An Intelligent Robotic System for Underwater Structure Maintenance

Funding: 2016: $142,500
2017: $152,500
2018: $75,000
2015: $65,000

Project Member(s): Liu, D., Dissanayake, G., Huang, S., Waldron, K.

Funding or Partner Organisation: Australian Research Council (ARC Linkage Projects)
Roads and Maritime Services (formerly known as RTA) (Roads and Maritime Services)

Start year: 2015

Summary: This project aims to build a theoretical and experimental foundation for developing robots for underwater structure maintenance in near surface and tidal environments where water current and wave action can be strong. A novel intelligent robotic system with multiple arms will be developed. The project will address research challenges associated with perception, localisation, mapping and control, and develop methodologies that enable the realisation of such robotic systems. The outcomes will have immediate significant impacts on marine robotics research and its industrial applications, on improving productivity, and on reducing the associated occupational health and safety risks by eliminating humans working in such hazardous environments.

Publications:

Dai, P, Lu, W, Le, K & Liu, D 2020, 'Sliding Mode Impedance Control for contact intervention of an I-AUV: Simulation and experimental validation', Ocean Engineering, vol. 196, pp. 106855-106855.
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Dai, P, Lu, W, Le, K & Liu, D 2020, 'Sliding Mode Impedance Control for contact intervention of an I-AUV: Simulation and experimental validation', Ocean Engineering, vol. 196.

Liu, L, Zhang, T, Liu, Y, Leighton, B, Zhao, L, Huang, S & Dissanayake, G 1970, 'Parallax Bundle Adjustment on Manifold with Improved Global Initialization', Springer Proceedings in Advanced Robotics (SPAR), International Workshop on the Algorithmic Foundations of Robotics, Springer International Publishing, Mérida, México, pp. 621-638.
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Woolfrey, J, Lu, W & Liu, D 2019, 'A Control Method for Joint Torque Minimization of Redundant Manipulators Handling Large External Forces', Journal of Intelligent & Robotic Systems, vol. 96, no. 1, pp. 3-16.
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Hassan, M, Liu, D & Paul, G 2018, 'Collaboration of Multiple Autonomous Industrial Robots through Optimal Base Placements', Journal of Intelligent & Robotic Systems, vol. 90, no. 1-2, pp. 113-132.
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Hassan, M & Liu, D 1970, 'A Deformable Spiral Based Algorithm to Smooth Coverage Path Planning for Marine Growth Removal', 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Madrid, Spain, pp. 1913-1918.
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Lu, W & Liu, D 1970, 'A Frequency-Limited Adaptive Controller for Underwater Vehicle-Manipulator Systems Under Large Wave Disturbances', 2018 13th World Congress on Intelligent Control and Automation (WCICA), 2018 13th World Congress on Intelligent Control and Automation (WCICA), IEEE, Changsha, China, pp. 246-251.
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Wang, T, Lu, W & Liu, D 1970, 'A Case Study: Modeling of A Passive Flexible Link on A Floating Platform for Intervention Tasks', 2018 13th World Congress on Intelligent Control and Automation (WCICA), 2018 13th World Congress on Intelligent Control and Automation (WCICA), IEEE, Changsha, China, pp. 187-193.
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Wang, T, Lu, W & Liu, D 1970, 'Excessive disturbance rejection control of autonomous underwater vehicle using reinforcement learning', Australasian Conference on Robotics and Automation, ACRA, 2018 Australasian Conference on Robotics and Automation, Lincoln, New Zealand.

Hassan, M, Liu, D & Paul, G 1970, 'Modeling and stochastic optimization of complete coverage under uncertainties in multi-robot base placements', 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Daejeon, Korea, pp. 2978-2984.
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Woolfrey, J, Liu, D & Carmichael, M 1970, 'Kinematic control of an Autonomous Underwater Vehicle-Manipulator System (AUVMS) using autoregressive prediction of vehicle motion and Model Predictive Control', 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Stockholm, Sweden, pp. 4591-4596.
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Zhang, T, Huang, S, Liu, D, Shi, L, Zhou, C & Xiong, R 1970, 'A method of state estimation for underwater vehicle navigation around a cylindrical structure', 2016 IEEE 11th Conference on Industrial Electronics and Applications (ICIEA), 2016 IEEE 11th Conference on Industrial Electronics and Applications (ICIEA), IEEE, Hefei, China, pp. 101-106.
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Keywords: Robotic systems, infrastructure maintenance

FOR Codes: Road Infrastructure and Networks, Machinery and Equipment not elsewhere classified, Rail Infrastructure and Networks, Transport Engineering, Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics), Manufacturing robotics, Ground transport, Machinery and equipment

Acknowledgement of Country

UTS acknowledges the Gadigal people of the Eora Nation, the Boorooberongal people of the Dharug Nation, the Bidiagal people and the Gamaygal people, upon whose ancestral lands our university stands. We would also like to pay respect to the Elders both past and present, acknowledging them as the traditional custodians of knowledge for these lands.