Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation
This paper proposes a kinematic model and an inertial localization system architecture for a riser inspecting robot. The robot scrolls outside the catenary riser, used for underwater petroleum exploration, and is designed to perform several nondestructive tests. It can also be used to reconstruct th...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2012-01-01
|
| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2012/638394 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832552221384900608 |
|---|---|
| author | Luciano Luporini Menegaldo Stefano Panzieri Cassiano Neves |
| author_facet | Luciano Luporini Menegaldo Stefano Panzieri Cassiano Neves |
| author_sort | Luciano Luporini Menegaldo |
| collection | DOAJ |
| description | This paper proposes a kinematic model and an inertial localization system architecture
for a riser inspecting robot. The robot scrolls outside the catenary riser, used for underwater
petroleum exploration, and is designed to perform several nondestructive tests. It
can also be used to reconstruct the riser profile. Here, a realistic simulation model of robot
kinematics and its environment is proposed, using different sources of data: oil platform
characteristics, riser static configuration, sea currents and waves, vortex-induced vibrations,
and instrumentation model. A dynamic finite element model of the riser generates
a nominal riser profile. When the robot kinematic model virtually scrolls the simulated
riser profile, a robot kinematic pattern is calculated. This pattern feeds error models of a
strapdown inertial measurement unit (IMU) and of a depth sensor. A Kalman filter fuses
the simulated accelerometers data with simulated external measurements. Along the riser
vertical part, the estimated localization error between the simulated nominal and Kalman
filter reconstructed robot paths was about 2 m. When the robot model approaches the
seabed it assumes a more horizontal trajectory and the localization error increases significantly. |
| format | Article |
| id | doaj-art-4abc608ba4974b098c0ddb25a3daadcc |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-4abc608ba4974b098c0ddb25a3daadcc2025-02-03T05:59:15ZengWileyJournal of Robotics1687-96001687-96192012-01-01201210.1155/2012/638394638394Reconstruction of Riser Profiles by an Underwater Robot Using Inertial NavigationLuciano Luporini Menegaldo0Stefano Panzieri1Cassiano Neves2Biomedical Engineering Program (PEB/COPPE), The Alberto Luiz Coimbra Institute for Graduate Studies and Research in Engineering, Universidade Federal do Rio de Janeiro, Avenida Horacio Macedo 2030, Bloco H-338, 21941-914 Rio de Janeiro, RJ, BrazilDepartment of Informatics and Automation, Universita Roma Tre, Via della Vasca Navale, 79, I 00146 Roma, ItalySubsin Engineering, Rua Beneditinos, 16, 12th floor, 20081-050 Rio de Janeiro, RJ, BrazilThis paper proposes a kinematic model and an inertial localization system architecture for a riser inspecting robot. The robot scrolls outside the catenary riser, used for underwater petroleum exploration, and is designed to perform several nondestructive tests. It can also be used to reconstruct the riser profile. Here, a realistic simulation model of robot kinematics and its environment is proposed, using different sources of data: oil platform characteristics, riser static configuration, sea currents and waves, vortex-induced vibrations, and instrumentation model. A dynamic finite element model of the riser generates a nominal riser profile. When the robot kinematic model virtually scrolls the simulated riser profile, a robot kinematic pattern is calculated. This pattern feeds error models of a strapdown inertial measurement unit (IMU) and of a depth sensor. A Kalman filter fuses the simulated accelerometers data with simulated external measurements. Along the riser vertical part, the estimated localization error between the simulated nominal and Kalman filter reconstructed robot paths was about 2 m. When the robot model approaches the seabed it assumes a more horizontal trajectory and the localization error increases significantly.http://dx.doi.org/10.1155/2012/638394 |
| spellingShingle | Luciano Luporini Menegaldo Stefano Panzieri Cassiano Neves Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation Journal of Robotics |
| title | Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation |
| title_full | Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation |
| title_fullStr | Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation |
| title_full_unstemmed | Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation |
| title_short | Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation |
| title_sort | reconstruction of riser profiles by an underwater robot using inertial navigation |
| url | http://dx.doi.org/10.1155/2012/638394 |
| work_keys_str_mv | AT lucianoluporinimenegaldo reconstructionofriserprofilesbyanunderwaterrobotusinginertialnavigation AT stefanopanzieri reconstructionofriserprofilesbyanunderwaterrobotusinginertialnavigation AT cassianoneves reconstructionofriserprofilesbyanunderwaterrobotusinginertialnavigation |