NDLI: The iWROV: the intelligent future

Content Provider	IEEE Xplore Digital Library
Author	Gross, R.
Copyright Year	2005
Description	Author affiliation: Schilling Robotics LLC, Davis, CA, USA (Gross, R.)
Abstract	The introduction of "intelligence" into modern vehicles (such as airplanes, ships, and automobiles) has resulted most often in fully automated, intelligent machines that are supervised by humans, rather than in completely autonomous robotic vehicles. This suggests a similar evolutionary path for machines used in underwater intervention. Although AUVs perform some subsea tasks extremely well, they are limited to a relatively small variety of tasks. WROVs are known for their flexibility and ability to perform a large variety of tasks, but they cannot perform all the tasks easily or well. Bringing some AUV technologies to WROVs will significantly improve productivity without decreasing capability. The most promising technology that currently sets AUVs apart from ROVs is, in fact, intelligence: the ability of an AUV to know where it is, to accurately move long distances, and to use its tools in a coordinated and automatic fashion. This paper discusses techniques for applying intelligence to WROVs and describes some benefits. For example, using intelligence technologies will allow the iWROV to accurately hover, to transit to a different location under automated control, and to provide integrated position control of on-board tools such as manipulators, pan-tilt units, and laser range finders. Like an AUV, the iWROV would be able to follow a path generated from survey information. Unlike an AUV, however, the iWROV could stop at pre-planned locations to perform remote interventions (such as executing automatic manipulator movements) and would be under human observation in case real-time adjustments were needed. An intelligent vehicle needs to sense its environment accurately and use all of the information in a coordinated fashion. The iWROV uses this intelligence to make its tasks safer, easier, and more efficient. This has the obvious benefit of less time in the water and hence less cost for the operator. This paper discusses: the characteristics of an iWROV control system; implementation of intelligent control on the Quest iWROV; typical iWROV tasks; and the future of iWROVs.
Starting Page	645
Ending Page	651
File Size	670389
Page Count	7
File Format	PDF
ISBN	0933957343
DOI	10.1109/OCEANS.2005.1639826
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-09-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Intelligent vehicles Intelligent robots Machine intelligence Remotely operated vehicles Mobile robots Humans Airplanes Marine vehicles Automobiles Robot kinematics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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