Underwater Vehicle Autonomous Manipulation—Opportunities, Advances and Challenges

doi:10.19423/j.cnki.31-1561/u.2024.06.006

Abstract

Abstract: Since the 21st century, human exploration of marine resources deepens, the increasingly sophisticated manipulation tasks in unstructured underwater environment put forward higher requirements and challenges for submersibles' operational capability. Interacting with the surroundings with robotic arm is a very important manifestation of such capability. However, autonomous underwater manipulation at this stage is yet in its infancy and various underwater intervention missions still rely highly on manual control, which is very likely to lead to inefficiency in continuous operation. Hence, improving the autonomy in underwater vehicle’s manipulation ability is an inevitable trend of marine equipment in the future. Overviews and existing problems of underwater manipulation are introduced in detail in this paper, and the enormous potential of autonomous underwater manipulation in ocean engineering and other fields is illustrated by comparing the limitations of traditional remotely controlled approaches. The current status of autonomous underwater manipulation is systematically reviewed and main limiting factors and challenges that constrain the development of this domain are analyzed, and the key technologies need to be developed towards industry application are pointed out. Finally, prospects for further development of this area in the future are made.

Key words: underwater vehicle, unmanned systems, underwater intervention, autonomous manipulation

摘要： 21世纪以来,随着人类对海洋资源的探索不断加深,水下非结构化环境中日趋精细复杂的操作任务对潜器的作业能力提出了更高要求和挑战。利用机械臂与周围环境实体进行交互是潜器水下作业能力的重要体现,然而,当前水下自主操作技术尚处于起步阶段,各类干预任务过度依赖人员控制,在连续作业时效率低下,故提高水下作业操作的自主程度是未来海洋装备发展的必然趋势。该文详细介绍了目前水下作业操作技术的发展概况与存在问题,通过对比传统遥控操作手段的局限说明水下机器人自主操作在海洋工程等领域的巨大潜力;综述了水下机器人自主操作技术的研究现状,分析了制约该技术发展的若干因素与挑战,并指明水下机器人自主操作向工程化应用所需突破的关键核心技术;最后,对该领域今后的发展方向作出展望。

关键词: 水下机器人, 无人系统, 水下干预, 自主操作

CLC Number:

TP242.2

XU Minghao, SIMA Can, ZHU Zhong, NI Tian, WU Haibo, GUO Jia, WU Yu. Underwater Vehicle Autonomous Manipulation—Opportunities, Advances and Challenges[J]. Ship & Boat, 2024, 35(06): 60-80.

徐明浩, 司马灿, 朱忠, 倪天, 吴海波, 郭佳, 吴雨. 水下机器人自主操作——机遇、进展与挑战[J]. 船舶, 2024, 35(06): 60-80.

