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Fully automatic visual servoing control for work-class marine intervention ROVs

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posted on 2018-04-05, 08:58 authored by Satja Sivčev, Matija Rossi, Joseph Coleman, Gerard DoolyGerard Dooly, Edin Omerdić, Daniel ToalDaniel Toal
ROVs with hydraulic manipulators are extensively used for subsea intervention. With camera feedback from the scene, manipulators are teleoperated and slaved to pilot held master arms. While standard for offshore oil and gas, for challenging applications in waves or currents a new approach is required. We present development of robot arm visual servo control approaches used in manufacturing and the transfer and adaption of these to underwater hydraulic manipulators. This is the first time a visual servoing algorithm for automated manipulation has been developed and verified, through subsea trials, on a commercial work-class ROV with industry standard hydraulic manipulators.

Funding

Fast Kinetic Studies of Analytical Systems

National Science Foundation

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Vibrational Energy Transfer and Shock Waves in Molecular Materials

Directorate for Mathematical & Physical Sciences

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History

Publication

Control Engineering Practice;74, pp.153-167

Publisher

Elsevier

Note

peer-reviewed

Other Funding information

SFI, Resolve Marine Group, Shannon Foynes Port Company, Teledyne Blueview, Teledyne Reason and The Commissioners of Irish Lights

Language

English

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