Studies of ROV concepts 1950-2009
12 - Control of Underwater Manipulators Mounted on nn ROV Using Base Force Information
Date of publication: 2001 Authors: Jee-Hwan Ryu, & Dong-Soo Kwon This paper presents a control scheme for obtaining high maneuverability of underwater robot manipulators mounted on a remotely operated vehicle (ROV).
7 - Robust real-time detection of an underwater pipeline
Date of publication: 1997 Authors: Primo Zingaretti, Silvia Maria Zanoli Abstract: The inspection methods of underwater structures employ remotely operated vehicles guided from a support vessel by human operators. The risk of losing concentration calls for developing an intelligent vision, guidance, and control system to support human activity. This paper presents a robust system for the detection and real-time tracking of submarine pipelines.
8 - Fault detection of actuator faults in unmanned underwater vehicles
Date of publication: 1998 Authors: A. Alessandri, M. Caccia, & G. Veruggio Abstract: A fault-diagnostic system for unmanned underwater vehicles has been designed and tested in real operating conditions. Actuator faults have been considered, relying on approximate models of the vehicle's dynamics. Fault detection and diagnosis are accomplished by evaluating any significant change in the behavior of the vehicle. A bank of estimators performs this task: a filter is implemented for each actuator fault type, including the no-fault case. The estimators used are extended Kalman filters (EKF) due to nonlinearities in the dynamic models. Experimental results are reported to demonstrate the effectiveness of the proposed approach.
16 - An ROV Stereovision System for Ship Hull Inspection
Date of publication: 2005 Authors: Shahriar Negahdaripour, & Pezhman Firoozfam Abstract: Ship hulls, as well as bridges, port dock pilings, dams, and various underwater structures, need to be inspected for periodic maintenance. Additionally, there is a critical need to protect against sabotage activities and establish effective countermeasures against illegal smuggling activities. Unmanned underwater vehicles are suitable platforms for developing automated inspection systems but require integration with appropriate sensor technologies.
20 - Innovative new ROV technology utilizing water hydraulic
Date of publication: 2005 Author: G. Haugen, F. Conrad, M. Grahl-Madsen This paper presents research results on an ROV with a water hydraulic propulsion system developed at Bergen University (Norway). The design of the propulsion system was based on components available on the market.
21 - Vision-based ROV horizontal motion control: Near-seafloor experimental results
Date of publication: 2006 Author: M. Caccia Abstract: In this paper, the problem of high-precision motion control of remotely operated vehicles (ROVs) in the proximity of the seabed through vision-based motion estimation is addressed. The proposed approach integrates a cheap monocular vision system to estimate the vehicle’s linear motion with a conventional dual-loop hierarchical architecture for kinematics and dynamics control.
25 - ROV automatization - Yaw identification and automarine module architecture
Date of publication: 2007 Authors: Marin Stipanov, Nikola Miskovic, Zoran Vukic, & Matko Barisic. Abstract: The Automarine Module is a simple cost effective method for transforming underwater remotely operated vehicles (ROVs) into autonomous underwater vehicles (AUVs), with minimum development time and no ROV circuit alteration. This paper presents the architecture of autonomization of the VideoRay Pro II ROV together with its technical specifications. The article also gives a procedure for open-loop identification of the nonlinear yaw model.
30 - Modeling and simulation of an underwater remotely operated vehicle (ROV) for surveillance and inspection of port facilities using CFD tools.
Date of publication: 2008 Authors: Raul A. Valencia, Nikola Miskovic, Zoran Vukic, & Matko Barisic. Juan A. Ramırez, Luis B. Gutierrez, Manuel J. Garcıa. Abstract: This article presents theoretical and computational studies with Computational Fluid Dynamics (CFD) tools of an Underwater Remotely Operated Vehicle (ROV), required to obtain reliable visual information used for surveillance and maintenance of ship shells and underwater structures of Colombian port facilities.
33 - Some Issues on the Design of a Low-Cost Autonomous Underwater Vehicle with an Intelligent Dynamic Mission Planner for Pipeline and Cable Tracking.
Date of publication: 2008 Authors: Gerardo Gabriel Acosta, Hugo Curti, Oscar Calvo Ibáñez, Silvano Rossi. Abstract: The main goal of this paper is to introduce the design and working hypotheses for the construction of a low-cost Autonomous Underwater Vehicle (AUV) devoted to pipeline and cable inspections. Underwater inspection is mainly necessary for the periodic surveys for the preventive maintenance of submarine infrastructure in the offshore industries. The advantages of doing them with AUVs instead of Remote Operated Vehicles (ROV) or Towed Unmanned Devices (TUD) are low costs and better data quality in the inspection missions.
