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I-AUV docking and intervention in a subsea panel

I-AUV docking and intervention in a subsea panel
I-AUV docking and intervention in a subsea panel
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.
2279-2285
Institute of Electrical and Electronics Engineers Inc.
Palomeras, Narcís
96ec084c-bd72-4279-a022-78cdd4d0d8ce
Peñalver, Antonio
691445f7-8b85-4b35-b4b1-f6e09dc9f40d
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Vallicrosa, Guillem
453c7edf-d5c2-4094-b5b1-061bde688d0b
Negre, Pep Lluís
2c338863-6b6b-4319-a13c-42b267bc9793
Fernández, J. Javier
fc371dab-01f1-4bc8-b133-2e1900044969
Ridao, Pere
aa3e0ca6-3469-477b-ace5-e015744dabd0
Sanz, Pedro J.
6c551200-b939-40a5-8855-ad243c58b8c4
Oliver-Codina, Gabriel
99a9b816-4f5d-4724-8525-aa7c45fb0d3d
Palomer, Albert
2846c446-c360-418f-9ca9-aef86d6fe67c
Palomeras, Narcís
96ec084c-bd72-4279-a022-78cdd4d0d8ce
Peñalver, Antonio
691445f7-8b85-4b35-b4b1-f6e09dc9f40d
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Vallicrosa, Guillem
453c7edf-d5c2-4094-b5b1-061bde688d0b
Negre, Pep Lluís
2c338863-6b6b-4319-a13c-42b267bc9793
Fernández, J. Javier
fc371dab-01f1-4bc8-b133-2e1900044969
Ridao, Pere
aa3e0ca6-3469-477b-ace5-e015744dabd0
Sanz, Pedro J.
6c551200-b939-40a5-8855-ad243c58b8c4
Oliver-Codina, Gabriel
99a9b816-4f5d-4724-8525-aa7c45fb0d3d
Palomer, Albert
2846c446-c360-418f-9ca9-aef86d6fe67c

Palomeras, Narcís, Peñalver, Antonio, Massot-Campos, Miquel, Vallicrosa, Guillem, Negre, Pep Lluís, Fernández, J. Javier, Ridao, Pere, Sanz, Pedro J., Oliver-Codina, Gabriel and Palomer, Albert (2014) I-AUV docking and intervention in a subsea panel. In, IEEE International Conference on Intelligent Robots and Systems. (IEEE International Conference on Intelligent Robots and Systems, , (doi:10.1109/IROS.2014.6942870)) International Conference on Intelligent Robots and Systems (18/09/14) Institute of Electrical and Electronics Engineers Inc., pp. 2279-2285. (doi:10.1109/IROS.2014.6942870).

Record type: Book Section

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.

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More information

Published date: 31 October 2014
Venue - Dates: International Conference on Intelligent Robots and Systems, Chicago, United States, 2014-09-14 - 2014-09-18

Identifiers

Local EPrints ID: 428714
URI: http://eprints.soton.ac.uk/id/eprint/428714
PURE UUID: b7345b1e-f807-4d23-bafc-f31764d0a340
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: Guillem Vallicrosa
Author: Pep Lluís Negre
Author: J. Javier Fernández
Author: Pere Ridao
Author: Pedro J. Sanz
Author: Gabriel Oliver-Codina
Author: Albert Palomer

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