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Toward persistent autonomous intervention in a subsea panel

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

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

© Autonomous Robots, 2016, vol. 40, núm. 7, p. 1279-1306

Springer Verlag

Author: Palomeras Rovira, Narcís
Carrera Viñas, Arnau
Hurtós Vilarnau, Natàlia
Karras, George C.
Bechlioulis, Charalampos P.
Cashmore, Michael
Magazzeni, Daniele
Long, Derek
Fox, Maria
Kyriakopoulos, Kostas
Kormushev, Petar
Salvi, Joaquim
Carreras Pérez, Marc
Date: 2016 October 1
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
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
Format: application/pdf
ISSN: 0929-5593 (versió paper)
1573-7527 (versió electrònica)
Document access: http://hdl.handle.net/10256/13208
Language: eng
Publisher: Springer Verlag
Collection: Reproducció digital del document publicat a: http://dx.doi.org/10.1007/s10514-015-9511-7
Articles publicats (D-ATC)
info:eu-repo/grantAgreement/EC/FP7/288273
Is part of: © Autonomous Robots, 2016, vol. 40, núm. 7, p. 1279-1306
Rights: Tots els drets reservats
Subject: Vehicles submergibles
Submersibles
Robots autònoms
Autonomous robots
Title: Toward persistent autonomous intervention in a subsea panel
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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