2024-03-29T15:06:56Zhttps://repositori.uji.es/oai/requestoai:repositori.uji.es:10234/1648962021-05-10T11:21:28Zcom_10234_7036com_10234_9col_10234_8620
Repositori UJI
author
Palomeras, Narcís
author
Peñalver Monfort, Antonio
author
Massot-Campos, Miquel
author
Lluís Negre, Pep
author
Fernández Fresneda, José Javier
author
Ridao, Pere
author
Sanz, Pedro J
author
Oliver-Codina, Gabriel
2016-12-02T15:12:01Z
2016-12-02T15:12:01Z
2016
PALOMERAS, Narcís, et al. I-AUV Docking and Panel Intervention at Sea. Sensors, 2016, vol. 16, no 10, p. 1673.
1424-8220
http://hdl.handle.net/10234/164896
http://dx.doi.org/10.3390/s16101673
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.
eng
2016 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access
article distributed under the terms and conditions of the Creative Commons Attribution
(CC-BY) license (http://creativecommons.org/licenses/by/4.0/). Atribución 4.0 España
Autonomous underwater vehicles
Manipulation
Underwater intervention
Field robotics
I-AUV Docking and Panel Intervention at Sea
info:eu-repo/semantics/article
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