References

[1] 中国学科及前沿领域发展战略研究项目组. 中国海洋科学2035发展战略[M]. 北京:科学出版社,2021.
[2] 黄明泉,徐景平,施林炜. ROV在海洋油气田开发中的应用及展望[J].海洋地质前沿,2021,37(2): 77-84.
[3] BOWEN A D,YOERGER D R,WHITCOMB L L,et al.Exploring the deepest depths: preliminary design of a novel light-tethered hybrid ROV for global science in extreme environments[J]. Marine Technology Society Journal,2004,38(2): 92-101.
[4] BRUNO F,MUZZUPAZZA M,LAGUDI A,et al.A ROV for supporting the planned maintenance in underwater archaeological sites[C]//Oceans 2015-Genova. New York:IEEE,2015: 1-7.
[5] 李道亮,包建华. 水产养殖水下作业机器人关键技术研究进展[J]. 农业工程学报,2018,34(16): 1-9.
[6] 张奇峰. 遥控水下机器人及作业技术[M]. 北京:科学出版社,2020.
[7] BOGUE R.Underwater robots: a review of technologies and applications[J]. Industrial Robot: An International Journal,2015,42(3): 186-191.
[8] PHOEL W C. A comparison of the lost hydrogen bomb (1966) and TWA flight 800 (1996) search and recovery operations and technologies[M]. New York:Springer US,1998.
[9] 曾亚骏,马辰. ROV技术在海洋工程建设中的应用[J]. 中国石油和化工标准与质量,2021,41(4): 193-195.
[10] 朱忠,杨立华,司马灿. 美俄水下载人探测作业装备发展[J]. 中国造船,2019,60(2): 217-226.
[11] BRUNO F,LAGUDI A,BARBIERI L,et al.Augmented reality visualization of scene depth for aiding ROV pilots in underwater manipulation[J]. Ocean Engineering,2018,168: 140-154.
[12] FERREIRA F,KVASIC I,NAD Đ,et al.Diver‐robot communication using wearable sensing: remote pool experiments[J]. Marine Technology Society Journal,2022,56(5): 26-35.
[13] Career guide:ROV pilot technician[EB/OL]. (2020-01-15)[2024-7-14]. https://www.utmconsultants.com/news/career-guide-rov-pilot-technician/40675.
[14] MARANI G,YUH J.Introduction to autonomous manipulation—case study with an underwater robot,SAUVIM[M]. New York: Springer US,2014.
[15] WANG H H,ROCK S M,LEE M J.OTTER: The design and development of an intelligent underwater robot[J]. Autonomous Robots,1996,3: 297-320.
[16] WANG H H,ROCK S M,LEES M J.Experiments in automatic retrieval of underwater objects with an AUV[C]//‘Challenges of Our Changing Global Environment’. Conference Proceedings. OCEANS’ 95 MTS/IEEE. New York:IEEE,1995,1:366-373.
[17] LANE D,DAVIES J,CASALINO G,et al.AMADEUS: advanced manipulation for deep underwater sampling[J]. IEEE Robotics & Automation Magazine,1997,4(4): 34-45.
[18] CASALINO G,ANGELETTI D,BOZZO T,et al.Dexterous underwater object manipulation via multi-robot cooperating systems[C]//Proceedings in IEEE International Conference on Robotics and Automation. New York:IEEE,2001,4:3220-3225.
[19] EVANS J,REDMOND P,PLAKAS C,et al.Autonomous docking for Intervention- AUVs using sonar and video-based real-time 3D pose estimation[J]. OCEANS,2003,4:2201-2210.
[20] MARANI G,CHOI S K,YUH J.Underwater autonomous manipulation for intervention missions AUVs[J]. Ocean Engineering,2009,36(1):15-23.
[21] SANZ P J,RIDIO P,OLIVER G,et al.TRIDENT: a framework for autonomous underwater intervention missions with dexterous manipulation capabilities[J]. IFAC Proceedings Volumes,2010,43(16): 187-192.
[22] LANE D M,MAURELLI F,LARKWORTHY T,et al.PANDORA: persistent autonomy through learning,adaptation,cbservation and re-planning[J]. IFAC Proceedings Volumes,2012,45(5): 367-372.
[23] PALOMERAS N,PENALVER A,MASSOT-CAMPOS M,et al.I-AUV docking and intervention in a subsea panel[C]//2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. New York: IEEE,2014: 2279-2285.
[24] RIBAS D,PALOMERAS N,RIDAO P,et al.Girona 500 AUV: from survey to intervention[J]. IEEE/ASME Transactions on Mechatronics,2011,17(1): 46-53.
