Studies of ROV concepts 1997-2014
4 - 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).
1 - 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.
2 - 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.
6 - 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.
8 - 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.
9 - 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.
13 - 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.
15 - 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.
17 - 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.
19 - Particle Filter ROV Navigation using Hydroacoustic Position and Speed Log Measurements.
Date of publication: 2010 Authors: Bo Zhao, Mogens Blanke, Roger Skjetne Abstract: An integrated navigation system design is presented for an underwater remotely operated vehicle (ROV). The available navigation information is an acoustic position measurement and a Doppler log speed measurement. Both measurements are studied in detail and modeled statistically. A kinematic model is assigned to the ROV with its driving noise from a Gaussian mixture, and a particle filter is suggested to estimate ROV position and velocity.
20 - Realtime Motion Compensation for ROV-based Tele-operated Underwater Manipulators.
Date of publication: 2010 Authors: Marc Hildebrand, Leif Christensen, Jochen Kerdels, Jan Albiez & Frank Kirchner Abstract: This paper presents a novel underwater movement compensation algorithm for stabilization of manipulator position utilizing not ROV movements for disturbance compensation but overlaid manipulator movements. A model-based estimator is used to predict vehicle movement and provide the manipulation system with the necessary time to compensate for the estimated motion.
21 - Precision Navigation Sensors Facilitate Full Auto Pilot Control of Smart ROV for Ocean Energy Applications.
Date of publication: 2010 Authors: Daniel Toal, Edin Omerdic, Gerard Dooly. Abstract: A Smart Remotely Operated Vehicle, ROV Latis designed as a prototype test-bed for operation such as the challenging role of ocean engineering support in wave and tidal energy development, is presented in this paper. With the state of the art navigation sensors/instruments, the vehicle can achieve precision navigation and subsea positioning. This capability has been utilized within automatic control functionality, and autopilot control systems developed and trialed on ROV Latis and not available in commercial ocean ROV technology.
22 - Design-construction & control of a remotely operated vehicle (ROV).
Date of publication: 2011 Authors: Alireza Marzbanrad, Jalil Sharafi, Mohammad Eghtesad, Reza Kamali. Abstract: This report describes the design, construction, and control of “Ariana-I”, an Underwater Remotely Operated Vehicle (ROV), built in Shiraz University Robotic Lab. This ROV is equipped with roll, pitch, heading, and depth sensors which provide sufficient feedback signals to give the system six degrees of freedom actuation.
24 - Assessing the suitability of a remotely operated vehicle (ROV) to study the fish community associated with offshore gas platforms in the Ionian Sea: a comparative analysis with underwater visual censuses (UVCs).
Date of publication: 2012 Authors: Franco Andaloro, Maria Ferraro, Edoardo Mostarda, Teresa Romeo, & Pierpaolo Consoli. Abstract: The effectiveness of a remotely operated vehicle (ROV) to describe the fish communities of three gas platforms located offshore Crotone (Italy, Ionian Sea) was investigated by comparing its observations with underwater visual censuses (UVCs). The study was carried out at two depth layers (0–6 and 12–18 m). Moreover, the ROV was used to survey three deeper depth layers up to 76 m.
3 - 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.
10 - 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.
26 - Power integrity requirement of new generation of ROV for deep sea operation.
Date of publication: 2012 Authors: O. Sulaiman, A.H. Saharuddin. Abstract: Remotely operated vehicles (ROVs) system requires powerful vehicles to support the bollard thrust and tool power required for deepwater tasks. Evolving deeper waters, vehicle support for heavy-duty tasks demand, deepwater subsea construction, repair, and maintenance require an efficient ROV power pack to support these tasks. Typical work-class ROV systems provide maximum power levels ranging from 100 to 200 horsepower, producing impressive thrust in vertical or horizontal directions. The problem associated with the ROV power pack includes inefficiencies in the power system designs that limit peak system performance thrust curves, the inability of the hydraulic system to adjust to varying demands, environmental concerns related to energy usage, and ship husbandry. This paper addresses the design and development of a variable pressure power delivery and propulsion system that significantly increases overall system efficiency to maximize the available power.
18 - 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.
30 - Design of a 2D Joystick for Robot Control Based on a 6 DOF Haptic Device
Date of publication: 2016 Authors: Daniel J. Brooksrov, Michael Lunderville, Holly A.Yanco. Abstract: the authors introduce a simple modification that can be applied to a commercial haptic device to convert it into a 2D haptic joystick. They also introduce a simplified haptic API designed to allow the rapid development of sophisticated haptic feedback behaviors on their 2D joystick. Finally, they present a case study in which they demonstrate the implementation of a haptic effect for controlling an autonomous robot using their setup.
