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Continuous system integration and validation for underwater perception in offshore inspection and intervention tasks

TitleContinuous system integration and validation for underwater perception in offshore inspection and intervention tasks
Publication TypeBook Chapter
Year of Publication2020
AuthorsMueller, C. A., A. Gomez Chavez, T. Doernbach, D. Köhntopp, and A. Birk
EditorKarimi, H. Reza
Book TitleFundamental Design and Automation Technologies in Offshore Robotics
Chapter2
Pagination9-75
PublisherElsevier
ISBN Number978-0-12-820271-5
KeywordsContinuous System Integration System Validation Underwater System Development Simulation-Driven System Validation
Abstract

Continuous System Integration and Validation is an increasingly important factor for an efficient system development process. In particular, for underwater projects involving semi- to fully-autonomous robotic systems since they progressively become more complex, need to perform under more challenging environmental conditions and execute more intricate tasks. Therefore, a benchmark and validation framework become crucial to quantify the system performance, as well as to identify and analyze uncertainties, bottlenecks, limitations, etc., before field trials and missions. We present a simulation-driven framework whose concepts ease the development of benchmark and validation tests that are of particular interest in interdisciplinary projects with multiple contributors at different locations. While considering aspects related to continuous system integration and validation, the presented framework facilitates a more efficient and subsequently effective project realization. Considering the preparation efforts of such system, these pay off as they allow for fast informed development cycles and qualified assessments, minimizing the integration labour on-site at field missions which usually involve high running costs and time constraints. The effectiveness of the mentioned framework is demonstrated through the development and analysis of the EU-H2020 DexROV project.

URLhttps://www.sciencedirect.com/science/article/pii/B9780128202715000079
DOI10.1016/B978-0-12-820271-5.00007-9