The Navys MESR program wants to improve the manipulation capabilities of ROVs to perform EOD tasks including precise placement of a charge on a target that is dynamically moving due to water currents. Current ROV and manipulator controls are inadequate since each sub-system requires different control stations and the ROV sensor data is processed topside. Minor corrections to planned movements are often required in dynamic environments, but cannot be completed before the target has moved since the control station is far from the ROV.
Benefit: RE2s Coupled Locomotion And Manipulation System (CLAMS) enables coupled control of a ROV and manipulator through a single control station. Two elements comprise CLAMS: Coupled Topside Remote Link Software (CTRLS) and the System Unification Module. CTRLS allows the topside ROV Operator to send the desired higher mission goals to the SUM, located on the ROV. SUM processes the ROV sensor data in real-time and decomposes the higher mission goals into appropriate actions of the ROV and manipulator, including minor movement corrections, to successfully achieve the mission goals. CLAMS will make it easier to execute complex tasks for Navy missions and for commercial markets, e.g., offshore oil and gas.
Keywords: Manipulator, Manipulator, remotely operated vehicles, EOD, Underwater, ROV