31 - Numerical simulations for the prediction of wave forces on underwater vehicle using 3D panel method Code.
Date of publication: 2013 Authors: Saeed Akram Malik, Pan Guang and Liu Yanan This study describes a method useful for predicting the hydrodynamic forces on a fully appended underwater vehicle when operating beneath the free surface waves.
32 - Tuning factor the single input fuzzy logic controller to improve the performances of depth control for underwater remotely operated vehicle.
Date of publication: 2013 Authors: Mohd Shahrieel Mohd Aras, Anuar Mohamed Kassim, Alias Khamis, Shahrum Shah Abdullah, Muhammad Azhar Abd Aziz. This paper investigates the factor of tuning variable parameters for single Input Fuzzy Logic Controller (SIFLC) to improve the performance of depth control for underwater Remotely Operated Vehicles (ROVs).
14 - Micro ROV simulator
Date of publication: 2007 Authors: Zoran Fabekovic, Zdravko Eškinja, Zoran Vukic Abstract: 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.
16 - 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.
27 - Autonomus underwater navigation (US Patent file)
Date of publication: Inventor: Harris O. Hinnant This document is the patent file for an ROV navigation system that comprises an underwater communication network, at least one master controller node coupled to the underwater communication network, at least one network docking node connected to the underwater communication network, and at least one submersible vehicle for underwater mapping at least a portion of a floor of a body of water. The vehicle comprises a geolocation module to establish a geographic reference for at least one location in the underwater geographic region and an image collection module to collect images of an underwater geographic area proximate to the geographic reference.
The documents are classified chronologically from 1997 to 2014. Click on their descriptions to open and download them.
Next page Next page 7 - 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.
12 - 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.
28 - Thruster Modelling for Underwater Vehicle Using System Identification Method
Authors: Mohd Shahrieel Mohd Aras, Shahrum Shah Abdullah, Azhan Ab. Rahman, and Muhammad Azhar Abd Aziz. This paper describes a study of thruster modelling for a remotely operated underwater vehicle (ROV) by system identification using Microbox 2000/2000C. Microbox 2000/2000C is an XPC target machine device to interface between an ROV thruster with the MATLAB 2009 software. MATLAB is a programming and numeric computing platform used by millions of engineers and scientists to analyze data, develop algorithms, and create models.
29 - Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation.
Authors: Wallace M. Bessa, Max S. Dutra, and Edwin Kreuzer The development of accurate control systems for underwater robotic vehicles relies on the adequate compensation of thruster dynamics. Without compensation, the closed-loop positioning system can exhibit limited cycles. This undesired behavior may compromise the overall system stability. This work proposes a fuzzy sliding-mode compensation scheme for electrically actuated bladed thrusters, which are commonly employed in the dynamic positioning of underwater vehicles.
5 - 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 - Theoretical and experimental investigation on the total resistance of an underwater ROV remotely operating vehicle.
Date of publication: 2012 Authors: D. Obreja & L. Domnisoru Abstract: The present study focuses on the theoretical and experimental hull resistance analysis of an underwater ROV remotely operating vehicle, small in mass and dimensions, used for maritime and offshore operations survey at 30 m design depth.
25 - Theoretical and experimental investigation on the total resistanceof an underwater ROV remotely operating vehicle.
Authors: D. Obreja & L. Domnisoru This study focuses on the theoretical and experimental hull resistance analysis of an underwater ROV remotely operating vehicle, small in mass and dimensions, used for maritime and offshore operations survey at 30 m design depth.
33 - Dangerous Inspection & Versatile Exploration Robot (DIVER): Tracking, Monitoring and Assisting Human Divers in Commercial, environmental and Military Applications.
Authors: Jillian Chalke, Paul O'Brien, Christopher Conley, Victor Puksta, Mustapha S. Fofana. The use of professional scuba diving teams is an industry practice for multiple commercial, environmental, and military applications. Professional divers can be deployed into dangerous conditions where surface communication is often limited. In these situations, remotely operated vehicles (ROVs) can improve communication and ensure personnel safety and mission success. The objectives of the MQP focus on designing and building a Dangerous Inspection and Versatile Exploration Robot (DIVER) capable of assisting, tracking, and monitoring professional divers in commercial, military, and environmental research applications. The DIVER ROV is 22 inches long by 26 inches wide and weighs 17.2 pounds.
11 - 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.