[25] SANTOS L,SALES J,SANZ P J,et al.Cognitive skills models: towards increasing autonomy in underwater intervention missions[C]//Proc. 2013 International Conference on Intelligent Robots and Systems,2013: 1-6.
[26] CASALINO G,CACCIA M,CASELLI S,et al.Underwater intervention robotics: an outline of the Italian national project MARIS[J]. Marine Technology Society Journal,2016,50(4): 98-107.
[27] SIMETTI E,WANDERLINGH F,TORELLI S,et al.Autonomous underwater intervention: experimental results of the MARIS project[J]. IEEE Journal of Oceanic Engineering,2017,43(3): 620-639.
[28] SIVCEV S,ROSSI M,COLEMAN J,et al.Fully automatic visual servoing control for work-class marine intervention ROVs[J]. Control Engineering Practice,2018,74: 153-167.
[29] BILLINGS G.Visual methods towards autonomous underwater manipulation[D]. Ann Arbor:University of Michigan,2022.
[30] CAI M,WANG Y,WANG S,et al.Grasping marine products with hybrid-driven underwater vehicle-manipulator system[J]. IEEE Transactions on Automation Science and Engineering,2020,17(3): 1443-1454.
[31] TANG C,WANG Y,WANG S,et al.Floating autonomous manipulation of the underwater biomimetic vehicle-manipulator system: methodology and verification[J]. IEEE Transactions on Industrial Electronics,2017,65(6): 4861-4870.
[32] CAI M,WANG S,WANG Y,et al.Coordinated control of underwater biomimetic vehicle manipulator system for free floating autonomous manipulation[J]. IEEE Transactions on Systems,Man,and Cybernetics: Systems,2019,51(8): 4793-4803.
[33] LIU J,SONG Z,LU Y,et al.An underwater robotic system with a soft continuum manipulator for autonomous aquatic grasping[J]. IEEE/ASME Transactions on Mechatronics,2023,29(2): 1007-1018.
[34] LIU J,IACOPONI S,LASCHI C,et al.Underwater mobile manipulation: a soft arm on a benthic legged robot[J]. IEEE Robotics & Automation Magazine,2020,27(4): 12-26.
[35] ANGELETTI D,CANNATA G,CASALINO G.The control architecture of the AMADEUS gripper[J]. International Journal of Systems Science,1998,29(5): 485-496.
[36] SIMETTI E,CASALINO G,TORELLI S,et al.Floating underwater manipulation: developed control methodology and experimental validation within the TRIDENT project[J]. Journal of Field Robotics, 2014,31: 364-385.
[37] CIESLAK P,RIDAO P,GIERGIEL M.Autonomous underwater panel operation by GIRONA500 UVMS: a practical approach to autonomous underwater manipulation[C]//2015 IEEE International Conference on Robotics and Automation (ICRA). New York:IEEE,2015: 529-536.
[38] PI R,CIESLAK P,RIDAO P,et al.TWINBOT: autonomous underwater cooperative transportation[J]. IEEE Access,2021,9: 37668-37684.
[39] RIZZINI D L,KALLASI F,ALEOTTI J,et al.Integration of a stereo vision system into an autonomous underwater vehicle for pipe manipulation tasks[J]. Computers and Electrical Engineering,2017,58: 560-571.
[40] CATALDI E,CHIAVERINI S,ANTONELLI G.Cooperative object transportation by two underwater vehicle-manipulator systems[C]// 2018 26th Mediterranean Conference on Control and Automation (MED),2018,161-166.
[41] DI LILLO P,SIMETTI E,WANDERLINGH F,et al.Underwater intervention with remote supervision via satellite communication:developed control architecture and experimental results within the dexrov project[J]. IEEE Transactions on Control Systems Technology,2020,29(1): 108-123.
[42] GANCET J,WEISS P,ANTONELLI G,et al.Dexterous undersea interventions with far distance onshore supervision: the DexROV project[J]. IFAC-PapersOnLine,2016,49(23): 414-419.
