Studies of ROV concepts 2010 - 2014
Next page Next page BUTTON TEXT Previous page 2 - 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.
3 - 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.
4 - 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.
6 - 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.
10 - 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.
14 - 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.
21 - 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.
23 - 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.
24 - 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).
16 - 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.
17 - 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.
19 - 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.
9 - 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.
13 - 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.
25 - 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.
1 - TRIDENT: A Framework for Autonomous Underwater Intervention Missions with Dexterous Manipulation Capabilities
Date of publication: 2010 Authors: Pedro J. Sanz, Pere Ridao, Gabriel Oliver, Claudio Melchiorri, Giuseppe Casalino, Carlos Silvestre, Yvan Petillot, Alessio Turetta TRIDENT was a STREP project approved by the European Commission, whose proposal was submitted to the ICT call 4 of the 7th Framework Program. The project proposed a new methodology for multipurpose underwater intervention tasks. To that end, a cooperative team formed with an Autonomous Surface Craft and an Intervention Autonomous Underwater Vehicle had to be used.
5 - Swimming Motion Control for Biometric Fish Robot by Utilizing Turning Coefficient
Date of publication: 2011 Authors: Yoong Hou Pin, Lin Boon Hoe, Kenneth Teo Tze Kin, Ismail Saad This paper uses the turning coefficient for the swimming motion equation of a biomimetic fish robot. Based on the Carangiform Wave, the swimming equation is cascaded with the arc equation to change the oscillating axis during turning movement (Chao Zhou). Usually, turning movement is generated by defining the turning radius of the arc equation to bend the Carangiform oscillating axis. This involves the computation of turning radius power of two and infinite radius value during straight movement.
7 - Multi-physics model of an electric fish-like robot: numerical aspects and application to obstacle avoidance
Date of publication: 2012 Authors: Mathieu Porez, Vincent Lebastard, Auke Jan Ijspeert, Frederic Boyer This paper deals with the modeling of a fish-like robot equipped with an electric sense, suited to study sensorimotor loops. The proposed multi-physics model merges a swimming dynamic model of a fish-like robot with an electrical model of an embedded electrolocation sensor. Based on a TCP-IP and threaded framework, the resulting simulator works in real-time. This article also focuses on numerical studies after presenting the modeling aspects of this work.
11 - TRIDENT: Recent Improvements about Autonomous Underwater intervention Missions
Authors: Pedro J. Sanz, Pere Ridao, Gabriel Oliver, Giuseppe Casalino, Carlos Insaurralde, Carlos Silvestre, Claudio Melchiorri, and Alessio Turetta ROVs usually are large and heavy vehicles that require significant logistics for their transportation and handling. Also, the complex user interfaces and control methods require skilled pilots. These facts significantly increase the cost of the application and justify the need for more autonomous, cheap, and easy-to-use solutions for underwater intervention missions, and this is the aim of the current FP7-TRIDENT project.
12 - Modeling and Control of ROV Manipulator
Date of publication: Inventor: Morten Haugen Remotely Operated Vehicles (ROVs) are common in deep- water industries. Due to safety and practical reasons, it is not convenient to use manned diving for maintenance and surveys. The solution is to use ROVs that are unmanned, highly maneuverable, and operated remotely by a person on board a vessel. The ROV is normally equipped with one or several manipulators so that it can perform simple tasks such as pulling cables, opening valves, and handling different tools.
15 - TRIDENT - An European Project Targeted to Increase the Autonomy Levels for Underwater Intervention Missions.
Authors: Pedro J. Sanz, Pere Ridao, Gabriel Oliver, Giuseppe Casalino, Yvan Petillot, Carlos Silvestre, Claudio Melchiorri, Alessio Turetta TRIDENT was the official acronym used for a funded European project entitled: “Marine Robots and Dexterous Manipulation for Enabling Autonomous Underwater Multipurpose Intervention Missions”. This project demonstrated a new approach for multipurpose underwater intervention tasks with diverse potential applications ranging from underwater archaeology and oceanography to offshore industries.
18 - Stick tight: suction adhesion on irregular surfaces in the northern clingfish
Authors: Dylan K. Wainwright, Thomas,, Kleinteich, Stanislav N. Sorry, and Adam P. Summers The northern clingfish, Gobiesox maeandricus, can adhere to slippery, fouled, and irregular surfaces in the marine intertidal environment. This fish can adhere equally well to surfaces with a broad range of surface roughness, from the finest sandpaper (Ra =15 mm) to textures suitable for removing finish from flooring (Ra = 269 mm). The fish outperform man-made suction cups, which only adhere to the smoothest surfaces. The adhesive forces of clingfish correspond to pressures 0.2–0.5 atm below ambient and are 80–230 times the body weight of the fish.
20 - The Morphology and Adhesion Mechanisms of Octopus vulgaris Suckers
Date of publication: 2013 Authors: Francesca Tramacere, Lucia Beccai, Michael Kuba, Alessandro Gozzi, Angelo Bifone, Barbara Mazzolai The octopus sucker represents a fascinating natural system performing adhesion on different terrains and substrates. Octopuses use suckers to anchor the body to the substrate or to grasp, investigate and manipulate objects, to mention a few of their functions. This study focuses on the morphology and adhesion mechanism of suckers in Octopus vulgaris. structure in O. vulgaris.
