Document Type
Report
Publication Title
Link Foundation Ocean Engineering and Instrumentation Fellowship Reports
Abstract
ROVs equipped with robotic manipulators are important for completing offshore exploration and maintenance tasks requiring dexterity at depth, but impart significant operational costs due to the need for direct teleoperation by offshore crew [1]. This also presents barriers to access due to the infrastructure, training, and physical ability requirements for at-sea oceanographic research. Enabling shore-based participants to observe and control robotic sampling processes can reduce these barriers; however, the conventional direct-teleoperation approach is infeasible for remote operators due to the considerable bandwidth limitations and latency inherent in satellite communication. Thus, some degree of ROV autonomy is required to support remote operations [2].
Publication Date
8-2023
Recommended Citation
Phung, Amy, "Enabling in-situ sampling with underwater manipulators by shore-side scientists using a shared autonomy framework and virtual reality" (2023). Link Foundation Ocean Engineering and Instrumentation Fellowship Reports. 34.
https://repository.fit.edu/link_ocean/34
Comments
Link Fellowship 2022-2023