I-AUV Docking and Panel Intervention at Sea
Scholar | Otros documentos del autor: Palomeras, Narcís; Peñalver Monfort, Antonio; Massot-Campos, Miquel; Lluís Negre, Pep; Fernández Fresneda, José Javier; Ridao, Pere; Sanz Valero, Pedro José; Oliver-Codina, Gabriel
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TítuloI-AUV Docking and Panel Intervention at Sea
Fecha de publicación2016
Versión del editorhttp://www.mdpi.com/1424-8220/16/10/1673/html
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 ... [+]
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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Cita bibliográficaPALOMERAS, Narcís, et al. I-AUV Docking and Panel Intervention at Sea. Sensors, 2016, vol. 16, no 10, p. 1673.
Tipo de documentoinfo:eu-repo/semantics/article
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