DocumentCode :
1374824
Title :
Tactile Robotic Mapping of Unknown Surfaces, With Application to Oil Wells
Author :
Mazzini, Francesco ; Kettler, Daniel ; Guerrero, Julio ; Dubowsky, Steven
Author_Institution :
Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA
Volume :
60
Issue :
2
fYear :
2011
Firstpage :
420
Lastpage :
429
Abstract :
World oil demand and advanced oil recovery techniques have made the rehabilitation of previously abandoned oil wells economically attractive. 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 using a robotic manipulator for tactile mapping is studied. A method is developed that requires only robot joint encoders and avoids the use of any force or tactile sensors, which are complex and unreliable in such a hostile environment. This paper addresses the general problem of intelligent tactile exploration of constrained internal geometries when 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 laboratory experiments to substantially reduce the data acquisition effort for exploration with a tactile manipulator.
Keywords :
data acquisition; force sensors; industrial manipulators; intelligent robots; mobile robots; oil drilling; tactile sensors; well logging; abandoned oil wells; advanced oil recovery techniques; constrained internal geometry; data acquisition; down-hole structures; down-hole well structures; exploration efficiency; force sensors; geometric models; intelligent tactile exploration; rehabilitation; robot joint encoders; robotic manipulator; tactile manipulator; tactile mapping; tactile robotic mapping; tactile sensors; world oil demand; Manipulators; Petroleum; Probes; Rough surfaces; Shape; Surface roughness; Autonomous exploration; manipulator motion planning; petroleum exploration; robot tactile systems; surface reconstruction;
fLanguage :
English
Journal_Title :
Instrumentation and Measurement, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9456
Type :
jour
DOI :
10.1109/TIM.2010.2084270
Filename :
5629364
Link To Document :
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