Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project

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• 作者：Jeremi Gancet^* ; ^{jeremi.gancet@spaceapplications.com" class="auth_mail" title="E-mail the corresponding author} ; Peter Weiss^** ; ^{p.weiss@comex.fr" class="auth_mail" title="E-mail the corresponding author} ; Gianluca Antonelli^*** ; ^{antonelli@unicas.it" class="auth_mail" title="E-mail the corresponding author} ; Max Folkert Pfingsthorn^**** ; Sylvain Calinon^***** ; ^{sylvain.calinon@idiap.ch" class="auth_mail" title="E-mail the corresponding author} ; Alessio Turetta^****** ; ^{alessio.turetta@graaltech.it" class="auth_mail" title="E-mail the corresponding author} ; Cees Walen^******* ; ^{cees.walen@ejr-quartz.com" class="auth_mail" title="E-mail the corresponding author} ; Diego Urbina^* ; Shashank Govindaraj^* ; Pierre Letier^* ; Xavier Martinez^* ; Joseph Salini^* ; Bertrand Chemisky^** ; Giovanni Indiveri^*** ; Giuseppe Casalino^*** ; Paolo Di Lillo^*** ; Enrico Simetti^*** ; Daniel De Palma^*** ; Andreas Birk^**** ; ^{a.birk@jacobs-university.de" class="auth_mail" title="E-mail the corresponding author} ; Tobias Fromm^**** ; Christian Mueller^**** ; Ajay Tanwani^***** ; Ioannis Havoutis^***** ; Andrea Caffaz^****** ; Lisa Guilpain^*******
• 关键词：ROV ; long range teleoperation ; communication latencies ; force feedback ; real time simulation ; machine learning ; 3D perception ; 3D modelling ; autonomy ; dexterous manipulation
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：23
• 页码：414-419
• 全文大小：952 K

文摘

The operation of a ROV requires significant off-shore dedicated manpower to handle and operate the robotic platform. In order to reduce the burden of operations, DexROV proposes to work out more cost effective and time efficient ROV operations, where manned support is in a large extent delocalized onshore (i.e. from a ROV control center), possibly at a large distance from the actual operations, relying on satellite communications. The proposed scheme makes provision for advanced dexterous manipulation capabilities, exploiting human expertise from a remote location when deemed useful. The outcomes of the project will be integrated and evaluated in a series of tests and evaluation campaigns, culminating with a realistic deep sea (1,300 meters) trial. After one year, the project specified the system architecture of the system and carried out preliminary technological trade-offs for the subsystems.