Journal ArticleDOI
Underwater autonomous manipulation for intervention missions AUVs
TLDR
One of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment is described, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface.About:
This article is published in Ocean Engineering.The article was published on 2009-01-01. It has received 307 citations till now. The article focuses on the topics: Intervention AUV & Remotely operated underwater vehicle.read more
Citations
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Journal ArticleDOI
Advancements in the field of autonomous underwater vehicle
TL;DR: Current research trends in the field of AUVs and future research directions are presented and localization and navigation techniques such as inertial navigation to simultaneous localization and mapping being used in current AUVs are discussed in detail.
Journal ArticleDOI
Girona 500 AUV: From Survey to Intervention
TL;DR: The Girona 500 as discussed by the authors is an autonomous underwater vehicle whose most remarkable characteristic is its capacity to reconfigure for different tasks, ranging from different forms of seafloor survey to inspection and intervention tasks.
Journal ArticleDOI
Underwater manipulators: a review
TL;DR: A comprehensive summary of existing commercial and prototype underwater manipulators, covering relevant aspects such as design features, their capabilities and merits, and a detailed comparison of both electrically and hydraulically actuated manipulators are provided.
Journal ArticleDOI
Floating Underwater Manipulation: Developed Control Methodology and Experimental Validation within the TRIDENT Project
TL;DR: Both simulations and experimental trials are successively presented to show how the developed TRIDENT I-AUV system is able to properly exploit all the redundant degrees of freedom for achieving all the established objectives.
Journal ArticleDOI
ReviewIntervention AUVs: The next challenge☆☆☆
TL;DR: This paper reviews the evolution timeline in autonomous underwater intervention systems and presents GIRONA 500 I-AUV, the last one the lightest one, and its software architecture discussed.
References
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Proceedings ArticleDOI
Autonomous docking for Intervention-AUVs using sonar and video-based real-time 3D pose estimation
TL;DR: The ALIVE project as mentioned in this paper developed an Intervention-AUV capable of docking to a subsea structure which has not been specifically modified for AUV use, and the modular structure of the ALIVE AUV, including its distributed software architecture and in particular the ADS (Autonomous Docking System).
Journal ArticleDOI
Teleprogramming: Toward delay-invariant remote manipulation
TL;DR: The overallteleprogramming control concept is introduced, its main components are described, and the preliminary results using the experimental teleprogramming system are reported on.
Proceedings ArticleDOI
A real-time approach for singularity avoidance in resolved motion rate control of robotic manipulators
TL;DR: An online trajectory control scheme that uses the manipulability measure as a distance criteria to avoid manipulator singularities is described and a method for limiting the minimum value of the distance criteria is proposed.
Proceedings ArticleDOI
Design of a semi-autonomous underwater vehicle for intervention missions (SAUVIM)
Junku Yuh,S.K. Choi,C. Ikehara,G.H. Kim,G. McMurty,Mehrdad N. Ghasemi-Nejhad,Nilanjan Sarkar,K. Sugihara +7 more
TL;DR: In this paper, a semi-autonomous underwater vehicle for intervention missions (SAUVIM) is presented, which allows human intervention from a land-based computer system capable of vehicle path-planning and monitoring.
Proceedings ArticleDOI
Experiments in automatic retrieval of underwater objects with an AUV
TL;DR: The strategy for automated object retrieval by an underwater vehicle is encoded using a finite-state machine (FSM), which causes the vehicle control system to change control modes or desired setpoints within the activated controller.