文章基本信息

标题：Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project
本地全文：下载
作者：Jeremi Gancet ; Jeremi Gancet ; Peter Weiss 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：23
页码：414-419
DOI：10.1016/j.ifacol.2016.10.439
语种：English
出版社：Elsevier
摘要：Abstract: 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.
关键词：KeywordsROVlong range teleoperationcommunication latenciesforce feedbackreal time simulationmachine learning3D perception3D modellingautonomydexterous manipulation