In the last decades, the demanded tasks for subsea operations have become more and more challenging as, for instance, intervention, maintenance and repair of seabed installations. These activities are becoming more typical for the underwater offshore industry, search-and-rescue operations, or underwater scientific missions. Motivated by these considerations, this paper presents an overview of the Italian SUONO (Safe Underwater Operations iN Oceans) project, which involves the Department of Industrial Engineering (DIEF) of the University of Florence, a node of the Italian Research Center on Integrated System for the Marine Environment (ISME), Italy, and four other Italian partners, from Academia as well as Industry. More in detail, the SUONO project aims to integrate technologies and methodologies to enable the development of autonomous underwater robotic systems employable for intervention activities as, for instance, a free-floating manipulation task on a subsea panel. As a result, the whole control strategy must also consider all of a series of different objectives, starting from operational to safety aspects. Examples of such goals are reaching the desired end-effector pose and keeping the robotic arm joints far from the physical limits. The proposed methodology is based on the well-known Task Priority Inverse Kinematics (TPIK) framework, which also enables the possibility to handle inequality constraints. Additionally, a perception system, able to accurately understanding and managing the surrounding environment, is hereby presented. Finally, the preliminary results, supporting the proposed control strategy and the perception architecture, are presented and motivated in detail.

Advanced Underwater Manipulation Systems: An Overview of the SUONO Project / Topini E.; Bucci A.; Gelli J.; Topini A.; Ridolfi A.; Allotta B.. - ELETTRONICO. - 2021-September:(2021), pp. 1-7. (Intervento presentato al convegno OCEANS 2021: San Diego – Porto tenutosi a San Diego, USA nel 20-23 settembre 2021) [10.23919/OCEANS44145.2021.9706110].

Advanced Underwater Manipulation Systems: An Overview of the SUONO Project

Topini E.
;
Bucci A.;Gelli J.;Topini A.;Ridolfi A.;Allotta B.
2021

Abstract

In the last decades, the demanded tasks for subsea operations have become more and more challenging as, for instance, intervention, maintenance and repair of seabed installations. These activities are becoming more typical for the underwater offshore industry, search-and-rescue operations, or underwater scientific missions. Motivated by these considerations, this paper presents an overview of the Italian SUONO (Safe Underwater Operations iN Oceans) project, which involves the Department of Industrial Engineering (DIEF) of the University of Florence, a node of the Italian Research Center on Integrated System for the Marine Environment (ISME), Italy, and four other Italian partners, from Academia as well as Industry. More in detail, the SUONO project aims to integrate technologies and methodologies to enable the development of autonomous underwater robotic systems employable for intervention activities as, for instance, a free-floating manipulation task on a subsea panel. As a result, the whole control strategy must also consider all of a series of different objectives, starting from operational to safety aspects. Examples of such goals are reaching the desired end-effector pose and keeping the robotic arm joints far from the physical limits. The proposed methodology is based on the well-known Task Priority Inverse Kinematics (TPIK) framework, which also enables the possibility to handle inequality constraints. Additionally, a perception system, able to accurately understanding and managing the surrounding environment, is hereby presented. Finally, the preliminary results, supporting the proposed control strategy and the perception architecture, are presented and motivated in detail.
2021
Oceans Conference Record (IEEE) - OCEANS 2021: San Diego – Porto
OCEANS 2021: San Diego – Porto
San Diego, USA
20-23 settembre 2021
Goal 9: Industry, Innovation, and Infrastructure
Topini E.; Bucci A.; Gelli J.; Topini A.; Ridolfi A.; Allotta B.
File in questo prodotto:
File Dimensione Formato  
Advanced_Underwater_Manipulation_Systems_an_Overview_of_the_SUONO_Project.pdf

Accesso chiuso

Descrizione: Articolo principale
Tipologia: Pdf editoriale (Version of record)
Licenza: Tutti i diritti riservati
Dimensione 918.55 kB
Formato Adobe PDF
918.55 kB Adobe PDF   Richiedi una copia

I documenti in FLORE sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificatore per citare o creare un link a questa risorsa: https://hdl.handle.net/2158/1280628
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 3
  • ???jsp.display-item.citation.isi??? 0
social impact