کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7110347 | 1460672 | 2018 | 15 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Fully automatic visual servoing control for work-class marine intervention ROVs
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
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چکیده انگلیسی
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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 74, May 2018, Pages 153-167
Journal: Control Engineering Practice - Volume 74, May 2018, Pages 153-167
نویسندگان
Satja SivÄev, Matija Rossi, Joseph Coleman, Gerard Dooly, Edin OmerdiÄ, Daniel Toal,