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Related Concept Videos

Types Of Collisions - I01:04

Types Of Collisions - I

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When two objects come in direct contact with each other, it is called a collision. During a collision, two or more objects exert forces on each other in a relatively short amount of time. A collision can be categorized as either an elastic or inelastic collision. If two or more objects approach each other, collide and then bounce off, moving away from each other with the same relative speed at which they approached each other, the total kinetic energy of the system is said to be conserved. This...
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Types of Collisions - II01:19

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When two or more objects collide with each other, they can stick together to form one single composite object (after collision). The total mass of the object after the collision is the sum of the masses of the original objects, and it moves with a velocity dictated by the conservation of momentum. Although the system's total momentum remains constant, the kinetic energy decreases, and thus such a collision is an inelastic collision. Most of the collisions between objects in daily life are...
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The ideal-gas equation, which is empirical, describes the behavior of gases by establishing relationships between their macroscopic properties. For example, Charles’ law states that volume and temperature are directly related. Gases, therefore, expand when heated at constant pressure. Although gas laws explain how the macroscopic properties change relative to one another, it does not explain the rationale behind it.
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Elastic Collisions: Introduction01:00

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An elastic collision is one that conserves both internal kinetic energy and momentum. Internal kinetic energy is the sum of the kinetic energies of the objects in a system. Truly elastic collisions can only be achieved with subatomic particles, such as electrons striking nuclei. Macroscopic collisions can be very nearly, but not quite, elastic, as some kinetic energy is always converted into other forms of energy such as heat transfer due to friction and sound. An example of a nearly...
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Elastic Collisions: Case Study01:15

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Elastic collision of a system demands conservation of both momentum and kinetic energy. To solve problems involving one-dimensional elastic collisions between two objects, the equations for conservation of momentum and conservation of internal kinetic energy can be used. For the two objects, the sum of momentum before the collision equals the total momentum after the collision. An elastic collision conserves internal kinetic energy, and so the sum of kinetic energies before the collision equals...
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Collisions in Multiple Dimensions: Introduction01:05

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It is far more common for collisions to occur in two dimensions; that is, the initial velocity vectors are neither parallel nor antiparallel to each other. Let's see what complications arise from this. The first idea is that momentum is a vector. Like all vectors, it can be expressed as a sum of perpendicular components (usually, though not always, an x-component and a y-component, and a z-component if necessary). Thus, when the statement of conservation of momentum is written for a...
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Collision Detection for Underwater ROV Manipulator Systems.

Satja Sivčev1,2, Matija Rossi3,4, Joseph Coleman5,6

  • 1MaREI - Marine and Renewable Energy Ireland, Cork, Ireland. satja.sivcev@ul.ie.

Sensors (Basel, Switzerland)
|April 13, 2018
PubMed
Summary

This study introduces a real-time collision detection algorithm for Remotely Operated Vehicle (ROV) manipulators. This system helps prevent costly damage during subsea operations by alerting pilots to potential collisions.

Keywords:
ROVcollision avoidancecollision detectioncollision sensingmanipulator controlmarine roboticsrobot armsubsea inspection and interventionunderwater manipulation

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Area of Science:

  • Marine robotics
  • Underwater intervention
  • Robotic control systems

Background:

  • Work-class Remotely Operated Vehicles (ROVs) are crucial for subsea intervention.
  • Teleoperation of ROV manipulators relies on limited visual feedback, increasing collision risks.
  • Collisions can cause significant damage to equipment and subsea infrastructure.

Purpose of the Study:

  • To develop and evaluate a real-time collision detection algorithm for marine robotic manipulators.
  • To enhance the safety and efficiency of subsea intervention operations.
  • To provide a pilot-assisting tool for underwater manipulation tasks.

Main Methods:

  • Development of a novel real-time collision detection algorithm.
  • Integration of the algorithm into a commercial ROV manipulator control system.
  • Validation through simulations and experimental testing with an industry-standard underwater manipulator.

Main Results:

  • Successful implementation and evaluation of the real-time collision detection algorithm.
  • Demonstrated effectiveness in preventing simulated and experimental collisions.
  • The system functions as a pilot-assisting tool, reducing operational risks.

Conclusions:

  • The developed collision detection algorithm is effective for marine robotic manipulation.
  • This solution has the potential to significantly reduce task load, operational time, and costs.
  • It can improve the safety and reliability of subsea inspection, repair, and maintenance operations.