Tactile robotic mapping of unknown surfaces: An application to oil well exploration
Name
Mazzini-2009-Tactile robotic mapping of unknown surfaces An application to oil well exploration.pdf
Size
1.08 MB
Format
Adobe PDF
Checksum (MD5)
fbf258b24bb6958886842e7282c92017
Author(s)
Mazzini, Francesco
Kettler, Daniel
Dubowsky, Steven
Guerrero, Julio Cesar
Date Issued
December 2009
Journal
IEEE International Workshop on Robotic and Sensors Environments, 2009. ROSE 2009.
Publisher
Institute of Electrical and Electronics Engineers
Citation
Mazzini, F. et al. “Tactile robotic mapping of unknown surfaces: an application to oil well exploration.” Robotic and Sensors Environments, 2009. ROSE 2009. IEEE International Workshop on. 2009. 80-85. © Copyright 2010 IEEE
Version
Final published version
Abstract
World oil demand and advanced oil recovery techniques have made it economically attractive to rehabilitate previously abandoned oil wells. This requires relatively fast mapping of the shape and location of the down-hole well structures. Practical factors prohibit the use of visual and other range sensors in this situation. Here, the feasibility of robotic tactile mapping is studied. A method is developed that only uses the robot joint encoders and avoids any force or tactile sensor, which are complex and unreliable in such a hostile environment. This paper addresses the general problem of intelligent tactile exploration of constrained internal geometries where time is critical. It is assumed that the time required to move a manipulator to acquire a new touch point outweighs computational time. This approach models the down-hole structures with geometric primitives and focuses on exploration efficiency by intelligently searching for new touch points to build the geometric models. The algorithms developed here are shown in simulations and hardware experiments to substantially reduce the data acquisition effort for exploration with a tactile manipulator.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROSE.2009.5355990
