I-AUV Docking and Panel Intervention at Sea
dc.contributor.author
dc.date.accessioned
2016-10-28T06:29:33Z
dc.date.available
2016-10-28T06:29:33Z
dc.date.issued
2016
dc.identifier.uri
dc.description.abstract
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
dc.description.sponsorship
This work was supported by the Spanish project DPI2014-57746-C3 (MERBOTS Project) and by Generalitat Valenciana under Grant GVA-PROMETEO/2016/066. The University of Girona wants to thank the SARTI group for their collaboration with the TRITON project
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
MDPI (Multidisciplinary Digital Publishing Institute)
dc.relation
info:eu-repo/grantAgreement/MINECO//DPI2014-57746-C3-3-R/ES/ARQUEOLOGIA MARINA MEDIANTE LA COOPERACION HROV%2FAUV/
dc.relation.isformatof
Reproducció digital del document publicat a: http://dx.doi.org/10.3390/s16101673
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Sensors, 2016, vol. 16, núm. 10, p. 1673
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Articles publicats (D-ATC)
dc.rights
Attribution 4.0 Spain
dc.rights.uri
dc.subject
dc.title
I-AUV Docking and Panel Intervention at Sea
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.embargo.terms
Cap
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.contributor.funder
dc.relation.ProjectAcronym
dc.identifier.eissn
1424-8220