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

Satja Sivčev; Matija Rossi; Joseph Coleman; Gerard Dooly; Edin Omerdić; Daniel Toal

doi:10.1016/j.conengprac.2018.03.005

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

Satja Sivčev
, Matija Rossi
, Joseph Coleman
, Gerard Dooly
, Edin Omerdić
, Daniel Toal

Research Centre for Marine and Renewable Energy

Research output: Contribution to journal › Article › peer-review

Abstract

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.

Original language	English
Pages (from-to)	153-167
Number of pages	15
Journal	Control Engineering Practice
Volume	74
DOIs	https://doi.org/10.1016/j.conengprac.2018.03.005
Publication status	Published - May 2018
Externally published	Yes

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

Manipulator control
Marine robotics
ROV
Robot arm
Underwater inspection and intervention
Underwater manipulation
Visual servoing

Access to Document

10.1016/j.conengprac.2018.03.005

Cite this

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title = "Fully automatic visual servoing control for work-class marine intervention ROVs",

abstract = "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.",

keywords = "Manipulator control, Marine robotics, ROV, Robot arm, Underwater inspection and intervention, Underwater manipulation, Visual servoing",

author = "Satja Siv{\v c}ev and Matija Rossi and Joseph Coleman and Gerard Dooly and Edin Omerdi{\'c} and Daniel Toal",

note = "Publisher Copyright: {\textcopyright} 2018 The Author(s)",

year = "2018",

month = may,

doi = "10.1016/j.conengprac.2018.03.005",

language = "English",

volume = "74",

pages = "153--167",

journal = "Control Engineering Practice",

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T1 - Fully automatic visual servoing control for work-class marine intervention ROVs

AU - Sivčev, Satja

AU - Rossi, Matija

AU - Coleman, Joseph

AU - Dooly, Gerard

AU - Omerdić, Edin

AU - Toal, Daniel

PY - 2018/5

Y1 - 2018/5

N2 - 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.

AB - 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.

KW - Manipulator control

KW - Marine robotics

KW - ROV

KW - Robot arm

KW - Underwater inspection and intervention

KW - Underwater manipulation

KW - Visual servoing

UR - https://www.scopus.com/pages/publications/85045115721

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DO - 10.1016/j.conengprac.2018.03.005

M3 - Article

AN - SCOPUS:85045115721

SN - 0967-0661

VL - 74

SP - 153

EP - 167

JO - Control Engineering Practice

JF - Control Engineering Practice

ER -

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

Abstract

UN SDGs

Keywords

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