Toward persistent autonomous intervention in a subsea panel
dc.contributor.author
dc.date.accessioned
2016-11-22T15:04:51Z
dc.date.available
2016-11-22T15:04:51Z
dc.date.issued
2016-10-01
dc.identifier.issn
0929-5593
dc.identifier.uri
dc.description.abstract
Intervention autonomous underwater vehicles (I-AUVs) have the potential to open new avenues for the maintenance and monitoring of offshore subsea facilities in a cost-effective way. However, this requires challenging intervention operations to be carried out persistently, thus minimizing human supervision and ensuring a reliable vehicle behaviour under unexpected perturbances and failures. This paper describes a system to perform autonomous intervention—in particular valve-turning—using the concept of persistent autonomy. To achieve this goal, we build a framework that integrates different disciplines, involving mechatronics, localization, control, machine learning and planning techniques, bearing in mind robustness in the implementation of all of them. We present experiments in a water tank, conducted with Girona 500 I-AUV in the context of a multiple intervention mission. Results show how the vehicle sets several valve panel configurations throughout the experiment while handling different errors, either spontaneous or induced. Finally, we report the insights gained from our experience and we discuss the main aspects that must be matured and refined in order to promote the future development of intervention autonomous vehicles that can operate, persistently, in subsea facilities
dc.description.sponsorship
This work has been supported by the FP7-ICT-2011-7 project PANDORA-Persistent Autonomy through Learning, Adaptation, Observation and Re-planning (Ref. 288273) funded by the European Commission
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
Springer Verlag
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Reproducció digital del document publicat a: http://dx.doi.org/10.1007/s10514-015-9511-7
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© Autonomous Robots, 2016, vol. 40, núm. 7, p. 1279-1306
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Articles publicats (D-ATC)
dc.rights
Tots els drets reservats
dc.title
Toward persistent autonomous intervention in a subsea panel
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/embargoedAccess
dc.embargo.terms
Cap
dc.date.embargoEndDate
info:eu-repo/date/embargoEnd/2026-01-01
dc.relation.projectID
info:eu-repo/grantAgreement/EC/FP7/288273/EU/Persistent Autonomy through Learning, Adaptation, Observation and Re-planning/PANDORA
dc.type.version
info:eu-repo/semantics/publishedVersion
dc.identifier.doi
dc.identifier.idgrec
023908
dc.relation.FundingProgramme
dc.relation.ProjectAcronym
dc.identifier.eissn
1573-7527