Visually-Guided Manipulation Techniques for Robotic Autonomous Underwater Panel Interventions
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Otros documentos de la autoría: Peñalver Monfort, Antonio; Pérez Soler, Javier; Fernández Fresneda, José Javier; Sales Gil, Jorge; Sanz, Pedro J; García Sánchez, Juan Carlos; Fornas Garcia, David; Marin, Raul
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Título
Visually-Guided Manipulation Techniques for Robotic Autonomous Underwater Panel InterventionsAutoría
Fecha de publicación
2015xmlui.dri2xhtml.METS-1.0.item-edition
PostprintEditor
ElsevierCita bibliográfica
PEÑALVER MONFORT, Antonio; PÉREZ SOLER, Javier; FERNÁNDEZ FRESNEDA, José Javier; SALES GIL, Jorge; SANZ VALERO, Pedro José; GARCÍA SÁNCHEZ, Juan Carlos; FORNÁS VALERO, David; MARÍN PRADES. Visually-Guided Manipulation Techniques for Robotic Autonomous Underwater Panel Interventions. Annual Reviews in Control (2015), v. 40, pp. 201-211Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
http://www.sciencedirect.com/science/article/pii/S1367578815000516Palabras clave / Materias
Resumen
The long term of this ongoing research has to do with increasing the autonomy
levels for underwater intervention missions. Bearing in mind that
the speci c mission to face has been the intervention on a panel, in ... [+]
The long term of this ongoing research has to do with increasing the autonomy
levels for underwater intervention missions. Bearing in mind that
the speci c mission to face has been the intervention on a panel, in this
paper some results in di erent development stages are presented by using
the real mechatronics and the panel mockup. Furthermore, some details
are highlighted describing two methodologies implemented for the required
visually-guided manipulation algorithms, and also a roadmap explaining the
di erent testbeds used for experimental validation, in increasing complexity
order, are presented. It is worth mentioning that the aforementioned
results would be impossible without previous generated know-how for both,
the complete developed mechatronics for the autonomous underwater vehicle
for intervention, and the required 3D simulation tool. In summary, thanks
to the implemented approach, the intervention system is able to control the
way in which the gripper approximates and manipulates the two panel devices
(i.e. a valve and a connector) in autonomous manner and, results in di erent
scenarios demonstrate the reliability and feasibility of this autonomous
intervention system in water tank and pool conditions. [-]
Publicado en
Annual Reviews in Control (2015), v. 40Derechos de acceso
http://rightsstatements.org/vocab/CNE/1.0/
info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess
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