9 - Devellopment of a controllable grab system for deep water recovery
Date of publication: 1997 Authors: D.l Mearns, A.R.F. Hudson. Abstract: Grab devices have been extensively used for commercial cargo salvage and sensitive military recovery projects throughout much of the past century. Early grabs suffered from a lack of positional control and remote intelligence and thus were not very efficient. The first truly controllable grab was developed in the early 1970s by the CIA in their partially successful attempt to recover a Russian ‘Golf’ class submarine. This concept of a controllable Grab deployed from a modified drillship was commercialised in 1994 by Blue Water Recoveries (BWR) with the development of a 3,000 metes rated Grab used to recover 18 tonnes of silver coins from the SS John Barry. Although technically successful, it was soon apparent that this prototype Grab 3000 would need to be improved to be able to recover cargo at even higher rates of efficiency.
22 - Numerical stability analysis and control of umbilical ROV systems in one degree of freedom taut–slack condition
Date of publication: 2006 Authors: Mario Jordan & Jorge Bustamante Abstract: This paper analyzes the stability of an umbilical–ROV system under nonlinear oscillations in heave motion by using numerical methods for the uncontrolled and controlled cases comparatively. Mainly the appearance of the so-called taut–slack phenomenon on the umbilical cable produced by interactions of monochromatic waves and an operated ROV is specially focused. Nonlinear elements are considered as nonlinear drag damping, bilinear restoring force, and saturation of the actuators. Free-of-taut/slack stability regions are investigated in the space of physical bifurcation parameters involving a set of both operation and design parameters.
35- A high fidelity ungrounded torque feedback device: The iTorqU 2.0.
Date of publication: 2009 Authors: Kyle N. Winfree, Jamie E. Gewirtz, Thomas Mather, Jonathan Fiene, and Katherine J. Kuchenbecker This paper discusses the design and operation of the iTorqU 2.0, an ungrounded, handheld torque feedback device for haptic applications.
27 - Micro ROV simulator
Date of publication: 2007 Authors: Zoran Fabekovic, Zdravko Eškinja, Zoran Vukic The ROV Simulator was developed as modular structure with the possibility of connecting signals received from the real ROV. Programming language VRML helped in developing a 3D model of the ROV and the interaction between the ROV and the virtual world has been achieved. The kinematics of the ROV was implemented for simulator needs. The simulator menu offers different virtual environments. The simulator has different additional possibilities such as: gripper management, realistic illumination and camera manipulations.
31 - Trends in ROV Development
Date of publication: 2007 Authors: Steve Cohan Abstract: This paper describes three new directions in the development of ROV control systems: exploiting the capabilities of digital video, using model- based control techniques for ROV operations, and providing ROV systems with sophisticated remote diagnostics. Goals of these trends are to increase the value of ROV operations end products (such as video), to increase efficiency of operations by adding automation, and to increase productive time by bringing outside resources to the ROV for maintenance and troubleshooting.
Next page Next page 19 - Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation.
Authors: Chua Kia & Mohd Rizal Arshad This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system improves the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype that combines computer vision with an underwater robotics system is designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference systems to analyze the terrain.
24 - Design of Autonomous Underwater Vehicle
Author: Tadahiro Hyakudome AUVs (Autonomous Underwater Vehicles) are considered the most suitable tools for conduction survey concerning these global environmental problems. they can make surveys because they do not have to be connected to support vessels by tether cables. When such underwater vehicles are made, it is necessary to consider the seawater and water pressure environment, the fact that the vehicle may sink, that there is no possibility to supply the machine during its operations, that the radio waves and the GPS cannot be used.
13 - An automatic guidance system for a small work class ROV
Authors: G. Conte, S. M. Zanoli, D. Scaradozzi In this paper, the design of the overall architecture and the development of specific components of a supervised, automatic system for guidance of an ROV are described. Basically, automation is achieved by inserting a PC, equipped with A/D-D/A boards, in the operator/ROV loop. In this way, the original configuration of the ROV manual guidance system is substituted by a more versatile, user-friendly and powerful PC-based configuration.
