Multisensorial control and supervision of autonomous, mobile underwater robots

Author

Tonshoff, Hans Kurt ; Papadimitriou, I. ; Zeyn, Ralf

Author_Institution

Inst. Production Eng., Hannover Univ., Germany

fYear

1991

fDate

19-22 June 1991

Firstpage

1824

Abstract

The automatic execution of underwater tasks like cleaning, inspecting, cutting and welding at production platforms or gas and oil pipelines requires manipulators with sophisticated control systems. Flexibility and adaptive behaviour are basic characteristics of autonomous systems, which can also be described as information processing systems, able to complete a given task even under the influence of initially unknown environmental conditions. After a short summary of the functions of the control system this contribution presents the concept of the multisensor system of an Autonomous Mobile Underwater Robot (AMUR).<>

Keywords

adaptive control; marine systems; mobile robots; natural gas technology; oil technology; AMUR; Autonomous Mobile Underwater Robot; adaptive behaviour; cleaning; cutting; flexibility; gas pipelines; information processing systems; inspecting; multisensor system; oil pipelines; production platforms; welding; Adaptive systems; Automatic control; Cleaning; Control systems; Information processing; Multisensor systems; Petroleum; Pipelines; Production systems; Welding;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on

Conference_Location

Pisa, Italy

Print_ISBN

0-7803-0078-5

Type

conf

DOI

10.1109/ICAR.1991.240423

Filename

240423