Autonomous Underwater Intervention: Experimental Results of the MARIS Project
| Autor: | Marco Bibuli, Gabriele Bruzzone, Jacopo Aleotti, Lorenzo Moriello, Umberto Scarcia, Sandro Torelli, Enrico Simetti, Angelo Odetti, Dario Lodi Rizzini, Francesco Wanderlingh, Gianluca Palli |
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| Přispěvatelé: | Simetti, Enrico, Wanderlingh, Francesco, Torelli, Sandro, Bibuli, Marco, Odetti, Angelo, Bruzzone, Gabriele, Rizzini, Dario Lodi, Aleotti, Jacopo, Palli, Gianluca, Moriello, Lorenzo, Scarcia, Umberto |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0106 biological sciences
0209 industrial biotechnology Engineering Underwater vision Task priority control Underwater vehicle manipulator system (UVMS) Ocean Engineering 02 engineering and technology 01 natural sciences 020901 industrial engineering & automation Floating underwater control Human-in-the-loop Underwater Electrical and Electronic Engineering Underwater gripper business.industry 010604 marine biology & hydrobiology Mechanical Engineering Control engineering Mechatronics Intervention AUV Intervention (law) Work (electrical) Grippers Systems engineering business Underwater intervention |
| Zdroj: | IEEE journal of oceanic engineering 43 (2018): 620–639. doi:10.1109/JOE.2017.2733878 info:cnr-pdr/source/autori:Simetti, Enrico; Wanderlingh, Francesco; Torelli, Sandro; Bibuli, Marco; Odetti, Angelo; Bruzzone, Gabriele; Rizzini, Dario Lodi; Aleotti, Jacopo; Palli, Gianluca; Moriello, Lorenzo; Scarcia, Umberto/titolo:Autonomous Underwater Intervention: Experimental Results of the MARIS Project/doi:10.1109%2FJOE.2017.2733878/rivista:IEEE journal of oceanic engineering/anno:2018/pagina_da:620/pagina_a:639/intervallo_pagine:620–639/volume:43 |
| DOI: | 10.1109/JOE.2017.2733878 |
| Popis: | —Autonomous underwater vehicles are frequently used for survey missions and monitoring tasks, however, manipulation and intervention tasks are still largely performed with a human in the loop. Employing autonomous vehicles for these tasks has received a growing interest in the last ten years, and few pioneering projects have been funded on this topic. Among these projects, the Italian MARIS project had the goal of developing technologies and methodologies for the use of autonomous underwater vehicle manipulator systems in underwater manipulation and transportation tasks. This work presents the developed control framework, the mechatronic integration, and the project’s final experimental results on floating underwater intervention. |
| Databáze: | OpenAIRE |
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