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Inspection and maintenance of industrial infrastructure with autonomous underwater robots
Underwater infrastructure, such as pipelines, requires regular inspection and maintenance including cleaning, welding of defects and valve-turning or hot-stabbing. At the moment, these tasks are mostly performed by divers and Remotely Operated Vehicles (ROVs) but the use of intervention Autonomous U...
Autores principales: | , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2023
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10492562/ https://www.ncbi.nlm.nih.gov/pubmed/37692529 http://dx.doi.org/10.3389/frobt.2023.1240276 |
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author | Nauert, Franka Kampmann, Peter |
author_facet | Nauert, Franka Kampmann, Peter |
author_sort | Nauert, Franka |
collection | PubMed |
description | Underwater infrastructure, such as pipelines, requires regular inspection and maintenance including cleaning, welding of defects and valve-turning or hot-stabbing. At the moment, these tasks are mostly performed by divers and Remotely Operated Vehicles (ROVs) but the use of intervention Autonomous Underwater Vehicles (intervention-AUVs) can greatly reduce operation time, risk, and cost. However, autonomous underwater manipulation has not yet reached a high technological readiness and is an intensively researched topic. This review identifies key requirements based on necessary inspection and maintenance methods, linking them to the current technology and deriving major challenges which need to be addressed in development. These include the handling of tools, where a separation between handheld and mounted tools is detected in already employed underwater intervention vehicles such as the Sabertooth by Saab Seaeye or the Aquanaut by Nauticus robotics, two vehicles capable of semi-autonomous intervention. The main challenge identified concerns high level autonomy, i.e., the process of decision-making. This process includes detecting the correct point of interest, maximizing the workspace of the manipulator, planning the manipulation considering required forces, and monitoring the progress to allow for corrections and high quality results. In order to overcome these issues, reliable close range sensing and precise end point navigation is needed. By identifying these persisting challenges, the paper provides inspiration for further development directions in the field of autonomous underwater intervention. |
format | Online Article Text |
id | pubmed-10492562 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-104925622023-09-10 Inspection and maintenance of industrial infrastructure with autonomous underwater robots Nauert, Franka Kampmann, Peter Front Robot AI Robotics and AI Underwater infrastructure, such as pipelines, requires regular inspection and maintenance including cleaning, welding of defects and valve-turning or hot-stabbing. At the moment, these tasks are mostly performed by divers and Remotely Operated Vehicles (ROVs) but the use of intervention Autonomous Underwater Vehicles (intervention-AUVs) can greatly reduce operation time, risk, and cost. However, autonomous underwater manipulation has not yet reached a high technological readiness and is an intensively researched topic. This review identifies key requirements based on necessary inspection and maintenance methods, linking them to the current technology and deriving major challenges which need to be addressed in development. These include the handling of tools, where a separation between handheld and mounted tools is detected in already employed underwater intervention vehicles such as the Sabertooth by Saab Seaeye or the Aquanaut by Nauticus robotics, two vehicles capable of semi-autonomous intervention. The main challenge identified concerns high level autonomy, i.e., the process of decision-making. This process includes detecting the correct point of interest, maximizing the workspace of the manipulator, planning the manipulation considering required forces, and monitoring the progress to allow for corrections and high quality results. In order to overcome these issues, reliable close range sensing and precise end point navigation is needed. By identifying these persisting challenges, the paper provides inspiration for further development directions in the field of autonomous underwater intervention. Frontiers Media S.A. 2023-08-25 /pmc/articles/PMC10492562/ /pubmed/37692529 http://dx.doi.org/10.3389/frobt.2023.1240276 Text en Copyright © 2023 Nauert and Kampmann. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Nauert, Franka Kampmann, Peter Inspection and maintenance of industrial infrastructure with autonomous underwater robots |
title | Inspection and maintenance of industrial infrastructure with autonomous underwater robots |
title_full | Inspection and maintenance of industrial infrastructure with autonomous underwater robots |
title_fullStr | Inspection and maintenance of industrial infrastructure with autonomous underwater robots |
title_full_unstemmed | Inspection and maintenance of industrial infrastructure with autonomous underwater robots |
title_short | Inspection and maintenance of industrial infrastructure with autonomous underwater robots |
title_sort | inspection and maintenance of industrial infrastructure with autonomous underwater robots |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10492562/ https://www.ncbi.nlm.nih.gov/pubmed/37692529 http://dx.doi.org/10.3389/frobt.2023.1240276 |
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