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| Diaz, C. |
| In remote control, the master element which the user operates looks for practical and historical reasons like the slave arm and therefore features a series architecture, with a few drawbacks in terms of mass, dimensions, rigidity and mechanical complexity. To remedy these defects, we are now introducing a new master element with parallel kinematics. This syntactor, derived from Steward's manipulators, has six degrees of freedom and comprises six motor-driven links arranged on a fixed plate (the base) and a moving plate on which a 6-axis force transducer and a handle are mounted. The device is made artificially free along a few or all axes by means of a hybrid position/force control software which translates the wrench of forces applied by the operator on... |
| Tipo: Text |
Palavras-chave: Transducers; Manipulators; Robots; Marine technology; Kinematics. |
| Ano: 1990 |
URL: http://archimer.ifremer.fr/doc/1990/acte-1142.pdf |
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| Rougier, R. |
| Installation and tie-in using tig automatic hyperbaric welding of 3 expansion loops to the Gullfaks "C" gravity base platform at 220 meters in the Norwegian sector of the North Sea. Operation performed from a dynamically positioned diving support vessel using divers and construction ROV during the summer 1989. Facing the technological challenge created by the deep diving aspects, the technical difficulties of doing welding operation at this depth, and the tight commercial constraints, a review of the tasks was conducted to optimize and reduce the offshore time, leading to innovations in the procedures selected to perform the work: Use of a working ROV, assisted by an observation vehicle, to carry out subsea tasks traditionally reserved for construction... |
| Tipo: Text |
Palavras-chave: Diving; Offshore structures; Robots; Divers; Welding underwater; Offshore engineering; Unmanned vehicles; Marine technology; Offshore. |
| Ano: 1990 |
URL: http://archimer.ifremer.fr/doc/1990/acte-1162.pdf |
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| Durand, D; Domingo, J; Levallois, E. |
| This system is composed of a high accuracy hydraulic manipulator arm with 6 degrees of freedom, for high loads (2000 daN), using ultrasound proximetry and contact force measurement data to carry out the subsea connection of bottom oil wells. An expert system controls the connection phases and generates the sequences of commands to be executed by the robot. The safety systems and failure modes are also taken into account. A graphic operator station provides easy control. Each connection phase generates a graphic representation of the robot status and all the proprioceptive and exteroceptive sensors. The control/command system, although it is designed to carry out a subsea connection by means of a manipulator arm, can be adapted to any type of process. For... |
| Tipo: Text |
Palavras-chave: Marine technology; Acoustics; Connecting; Connectors; Oil wells; Sensors; Hydraulics; Robots; Manipulators. |
| Ano: 1990 |
URL: http://archimer.ifremer.fr/doc/1990/acte-1155.pdf |
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| Oksanen, Timo; Hakojärvi, M.; Maksimow, T.; Aspiala, A.; Hautala, M.; Visala, A.; Ahokas, J.. |
| Agricultural machines capable of utilizing variable rate application technology are tackling spatial variability in agricultural fields. Agricultural field robots are the next step in technology, robots which are capable of utilizing sensor and actuating technologies without human contact and operate only areas of interest. However, agricultural field robots are still under research. Robots are just one part of the next generation of crop farming having more advanced tools to do the work which currently requires humans. The next generation of crop farming, in the vision of the authors, is based on automation, which incorporates stationary and moving sensors systems, robots, model based decision making, automated operation planning which adapts to... |
| Tipo: Info:eu-repo/semantics/article |
Palavras-chave: Robots; Crop growth models; Soil water models; Precision agriculture; Environment simulation; Decision making; Operation planning. |
| Ano: 2014 |
URL: http://www.cigrjournal.org/index.php/Ejounral/article/view/2604 |
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