[43] SARTORE C,CAMPOS R,QUINTANA J,et al.Control and perception framework for deep sea mining exploration[C]//2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). New York:IEEE,2019: 6348-6353.
[44] TRANSETH A,SCHJOLBERG I,LEKKAS A M,et al.Autonomous subsea intervention (SEAVENTION)[J]. IFAC-PapersOnLine,2022,55(31): 387-394.
[45] TOPINI E,BUCCI A,GELLI J,et al.Advanced underwater manipulation systems: an overview of the SUONO project[C]// OCEANS 2021: San Diego-Porto,2021: 1-7.
[46] 史晓佳,张福民,曲兴华. KUKA工业机器人位姿测量与在线误差补偿[J]. 机械工程学报,2017,53(8): 1-7.
[47] 牛嘉祥,胡玉茜,吴志红. 空间站舱段或目标航天器自主捕获及转位方案[J]. 航天器工程,2023,32(5): 49-55.
[48] HAUGALØKKEN B O A, SKALDEBØ M B, SCHJØLBERG I. Monocular vision-based gripping of objects[J]. Robotics and Autonomous Systems, 2020, 131:103589.
[49] HUANG H,TANG Q,LI J,et al.A review on underwater autonomous environmental perception and target grasp,the challenge of robotic organism capture[J]. Ocean Engineering,2020,195:106644.
[50] 涂绍平,朱迎谷,项立扬,等. 4000m深海科考重型ROV成套系统设计及应用[J]. 控制与信息技术,2023(6):16-23.
[51] 蔡自兴,谢斌. 机器人学[M]. 北京:清华大学出版社,2014.
[52] ZHANG Q,ZHANG A.Research on coordinated motion of an autonomous underwater vehicle-manipulator system[J]. The Ocean Engineering,2006,24(3): 79-84.
[53] SOYLU S,BUCKHAM B J,PODHORODESKI R P.Redundancy resolution for underwater mobile manipulators[J]. Ocean Engineering,2010,37:325-343.
[54] SIMETTI E,CASALINO G,WANDERLINGH F,et al.Task priority control of underwater intervention systems: theory and applications[J]. Ocean Enginee-ring,2018,164(9): 40-54.
[55] SCHOLBERG I.Modeling and control of underwater vehicle-manipulator systems[C]// Proceeding of the 3rd Conference on Marine Craft Maneuvering and Control,Southampton,UK,1994. 45-57.
[56] SARKAR N,PODDER T K.Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization[J]. IEEE Journal of Oceanic Engineering,2001,26(2): 228-239.
[57] ZHENG X,XU W,DAI H,et al.A coordinated trajectory tracking method with active utilization of drag for underwater vehicle manipulator systems[J]. Ocean Engineering,2024,30: 1-12.
[58] OLIVEIRA L D,ORSINO R M,DONHA D.Modular modeling and coordination control scheme for an underwater cooperative transportation performed by two I-AUVs[J]. Control Engineering Practice,2022,125: 105198.
[59] YU F,ZHU Q,CHEN Y.Adaptive fractional-order fast-terminal-type sliding mode control for underwater vehicle-manipulator systems[J]. Journal of Mechanisms and Robotics,2023,15(6): 064501.
[60] DAI P,LU W,LE K,et al.Sliding mode impedance control for contact intervention of an I-AUV: simulation and experimental validation[J]. Ocean Engineering,2020,196: 1-11.
[61] LI J,HUANG H,WAN L,et al.Hybrid strategy-based coordinate controller for an underwater vehicle manipulator system using nonlinear disturbance observer[J]. Robotica,2019,37(10): 1710-1731.
[62] WANG Y,LI S,TIAN Q,et al.An adaptive control method with disturbance estimation for underwater manipulation[J]. Journal of Marine Science and Engineering,2023,11(6): 1113.
[63] OLIVEIRA É L,ORSINO R M M,DONHA D C. Disturbance-observer-based model predictive control of underwater vehicle manipulator systems[J]. IFAC-Papersonline,2021,54(16): 348-355.
[64] CAI M,WANG Y,WANG S,et al.Autonomous manipulation of an underwater vehicle-manipulator system by a composite control scheme with disturbance estimation[J]. IEEE Transactions on Automation Science and Engineering,2023,21(1): 1012-1022.
[65] CARLUCHO I,STEPHENS D W,BARBALATA C.An adaptive data-driven controller for underwater manipulators with variable payload[J]. Applied Ocean Research,2021,113: 1-17.