Title :
An integrated manipulating and dynamic positioning system
Author :
Ding, Fu-Guang ; Chang, Zong-Hu ; Shi, Xiao-cheng
Author_Institution :
Harbin Eng. Univ., China
Abstract :
An integrated manipulating and dynamic positioning system for the underwater pipeline and cable detecting and repairing equipment (in short, PCDR) has been described in the paper. The paper has introduced the system from the following aspects: its control system architecture, system integration, working mode, man-machine display, control policy and pipe position keeping simulation result. The manipulation console has been assembled in PCDR equipment and finished the surface and underwater sea trial in the Bohai Sea. The trivial has shown that the system operation was stable, the man-machine display was straight forward and the manipulation was easy which alleviated the working intensions of the working staff.
Keywords :
industrial manipulators; intelligent control; maintenance engineering; petroleum industry; pipelines; position control; underwater equipment; user interfaces; Bohai Sea; cable detection; control policy; control system architecture; dynamic positioning system; man-machine display; manipulating system; pipe position keeping simulation; system integration; underwater pipeline; Assembly; Control system synthesis; Displays; Man machine systems; Manipulator dynamics; Pipelines; Sea surface; Surface finishing; Underwater cables; Underwater tracking;
Conference_Titel :
Machine Learning and Cybernetics, 2004. Proceedings of 2004 International Conference on
Print_ISBN :
0-7803-8403-2
DOI :
10.1109/ICMLC.2004.1380731
