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I-AUV Docking and Panel Intervention at Sea.

Narcís Palomeras1, Antonio Peñalver2, Miquel Massot-Campos3

  • 1Centre d'Investigació en Robótica Submarina (CIRS), Computer Vision and Robotics Institute, Universitat de Girona, Girona 17071, Spain. npalomer@eia.udg.edu.

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Summary
This summary is machine-generated.

A new lightweight intervention autonomous underwater vehicle (I-AUV) successfully performed autonomous docking and intervention tasks, reducing costs and simplifying underwater structures.

Keywords:
autonomous underwater vehiclesfield roboticsmanipulationunderwater intervention

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Area of Science:

  • Robotics
  • Ocean Engineering
  • Marine Technology

Background:

  • Autonomous underwater vehicles (AUVs) are increasingly used for routine surveys.
  • Intervention tasks traditionally require manned submersibles or heavy remotely operated vehicles (ROVs).
  • Existing underwater structures require significant adaptation for intervention tasks.

Purpose of the Study:

  • To propose a lightweight intervention AUV (I-AUV) for intervention applications.
  • To reduce operational costs and simplify underwater structure adaptation.
  • To demonstrate the feasibility of autonomous intervention using an I-AUV.

Main Methods:

  • Development and utilization of the Girona 500 I-AUV.
  • Design of an adapted subsea panel with a funnel-based docking system.
  • Autonomous docking, valve turning, and connector manipulation by the I-AUV.

Main Results:

  • Successful autonomous docking of the Girona 500 I-AUV into the adapted subsea panel.
  • Demonstrated autonomous intervention capabilities, including valve operation and connector handling.
  • Validation of the system in both controlled water tank environments and open sea conditions.

Conclusions:

  • The proposed I-AUV concept significantly simplifies underwater structure adaptation.
  • The TRITON project successfully demonstrated reduced operational costs for intervention tasks.
  • Lightweight I-AUVs offer a viable alternative for complex subsea intervention applications.