Related Experiment Video
Updated: Dec 22, 2025
11:53
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
12.1K
Flexible robotic teleoperation architecture for intelligent oil fields.
Gustavo Caiza1, Carlos A Garcia2, Jose E Naranjo2
1Electronic Engineering, Universidad Politecnica Salesiana (UPS), 170146, Quito, Ecuador.
Heliyon
|May 7, 2020
Summary
Teleoperation systems enable remote robot control for hazardous environments like oil and gas facilities. This study developed a scalable teleoperation scheme for robot-assisted inspection and maintenance, reducing human exposure to risks.
Area of Science:
- Robotics and Automation
- Remote Operations
- Industrial Safety
Background:
- Teleoperation platforms facilitate remote control of machinery, enabling human operators to perform tasks in distant or hazardous locations.
- Oil and gas well-pads are high-risk environments due to hazardous chemicals, necessitating remote solutions to minimize human exposure.
- Existing teleoperation systems often lack scalability and employ heavy communication protocols, limiting their widespread adoption.
Purpose of the Study:
- To develop a base teleoperation scheme for inspection and maintenance tasks within hazardous hydrocarbon facilities.
- To create an easily scalable teleoperation solution utilizing distributed control and lightweight communication protocols.
- To enable remote manipulation of a KUKA mobile manipulator for on-site operations.
Main Methods:
- Development of a generic teleoperation control scheme.
- Implementation of a lightweight communication protocol for remote robot manipulation.
- Utilizing a KUKA YouBOT mobile manipulator for physical system testing.
- Involving qualified station operators in the validation process.
Main Results:
- Successful development of fundamental control and communication functions for the teleoperation system.
- Demonstration of the system's capability to remotely control a KUKA YouBOT mobile manipulator.
- Validation of the teleoperation scheme through physical testing in a simulated hazardous environment.
Conclusions:
- The developed teleoperation scheme provides a foundation for scalable remote operations in hazardous industrial settings.
- Lightweight protocols and distributed control are effective for remotely managing mobile manipulators in complex environments.
- The system shows promise for enhancing safety and efficiency in oil and gas facility maintenance and inspection.
Related Concept Videos
01:24One-Degree-of-Freedom System
731
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
731
01:22Controller Configurations
296
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
296
01:06Virtual Work for a System of Connected Rigid Bodies
659
Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
Next,...
Next,...
659
01:17Open and closed-loop control systems
1.5K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.5K
01:30Three-Dimensional Force System:Problem Solving
1.3K
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
1.3K
01:22Mechanical Systems
509
Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
509