23 - Towards a risk management process for autonomous underwater vehicles
Authors: Gwyn Griffiths & Art Trembanis This paper reviews published work on AUV reliability and develops a risk management process (RMP-AUV) tuned to the needs of the responsible owner working with a technical support team. The RMP-AUV provides a framework for the responsible owner to determine an acceptable risk using mainly objective information, augmented with subjective judgement on the priority of the proposed vehicle campaigns.
1 - Analysis of the swimming of long and narrow animals
Date of publication: 1952 Author: Sir Geoffrey Taylor This document has been taken in reference by ROV and AUV conceptors for the development of bio-inspired machines capable of moving in water and visiting areas not accessible to conventional machines.
2 - Swimming of a waving plate
Date of publication: 1960 Author: Yao-tsu wu The purpose of this paper is to study the basic principles of fish propulsion. It has been taken in reference by ROV and AUV designers for the development of bio-inspired machines capable of moving in water without using propellers.
3 - The mechanics of labriform locomotion - An analysis of the recovery stroke and the overall fin beat cycle's propulsive efficiency in the angelfish
Date of publication: 1979 Author: R. W. Blake The purpose of this paper is to study the basic principles of fish propulsion. It is one of the many papers taken in reference by ROV and AUV designers for the development of bio-inspired machines capable of moving in water without using propellers..
5 - Experiments in the Coordination of Underwater Manipulator and Vehicle Control
Date of publication: 1995 Authors: Timothy W. McLain, Stephen M. Rock Experiments using the OTTER vehicle conducted at the Monterey Bay Aquarium Research Institute (MBARI) have shown that dynamical interactions between a robotic arm and an underwater vehicle can be very significant due to the hydrodynamic forces acting on the arm as it moves through the water. Using a new, highly accurate model of hydrodynamic interaction forces, which was developed as part of this research, a coordinated arm/vehicle control strategy has been implemented.
6 - Experiments in the Coordinated Control of an Underwater Arm/ Vehicle System
Date of publication: 1996 Authors: Timothy W. McLain, Stephen M. Rock. Michael J. Lee Adding manipulators to small autonomous underwater vehicles (AUVs) can pose significant control challenges due to hydrodynamic interactions between the arm and the vehicle. This document discuses experiments conducted at the Monterey Bay Aquarium Research Institute (MBARI) which shown that dynamic interactions between an arm and a vehicle can be very significant. This document is still taken as a reference by engineers making research on manipulators.
10 - Propulsion System Performance Enhancements on REMUS AUVs
Date of publication: 2000 Authors: Ben Allen, William S. Vorus, Timothy Prestero This paper details recent efforts on drag reduction, vehicle shape, and propulsion system modifications, and propeller design for the REMUS class of autonomous underwater vehicles (AUVs). Drag reduction was accomplished through tow-tank measurements of an existing design to itemize the sources of drag. The vehicle's shape and main propulsion system have been modified to utilize magnetic torque transfer through a seawater collar, thereby eliminate a rotating shaft seal.
11 - For safe and compliant interaction: An outlook of soft underwater manipulators
Date of publication: 2000 Authors: Zhenhua Wang, and Weicheng Cui As underwater missions become more and more complex, novel underwater manipulators with better performance are in demand. Soft underwater manipulators are judged to be the development direction and are expected to have better performance in safe and compliant interaction with the target in underwater operations, such as biological sampling. This paper provides an overview of the state-of-the-art in both hard and soft underwater manipulators, offering give a prospect for soft underwater manipulators.
15 - LIVE: An Autonomous Light Intervention Vehicle
Date of publication: 2004 Authors: Pierre Marty Over the past decades, ROVs and ROTs have proven to be very efficient and versatile. These vehicles have become more sophisticated; however, they still require a great amount of electrical energy, as well as constant real-time supervision and control by highly trained operators. Support vessels are, therefore, clearly the primary part of operating expenditures (OPEX) for inspection, maintenance, and repair (IMR) of deepwater fields, and the only way to suppress them is to remove the intervention vehicles' umbilicals, that is to turn ROVs into Intervention-AUVs (I-AUVs).
17 - Folaga: A very low-cost autonomous underwater vehicle for coastal oceanography
Authors: A.Alvarez, A. Caffaz, A. Caiti, G. Casalino, E. Clerici, F. Giorgi, L. Gualdesi, A. Turetta, R. Viviani This paper describes a low-cost prototype autonomus underwater vehicle (AUV) for collecting data over vertical ocean sections at selected geographical points. For this reason, it can navigate on the sea surface and dive only when measurements are needed. This behavior is similar to that of aquatic birds that swim on the water's surface and dive occasionally in search of food. The paper focuses on the vehicle's communication and mission planning modules, and on the analysis of field data to test the vehicle's maneuverability.
