Underwater autonomous manipulation for intervention missions AUVs
Underwater autonomous manipulation for intervention missions AUVs
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DOI：
10.1016/j.oceaneng.2008.08.007
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发表时间：
2009-01-01
影响因子：
5
通讯作者：
Yuh, Junku
中科院分区：
文献类型：
--
作者：
Marani, Giacomo;Choi, Song K.;Yuh, Junku
目前，许多水下干预任务都是使用载人潜水器或遥控操作潜水器以遥控操作模式执行的。自主水下航行器主要用于勘测应用。实际上，声学海底通信固有的低带宽和显著的时间延迟代表了远程操作操纵系统的相当大的障碍，使得远程控制器不可能及时地对问题做出反应。然而，没有物理链路并且没有人类乘员的车辆允许在危险区域中进行干预，例如在深海中、冰下、在任务中取回危险物体、或在机密区域。使用自主车辆进行水下干预的关键要素是自主操纵。这是一个具有挑战性的技术里程碑，它指的是机器人系统执行干预任务的能力，这些任务需要与非结构化环境进行物理接触，而无需持续的人类监督。SAUVIM（Semi Autonomous Underwater Vehicle for Intervention使命，University of夏威夷）是世界上第一个具有自主操纵能力的水下机器人，本文介绍了SAUVIM系统开发过程中所选择的解决方案，以解决自主水下操纵所固有的问题。在所提出的方法中，最值得注意的方面是系统和人类supervisor.We描述的自主干预在海洋环境中进行的第一次试验之一之间的信息传输水平的增加。据作者所知，文献中尚未介绍过水下自主操作的海上试验。所介绍的操作是水下回收使命，它包括一系列自主任务，这些任务最终确定为搜索目标并将电缆牢固地钩住，以便将目标带到水面。(C)2008爱思唯尔有限公司保留所有权利。
Many underwater intervention tasks are today performed using manned submersibles or remotely operated vehicles in teleoperation mode. Autonomous underwater vehicles are mostly employed in survey applications. In fact, the low bandwidth and significant time delay inherent in acoustic subsea communications represent a considerable obstacle to remotely operate a manipulation system, making it impossible for remote controllers to react to problems in a timely manner.Nevertheless, vehicles with no physical link and with no human occupants permit intervention in dangerous areas, such as in deep ocean, under ice, in missions to retrieve hazardous objects, or in classified areas. The key element in underwater intervention performed with autonomous vehicles is autonomous manipulation. This is a challenging technology milestone, which refers to the capability of a robot system that performs intervention tasks requiring physical contacts with unstructured environments without continuous human supervision.Today, only few AUVs are equipped with manipulators. SAUVIM (Semi Autonomous Underwater Vehicle for Intervention Mission, University of Hawaii) is one of the first underwater vehicle capable of autonomous manipulation.This paper presents the solutions chosen within the development of the system in order to address the problems intrinsic to autonomous underwater manipulation. In the proposed approach, the most noticeable aspect is the increase in the level of information transferred between the system and the human supervisor.We describe one of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment. To the best knowledge of the authors, no sea trials in underwater autonomous manipulation have been presented in the literature. The presented operation is an underwater recovery mission, 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. (C) 2008 Elsevier Ltd. All rights reserved.