Visual Servoing Control of Robotic System for Off-shore Oil and Gas Pipeline Inspection
| dc.contributor.advisor | Chen, Zheng | |
| dc.contributor.committeeMember | Nguyen, Hien Van | |
| dc.contributor.committeeMember | Grigoriadis, Karolos M. | |
| dc.contributor.committeeMember | Franchek, Matthew A. | |
| dc.contributor.committeeMember | Song, Gangbing | |
| dc.creator | Yi, Xiongfeng | |
| dc.date.accessioned | 2022-06-18T00:00:55Z | |
| dc.date.created | December 2021 | |
| dc.date.issued | 2021-12 | |
| dc.date.submitted | December 2021 | |
| dc.date.updated | 2022-06-18T00:00:56Z | |
| dc.description.abstract | Subsea pipelines are essential in off-shore oil and gas transportation. However, recent news has been reported that the leaking problem in Subsea pipelines has caused intensive losses in both the economy and the environment. This research is aimed to integrate the-state-of-art technologies in machine learning, visual servoing, Smart Touch inspection, underwater vehicles, and controls to enable automatic pipeline inspection. More specifically, this research introduces: 1) an optimal visual tracking and prediction algorithm which is robust in the complex environment with obstacles and light reflections; 2) a collision avoidance control for under-actuated robotic fish; 3) an integrated robotic system with a 4-degree-of-freedom (4-DOF) robotic arm that can automatically grab a flange and perform bolt looseness inspection using a pair of lead zirconate titanate (PZT) transducers; 4) a novel angle-based pipeline tracking control for a remotely operated vehicle (ROV) to track an underwater pipeline. In this research, visual detection and prediction, and collision avoidance are used for vision tracking and servoing control of robotic fish. The robotic arm, which can also be regarded as the manipulator for underwater vehicles, is guided by an on-board visual servoing system to achieve automatic Smart Touch pipeline inspection in which deep learning convolutional neural networks and stereo camera systems provide the 3D position of a targeted flange from images. Finally, the visual servoing control for pipeline tracking has been tested on a Blue ROV in a 10 m by 5 m swimming pool. Experimental results have demonstrated that the vehicle can move along the oil pipeline and monitor any failure and leaking problems. | |
| dc.description.department | Mechanical Engineering, Department of | |
| dc.format.digitalOrigin | born digital | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.citation | Portions of this document appear in: Xiongfeng Yi, Furui Wang, Wenyu Zuo, Gangbing Song, and Zheng Chen. Robotics assisted smart-touch pipeline inspection. International Journal of Intelligent Robotics and Applications, 5(3):326–336, 2021; and in: Xiongfeng Yi and Zheng Chen. A robust visual tracking method for unmanned mobile systems. Journal of Dynamic Systems, Measurement, and Control, 141(7), 2019; and in: Xiongfeng Yi, Animesh Chakarvarthy, and Zheng Chen. Cooperative collision avoidance control of servo/ipmc driven robotic fish with back-relaxation effect. IEEE Robotics and Automation Letters, 6(2):1816–1823, 2021; and in: Xiongfeng Yi and Zheng Chen. A robust visual tracking method for unmanned mobile systems. Journal of Dynamic Systems, Measurement, and Control, 141(7), 2019; and in: Xiongfeng Yi and Zheng Chen. Visual servoing control of underwater vehicle for pipeline tracking, submitted. IEEE Transactions on Automation Science and Engineering. | |
| dc.identifier.uri | https://hdl.handle.net/10657/9294 | |
| dc.language.iso | eng | |
| dc.rights | The author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. UH Libraries has secured permission to reproduce any and all previously published materials contained in the work. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s). | |
| dc.subject | Subsea, Autonomous control, Visual Servoing. | |
| dc.title | Visual Servoing Control of Robotic System for Off-shore Oil and Gas Pipeline Inspection | |
| dc.type.dcmi | Text | |
| dc.type.genre | Thesis | |
| dcterms.accessRights | The full text of this item is not available at this time because the student has placed this item under an embargo for a period of time. The Libraries are not authorized to provide a copy of this work during the embargo period. | |
| local.embargo.lift | 2023-12-01 | |
| local.embargo.terms | 2023-12-01 | |
| thesis.degree.college | Cullen College of Engineering | |
| thesis.degree.department | Mechanical Engineering, Department of | |
| thesis.degree.discipline | Mechanical Engineering | |
| thesis.degree.grantor | University of Houston | |
| thesis.degree.level | Doctoral | |
| thesis.degree.name | Doctor of Philosophy |
Files
Original bundle
1 - 1 of 1