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

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dc.contributor.author Sivčev, Satja
dc.contributor.author Rossi, Matija
dc.contributor.author Coleman, Joseph
dc.contributor.author Dooly, Gerard
dc.contributor.author Omerdić, Edin
dc.contributor.author Toal, Daniel
dc.date.accessioned 2018-04-05T08:58:33Z
dc.date.available 2018-04-05T08:58:33Z
dc.date.issued 2018
dc.identifier.uri http://hdl.handle.net/10344/6708
dc.description peer-reviewed en_US
dc.description.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. en_US
dc.language.iso eng en_US
dc.publisher Elsevier en_US
dc.relation.ispartofseries Control Engineering Practice;74, pp.153-167
dc.relation.uri https://doi.org/10.1016/j.conengprac.2018.03.005
dc.subject underwater manipulation en_US
dc.subject manipulator control en_US
dc.subject visual servoing en_US
dc.subject robot arm en_US
dc.subject underwater inspection and intervention en_US
dc.subject marine robotics en_US
dc.subject ROV en_US
dc.title Fully automatic visual servoing control for work-class marine intervention ROVs en_US
dc.type info:eu-repo/semantics/article en_US
dc.type.supercollection all_ul_research en_US
dc.type.supercollection ul_published_reviewed en_US
dc.identifier.doi 10.1016/j.conengprac.2018.03.005
dc.contributor.sponsor SFI en_US
dc.contributor.sponsor Resolve Marine Group en_US
dc.contributor.sponsor Shannon Foynes Port Company en_US
dc.contributor.sponsor Teledyne Blueview en_US
dc.contributor.sponsor Teledyne Reason and The Commissioners of Irish Lights en_US
dc.relation.projectid 12/RC/2302 en_US
dc.relation.projectid 14/SP/2740 en_US
dc.relation.projectid 12/RC/2303 en_US
dc.relation.projectid 14/SP/2710 en_US
dc.rights.accessrights info:eu-repo/semantics/openAccess en_US


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