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I-AUV docking and panel intervention at sea

I-AUV docking and panel intervention at sea
I-AUV docking and panel intervention at sea
The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea.
Autonomous underwater vehicles, Field robotics, Manipulation, Underwater intervention
1424-8220
Palomeras, Narcís
96ec084c-bd72-4279-a022-78cdd4d0d8ce
Peñalver, Antonio
691445f7-8b85-4b35-b4b1-f6e09dc9f40d
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Negre, Pep Lluís
2c338863-6b6b-4319-a13c-42b267bc9793
Fernández, José Javier
5ecb7c09-ed3b-4fbb-800e-bdf2cb139fef
Ridao, Pere
aa3e0ca6-3469-477b-ace5-e015744dabd0
Sanz, Pedro J.
6c551200-b939-40a5-8855-ad243c58b8c4
Oliver-Codina, Gabriel
99a9b816-4f5d-4724-8525-aa7c45fb0d3d
Palomeras, Narcís
96ec084c-bd72-4279-a022-78cdd4d0d8ce
Peñalver, Antonio
691445f7-8b85-4b35-b4b1-f6e09dc9f40d
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Negre, Pep Lluís
2c338863-6b6b-4319-a13c-42b267bc9793
Fernández, José Javier
5ecb7c09-ed3b-4fbb-800e-bdf2cb139fef
Ridao, Pere
aa3e0ca6-3469-477b-ace5-e015744dabd0
Sanz, Pedro J.
6c551200-b939-40a5-8855-ad243c58b8c4
Oliver-Codina, Gabriel
99a9b816-4f5d-4724-8525-aa7c45fb0d3d

Palomeras, Narcís, Peñalver, Antonio, Massot-Campos, Miquel, Negre, Pep Lluís, Fernández, José Javier, Ridao, Pere, Sanz, Pedro J. and Oliver-Codina, Gabriel (2016) I-AUV docking and panel intervention at sea. Sensors, 16 (10). (doi:10.3390/s16101673).

Record type: Article

Abstract

The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea.

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More information

Published date: 12 October 2016
Keywords: Autonomous underwater vehicles, Field robotics, Manipulation, Underwater intervention

Identifiers

Local EPrints ID: 428713
URI: http://eprints.soton.ac.uk/id/eprint/428713
ISSN: 1424-8220
PURE UUID: 6174c04e-3a2f-4f4d-80b1-d43dc8efb840
ORCID for Miquel Massot-Campos: ORCID iD orcid.org/0000-0002-1202-0362

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Date deposited: 07 Mar 2019 17:30
Last modified: 23 Jul 2020 00:46

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Contributors

Author: Narcís Palomeras
Author: Antonio Peñalver
Author: Pep Lluís Negre
Author: José Javier Fernández
Author: Pere Ridao
Author: Pedro J. Sanz
Author: Gabriel Oliver-Codina

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