Augmented Co-Robotics for Remediation of Military Munitions Underwater
Abstract
Marine unexploded ordnance is a significant environmental contaminant, particularly in shallow waters where it may intersect with the public. Effective remediation requires assessment at a minimum, and in many cases either removal or neutralization. In all but the shallowest waters, this requires intervention by divers trained in UXO remediation, a dangerous task requiring specialized training and extraordinary precautions. Over the preceding half-century, the need to perform inspection and maintenance in the deep ocean, driven largely by the needs of the energy industries, has resulted in sophisticated tele-operated robotic systems designed for operation at pressures inhospitable to human life. Such remotely-operated vehicles (ROVs) frequently feature high-degree-of-freedom arms to perform manipulation tasks under remote control by an operator on the surface. Such technologies originating in subsea intervention could be adapted to perform remote remediation of UXO, reducing the risk to divers. However, despite the critical role such tele-operated manipulators play in maintaining critical deep ocean infrastructure, they are technologically relatively simple, with constrained sensory capabilities and limited manual dexterity. These challenges are highly relevant to teleoperated UXO remediation where precise handling is essential for safe handling of the UXO. However, advances in user-assistive robotic control motivated by the demands of work in the deep ocean can also improve the efficiency and effectiveness of tele-operated manipulation for UXO remediation.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 14, 2020
- Accession Number
- AD1217102
Entities
People
- Aaron Marburg
Organizations
- University of Washington