.

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Книги з теми "Intervention class underwater vehicles"

ROV Conference and Exposition (1992 San Diego, Calif.). Intervention/ROV '92 conference & exposition. San Diego, Calif: Intervention/ROV 92 Committee of the Marine Technology Society, 1992.

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Bowen, M. F. A deep sea docking station for ODYSSEY class autonomous underwater vehicles. Woods Hole, Mass: Woods Hole Oceanographic Institution, 1998.

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Intervention, '89 Conference and Exposition (1989 San Diego Calif ). Intervention '89 conference and exposition. San Diego, Calif: Marine Technology Society, 1989.

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L, Wernli Robert, ed. The ROV manual: A user guide to observation-class remotely operated vehicles. Amsterdam: Butterworth-Heinemann, 2007.

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Intervention '89 Conference and Exposition (1989 San Diego, Calif.). Intervention '89 Conference and Exposition: March 14-16, 1989, Town & Country Hotel Convention Center, San Diego, California. San Diego, CA: The Society, 1989.

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Herman, Przemyslaw. Inertial Quasi-Velocity Based Controllers for a Class of Vehicles: With Simulation Applications for Underwater Vehicles, Hovercrafts, and Indoor Airships. Springer International Publishing AG, 2022.

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Частини книг з теми "Intervention class underwater vehicles"

Perrone, Christian. "SDO-SuRS Deployable Assets Program." In Progress in Marine Science and Technology. IOS Press, 2022. http://dx.doi.org/10.3233/pmst220077.

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ITA Navy has started a new program for the acquisition of a Naval Vessel called SDO-SuRS (Special and Diving Operation – Submarine Rescue Ship). In order to fulfill operational requirements, IT Navy has recently procured the so-called “SDO-SuRS Deployable Assets”. A temporary business grouping (RTI) between SAIPEM Spa (leader in robotics and offshore) and DRASS Srl (national excellence in the hyperbaric sector and rescue) is the enterprise selected for the scope. This grouping represents a national excellence and a technological reference point for IT Navy in the Submarine Escape and Rescue. The new SDO-SuRS Deployable assets will have specific peculiarities such as: modularity, deployability, interoperability and complementarity. Modular assets will be either installable on board the national mother ship SDO-SuRS or rapidly deployable in scalable configurations (from rapid intervention to deep rescue) on a vessel of opportunity, military or commercial, for far-from-home operations. In order to establish a framework on damaged submarines rescue’s topic between Countries within ISMERLO (International Submarine Escape and Rescue Liaison Office) and NATO organizations, Italy offers the opportunity of providing any type of technical-administrative support in design, procurement, Life Management System or training of SAIPEM – DRASS systems, useful to a potential cooperation in the Submarine Escape and Rescue. On the whole the above mentioned Submarine Rescue packages consist of a several assets as follow: ∙ Submarine Rescue Vehicle (SRV) tethered type composed by a Rescue Chamber and a WROV (Working Class Remote Operated Vehicle) which will be managed both aboard the SDO-SuRS ship (Mother Ship) and aboard the Vessel of Opportunity. The system has to be designed/realized to perform the search and rescue of DISSUB as well as the transfer of crew inside the Diving Decompression Chamber. ∙ Portable Launch and Recovery System (PLARS) to permit the Launch/Recovery of SRV/SRC and WROV; ∙ Diving Decompression Chambers (DDC) with TUP (Transit Under Pressure) to face a specific sanitary treatment which could involve the submarine’s crew; ∙ Ventilation System (VS) by means of which will be possible the change of dirty air inside of the distressed submarine as well as the air insufflation to main ballast tanks; ∙ Submarine Rescue Chamber (SRC); ∙ Working Class Remote Operated Vehicle (WROV) able to perform underwater work and completely redundant with the WROV associated to SRV.

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"Design and Implementation of an Inspection Class of Underwater Vehicles." In Communication, Signal Processing & Information Technology, 89–102. De Gruyter, 2020. http://dx.doi.org/10.1515/9783110594003-007.

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Тези доповідей конференцій з теми "Intervention class underwater vehicles"

Rossol, Tobias, Christian Ernst Siegfried Koch, Ralf Bachmayer, and Frank Kirchner. "Necessity of Hydrostatic Stability in Autonomous Underwater Vehicles on Intervention Missions." In OCEANS 2022, Hampton Roads. IEEE, 2022. http://dx.doi.org/10.1109/oceans47191.2022.9977030.

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Woolsey, M., V. L. Asper, A. R. Diercks, and K. McLetchie. "Enhancing NIUST's SeaBED class AUV, Mola Mola." In 2010 IEEE/OES Autonomous Underwater Vehicles (AUV). IEEE, 2010. http://dx.doi.org/10.1109/auv.2010.5779667.

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Perez, Javier, Jorge Sales, Raul Marin, and Pedro J. Sanz. "Web-based configuration tool for benchmarking of simulated intervention autonomous underwater vehicles." In 2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC). IEEE, 2014. http://dx.doi.org/10.1109/icarsc.2014.6849799.

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Perez, Javier, Jorge Sales, Raul Marin, and Pedro J. Sanz. "Online Tool for Benchmarking of Simulated Intervention Autonomous Underwater Vehicles: Evaluating Position Controllers in Changing Underwater Currents." In 2014 2nd International Conference on Artificial Intelligence, Modelling & Simulation (AIMS). IEEE, 2014. http://dx.doi.org/10.1109/aims.2014.23.

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Li, Ji-Hong, Mun-Jik Lee, Sang-Hyun Park, and Jong-Gel Kim. "Real time path planning for a class of torpedo-type AUVs in unknown environment." In 2012 IEEE/OES Autonomous Underwater Vehicles (AUV). IEEE, 2012. http://dx.doi.org/10.1109/auv.2012.6380728.

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Alibani, Michael, Carmelo Ferrara, and Lorenzo Pollini. "Super Twisting Sliding Mode Control for Precise Control of Intervention Autonomous Underwater Vehicles." In OCEANS 2018 MTS/IEEE Charleston. IEEE, 2018. http://dx.doi.org/10.1109/oceans.2018.8604839.

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Hobson, Brett W., James G. Bellingham, Brian Kieft, Rob McEwen, Michael Godin, and Yanwu Zhang. "Tethys-class long range AUVs - extending the endurance of propeller-driven cruising AUVs from days to weeks." In 2012 IEEE/OES Autonomous Underwater Vehicles (AUV). IEEE, 2012. http://dx.doi.org/10.1109/auv.2012.6380735.

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Phillips, Alexander B., Matthew Kingsland, Nick Linton, Will Baker, Leon Bowring, Scott Soper, Daniel T. Roper Alexis Johnson, et al. "Autosub 2000 Under Ice: Design of a New Work Class AUV for Under Ice Exploration." In 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV). IEEE, 2020. http://dx.doi.org/10.1109/auv50043.2020.9267952.

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Chu, Zhenzhong, Chaomin Luo, and Daqi Zhu. "Adaptive fault-tolerant control for a class of remotely operated vehicles under thruster redundancy." In 2018 IEEE 8th International Conference on Underwater System Technology: Theory and Applications (USYS). IEEE, 2018. http://dx.doi.org/10.1109/usys.2018.8779058.

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Kamal, Owais. "Robust Heading Stabilization and Control for a class of Autonomous Underwater Vehicles using Nonlinear State Estimators." In 2019 16th International Bhurban Conference on Applied Sciences and Technology (IBCAST - 2019). IEEE, 2019. http://dx.doi.org/10.1109/ibcast.2019.8667246.

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