First trial results of ATES: Advanced telerobotic system for underwater complex operations
This paper describes the purposes, the technical approaches, and the first trials results of the ATES system. This R and D project aims at the improvement and the adaptation of innovative robotic technologies and the integration of these technologies with an industrial ROV to set up an advanced underwater telerobot capable of efficiently replacing divers in performing a large spread of complex tasks related to the offshore industry, such as construction support, platform maintenance, subsea plant servicing, etc. The key robotic technologies considered are: supervisory control, scene reconstruction and telepresence. The supervisory control includes also the manipulator force control while the scene reconstruction techniques based on computer vision are able to compensate for the ROV motion during manipulation. To evaluate the technical and economical validity of the system, extensive trials have been carried out, where typical submerged scenario comprising a real node and a well head mock-up has been used. This paper reports the first results of this trial activity demonstrating the improvements in complex task execution and accuracy and the feasibility of such tasks even with a loose docking. The tests are still going in protected water using a work ROV.
- OSTI ID:
- 160750
- Report Number(s):
- CONF-950501-; TRN: IM9603%%332
- Resource Relation:
- Conference: 27. offshore technology conference, Houston, TX (United States), 1-4 May 1995; Other Information: PBD: 1995; Related Information: Is Part Of 27. Annual Offshore Technology Conference: 1995 Proceedings. Volume 3: Construction and installation/field drilling and development systems; PB: 591 p.
- Country of Publication:
- United States
- Language:
- English
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