Pose-based and velocity-based approaches to autonomous inspection of subsea structures

Francesco Maurelli; Tom Larkworthy; David Lane; George C. Karras; Charalampos P. Bechlioulis; Kostas J. Kyriakopoulos

Pose-based and velocity-based approaches to autonomous inspection of subsea structures

Francesco Maurelli, Tom Larkworthy, David Lane, George C. Karras, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

This paper has presented approaches towards the problem of underwater autonomous structure inspection. It has analysed several approaches for the acoustic sensor analysis, showing advantages and disadvantages according to the type of environment. Two control strategies has been presented and analysed. One is velocity-based, the second one is pose-based. Finally, experimental results were presented, showing the results of tests at the Wave Tank, in Heriot-Watt University and the CMRE Waterfront. The achieved results showed robustness in presence of disturbances, like waves and currents.

Original language	English (US)
State	Published - 2013
Event	OCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common - San Diego, CA, United States Duration: Sep 23 2013 → Sep 26 2013

Conference

Conference	OCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common
Country/Territory	United States
City	San Diego, CA
Period	9/23/13 → 9/26/13

ASJC Scopus subject areas

Ocean Engineering

Cite this

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title = "Pose-based and velocity-based approaches to autonomous inspection of subsea structures",

abstract = "This paper has presented approaches towards the problem of underwater autonomous structure inspection. It has analysed several approaches for the acoustic sensor analysis, showing advantages and disadvantages according to the type of environment. Two control strategies has been presented and analysed. One is velocity-based, the second one is pose-based. Finally, experimental results were presented, showing the results of tests at the Wave Tank, in Heriot-Watt University and the CMRE Waterfront. The achieved results showed robustness in presence of disturbances, like waves and currents.",

author = "Francesco Maurelli and Tom Larkworthy and David Lane and Karras, {George C.} and Bechlioulis, {Charalampos P.} and Kyriakopoulos, {Kostas J.}",

year = "2013",

language = "English (US)",

note = "OCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common ; Conference date: 23-09-2013 Through 26-09-2013",

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T1 - Pose-based and velocity-based approaches to autonomous inspection of subsea structures

AU - Maurelli, Francesco

AU - Larkworthy, Tom

AU - Lane, David

AU - Karras, George C.

AU - Bechlioulis, Charalampos P.

AU - Kyriakopoulos, Kostas J.

PY - 2013

Y1 - 2013

N2 - This paper has presented approaches towards the problem of underwater autonomous structure inspection. It has analysed several approaches for the acoustic sensor analysis, showing advantages and disadvantages according to the type of environment. Two control strategies has been presented and analysed. One is velocity-based, the second one is pose-based. Finally, experimental results were presented, showing the results of tests at the Wave Tank, in Heriot-Watt University and the CMRE Waterfront. The achieved results showed robustness in presence of disturbances, like waves and currents.

AB - This paper has presented approaches towards the problem of underwater autonomous structure inspection. It has analysed several approaches for the acoustic sensor analysis, showing advantages and disadvantages according to the type of environment. Two control strategies has been presented and analysed. One is velocity-based, the second one is pose-based. Finally, experimental results were presented, showing the results of tests at the Wave Tank, in Heriot-Watt University and the CMRE Waterfront. The achieved results showed robustness in presence of disturbances, like waves and currents.

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UR - http://www.scopus.com/inward/citedby.url?scp=84896332510&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:84896332510

T2 - OCEANS 2013 MTS/IEEE San Diego Conference: An Ocean in Common

Y2 - 23 September 2013 through 26 September 2013

ER -

Pose-based and velocity-based approaches to autonomous inspection of subsea structures

Abstract

Conference

ASJC Scopus subject areas

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