18 - Progress towards a method for predicting AUV derivatives
Date of publication: 2005 Authors: E.A. De Barros, A. Pascoal, E. de Sa The paper addresses the problem of autonomous underwater vehicle (AUV) modeling and parameter estimation as a means to predict the expected dynamic performance. This underwater vehicles and thus provide solid guidelines during the design phase. The use of analytical and semi-empirical (ASE) methods to predict the hydrodynamic derivatives of the most popular class of AUVs is discussed.
26 - Dynamic Modeling and Simulation of a 3D Serial Eel-Like Robot
Authors: Wisama Khalil, Guillaume Gallot, and Frederic Boyer This paper presents the dynamic modeling of a 3-D-serial underwater eel-like robot using recursive algorithms based on the Newton-Euler equations. Both direct and inverse models are discussed in the paper. The inverse dynamic model algorithm provides the head acceleration and the joint torques as a function of the joint positions, velocities, and accelerations.
28 - Autonomous Underwater Multivehicle Control with Limited Communication.Theory and Experiment
Date of publication: 2008 Authors: Daniel J. Klein, Patrick K. Bettale, Benjamin I. Triplett, Kristi A. Morgansen This document addresses the task of coordinating control design and implementation for systems of free-moving, autonomous underwater vehicles linked via underwater communication. The Kuramoto model approach is used to construct controls that align or anti-align headings by treating the heading angle as an oscillator phase. To accommodate communication events occurring at finite times, the system dynamics are expressed in discrete time with communication events happening at the update instances.
29 - Geometric Methods for Modeling and Control of Free- Swimming Fin-Actuated Underwater Vehicles
Date of publication: 2008 Authors: Kristi A. Morgansen, Benjamin I. Triplett, and Daniel J. Klein This paper discusses techniques from geometric mechanics and geometric nonlinear control theory are applied to the modeling and construction of trajectory tracking algorithms for a free-swimming underwater vehicle that locomotes and maneuvers using a two-link actuated “tail” and independently actuated “pectoral fin” bow planes. Restricting consideration of fluid forces to the simple effects of added mass and quasi-steady lift and drag, the resulting system model can be expressed in a control-affine structure.
32- Investigation of a method for predicting AUV derivatives
Date of publication: 2008 Authors: E.A. De Barros, A. Pascoal, E. de Sa The paper addresses the problem of autonomous underwater vehicles (AUVs) modelling and parameter estimation as a means of predicting the dynamic performance of underwater vehicles and providing solid guidelines during their design phase. The use of analytical and semi-empirical (ASE) methods to estimate the hydrodynamic derivatives of a popular class of AUVs is discussed. A comparison is made with the results obtained by using computational fluid dynamics to evaluate the bare hull lift force distribution around a fully submerged body.
34 - Snake-like Robots - Machine Design of Biologically Inspired Robots
Date of publication: 2009 Authors: Shigeo Hirose and Hiroya Yamada The authors began the biomechanical study by using actual snakes and the design of snake-like robots in 1971. There were two reasons for the interest in this snake research: one was the scientific interest in the mechanism of the snake’s motion, and another is the engineering interest in the future applications of snake-like robots.
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4 - Development of an underwater manipulator for use on a free- swimming unmanned submersible
Date of publication: 1980 Authors: Peter Bosse & Paul J. Heckman Jr. In the 1970s, the Naval Ocean Systems Center (NOSC) and other organizations developed a remotely operated manipulator for a free-swimming submersible. This was part of a program to improve technology for pollution prevention and safety in oil and gas operations, as well as to enhance search and rescue operations at sea.
14 - A survey of AI techniques for control of underwater vehicles
Date of publication: 2003 Authors: Pepijn van de Ven, Colin Flanagan and Daniel Toal This paper reviews studies on the use of neural and fuzzy networks for controlling unmanned underwater vehicles (UUVs). It introduces a classification for UUV control architectures based on AI techniques and uses it to organize different approaches from the literature. The paper discusses several projects in detail, categorizes each control strategy, and provides a qualitative assessment of their performance based on reported results. It also outlines the advantages and disadvantages of these strategies.