Ammar K. Al Mhdawi, N. Wright, S. Benson, M. Haroutunian
{"title":"CART-II:具有软检测能力的水下核探测船避碰机器人系绳的研制","authors":"Ammar K. Al Mhdawi, N. Wright, S. Benson, M. Haroutunian","doi":"10.1109/ICARA56516.2023.10125773","DOIUrl":null,"url":null,"abstract":"In nuclear inspection environments, a tether cable is used to transfer power and data between the underwater robotic system and the surface control unit. During underwater nuclear inspection, the tether cable can become entangled and loop with the environment such as nuclear waste boxes and objects. The risk of colliding with underwater objects is increased by the presence of more inspection robots underwater, especially if they are equipped with manipulator arms. As a result of the loops and knots around the cable, the inspection process may be affected and the ROV may not be able to perform its job. The present article is an extended development of the previous Collision Avoidance Robotic Tether (CART-I) model [1]. The CART-I system consists of micro thrusters that are attached to the base unit by a tether cable. The micro thrust unit is capable of generating a small amount of thrust that can move the tether away from obstacles in the water, particularly in restricted spaces. The use of light detection technologies such as IR or LiDAR for obstacle detection is not effective underwater due to the complex motion dynamics of the tether underwater and the size of obstacles, which makes it impossible to provide definite identification of the objects within a given time period. In order to provide the surroundings of the micro thrust units with obstacle detection capability, we have developed an autonomous force soft sensor. Additionally, the soft moulded sealed encase was developed for effective force detection underwater, and was experimentally tested in a water tank to validate our proposed design. Simulation and experimental results of the sensor is provided. The overall goal of the CART-II is to provide a smart autonomous vision of obstacle avoidance using soft force sensing capabilities. This paper presents the full kinematic model and the simulation with finite element analysis of the CART-II system with the hardware and physical implementation of the soft sensor in order to enhance the performance of traditional tether systems.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"CART-II: Development of Collision Avoidance Robotic Tether with Soft Sensing Capabilities for Underwater Nuclear Inspection Vehicles\",\"authors\":\"Ammar K. Al Mhdawi, N. Wright, S. Benson, M. Haroutunian\",\"doi\":\"10.1109/ICARA56516.2023.10125773\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In nuclear inspection environments, a tether cable is used to transfer power and data between the underwater robotic system and the surface control unit. During underwater nuclear inspection, the tether cable can become entangled and loop with the environment such as nuclear waste boxes and objects. The risk of colliding with underwater objects is increased by the presence of more inspection robots underwater, especially if they are equipped with manipulator arms. As a result of the loops and knots around the cable, the inspection process may be affected and the ROV may not be able to perform its job. The present article is an extended development of the previous Collision Avoidance Robotic Tether (CART-I) model [1]. The CART-I system consists of micro thrusters that are attached to the base unit by a tether cable. The micro thrust unit is capable of generating a small amount of thrust that can move the tether away from obstacles in the water, particularly in restricted spaces. The use of light detection technologies such as IR or LiDAR for obstacle detection is not effective underwater due to the complex motion dynamics of the tether underwater and the size of obstacles, which makes it impossible to provide definite identification of the objects within a given time period. In order to provide the surroundings of the micro thrust units with obstacle detection capability, we have developed an autonomous force soft sensor. Additionally, the soft moulded sealed encase was developed for effective force detection underwater, and was experimentally tested in a water tank to validate our proposed design. Simulation and experimental results of the sensor is provided. The overall goal of the CART-II is to provide a smart autonomous vision of obstacle avoidance using soft force sensing capabilities. This paper presents the full kinematic model and the simulation with finite element analysis of the CART-II system with the hardware and physical implementation of the soft sensor in order to enhance the performance of traditional tether systems.\",\"PeriodicalId\":443572,\"journal\":{\"name\":\"2023 9th International Conference on Automation, Robotics and Applications (ICARA)\",\"volume\":\"19 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-02-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2023 9th International Conference on Automation, Robotics and Applications (ICARA)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICARA56516.2023.10125773\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICARA56516.2023.10125773","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
CART-II: Development of Collision Avoidance Robotic Tether with Soft Sensing Capabilities for Underwater Nuclear Inspection Vehicles
In nuclear inspection environments, a tether cable is used to transfer power and data between the underwater robotic system and the surface control unit. During underwater nuclear inspection, the tether cable can become entangled and loop with the environment such as nuclear waste boxes and objects. The risk of colliding with underwater objects is increased by the presence of more inspection robots underwater, especially if they are equipped with manipulator arms. As a result of the loops and knots around the cable, the inspection process may be affected and the ROV may not be able to perform its job. The present article is an extended development of the previous Collision Avoidance Robotic Tether (CART-I) model [1]. The CART-I system consists of micro thrusters that are attached to the base unit by a tether cable. The micro thrust unit is capable of generating a small amount of thrust that can move the tether away from obstacles in the water, particularly in restricted spaces. The use of light detection technologies such as IR or LiDAR for obstacle detection is not effective underwater due to the complex motion dynamics of the tether underwater and the size of obstacles, which makes it impossible to provide definite identification of the objects within a given time period. In order to provide the surroundings of the micro thrust units with obstacle detection capability, we have developed an autonomous force soft sensor. Additionally, the soft moulded sealed encase was developed for effective force detection underwater, and was experimentally tested in a water tank to validate our proposed design. Simulation and experimental results of the sensor is provided. The overall goal of the CART-II is to provide a smart autonomous vision of obstacle avoidance using soft force sensing capabilities. This paper presents the full kinematic model and the simulation with finite element analysis of the CART-II system with the hardware and physical implementation of the soft sensor in order to enhance the performance of traditional tether systems.