22 - Grand Challenges in Modeling and Simulation Symposium - Proceedings
Date of publication: 2013 Authors: Curran Associates These texts are the proceedings of a workshop held at Toronto (Canada) on 7 July 2013
26 - Stability of the Control Scheme of the Design of a Robotic Fish
Authors: Afolayan Matthew Olatunde Fishes are efficient swimmers, with teleost species known for their high speed and acceleration inside water. Imitating these abilities requires building an efficient controller to manage the robotic fish system. The efficiency is in terms of faster swimming ability while consuming less energy as well as stable response to input commands. The control scheme used for this work is based on PIC18F4520 microcontroller, which generates three rigidly coupled pulse width modulated (PWM) signals that are used for controlling (in an open-loop fashion) 3 Futaba RC servo motors manage the robotic fish tail configurations dynamically.
27 - PoseiDRONE: Design of a soft-bodied ROV with crawling, swimming and manipulation ability
Date of publication: 2013 Authors: Andrea Arienti, Marcello Calisti, Francesco Giorgio-Serchi, Cecilia Laschi The design concept and development of a multipurpose underwater robot is presented. The final robot consists of a continuum composed of 80% of its volume of rubber- like materials, and it combines locomotion (i.e., crawling and swimming) and manipulation capabilities. The first prototype of the robot is illustrated, based on the integration of existing prototypes.
28 - Undulating fins produce off-axis thrust and flow structures
Date of publication: 2013 Authors: Izaak D. Neveln, Rahul Bale, Amneet Pal Singh Bhalla, Oscar M. Curet, Neelesh A. Patankar and Malcolm A. MacIver While wake structures of many forms of swimming and flying are well-characterized, the wake generated by a freely swimming undulating fin has not yet been analyzed. These elongated fins allow fish to achieve enhanced agility, exemplified by the forward, backward, and vertical swimming capabilities of knifefish, and also have potential applications in the design of more maneuverable underwater vehicles. The authors present the flow structure of an undulating robotic fin model, using particle image velocimetry to measure fluid velocity fields in the wake.
29 - Attachment to challenging substrates – fouling, roughness, and limits of adhesion in the northern clingfish (Gobiesox maeandricus)
Date of publication: 2013 Authors: Petra Ditsche, Dylan K.) Wainwright, and Adam P. Summers Northern clingfish use a ventral suction disc to stick to rough substrates in the intertidal zone. Bacteria, algae and invertebrates row on these surfaces (fouling) and change the surface properties of the primary substrate, and therefore the attachment conditions for benthic organisms. In this study, the authors investigate the influence of fouling and surface roughness on the adhesive strength of northern clingfish, Gobiesox maeandricus. The authors measured clingfish tenacity on unfouled and fouled substrates across four surface roughnesses.
30 - Structure and mechanical properties of Octopus vulgaris suckers
Date of publication: 2013 Authors: Francesca Tramacere, Alexander Kovalev, Thomas Kleinteich, Stanislav N. Gorb and Barbara Mazzolai This study investigates the morphology and mechanical features of Octopus vulgaris suckers, which may serve as a model for the creation of a new generation of attachment devices. Octopus suckers attach to a wide range of substrates in wet conditions, including rough surfaces. This amazing feature is made possible by the sucker’s tissues, which are pliable to the substrate profile. Previous studies have described a peculiar internal structure that plays a fundamental role in the attachment and detachment processes of the sucker.
31 - Autonomous Soft Robotic Fish Capable of Escape Maneuvers Using Fluidic Elastomer Actuators
Date of publication: 2014 Authors: Andrew D. Marchese, Cagdas D. Onal, and Daniela Rus This document describes an autonomous soft-bodied robot that is both self-contained and capable of rapid, continuum-body motion. The authors detail the design, modeling, fabrication, and control of the soft fish, focusing on enabling the robot to perform rapid escape responses. The robot employs a compliant body with embedded actuators emulating the slender anatomical form of a fish. In addition, the robot has a novel fluidic actuation system that drives body motion and has all the subsystems of a traditional robot onboard: power, actuation, processing, and control.
32 - Dynamic Modeling of Floating Systems: Application to Eel-like Robot and Rowing system
Date of publication: 2014 Authors: Wisama Khalil, François Rongère This paper presents the dynamic modeling of floating systems with an application for a three-dimensional swimming eel-like robot and owing-like system. The dynamic models must be used to obtain the Cartesian evolution during the design or control of these systems. Owing to the complexity of such systems, efficient and simple tools are needed to get their model. For this goal, the authors propose an efficient recursive Newton-Euler approach, which is easy to implement. It can be programmed either numerically or using efficient, customized symbolic techniques.
33 - A hybrid dynamic model for bio-inspired soft robots - Application to a flapping-wing micro air vehicle
Date of publication: 2014 Authors: Mathieu Porez, Frederic Boyer, Ayman Belkhiri This paper deals with the dynamic modeling of bio- inspired robots with soft appendages, such as flying insect- like or swimming fish-like robots. The authors propose exploiting the Mobile Multibody System framework, in which the robot is considered a tree-like structure of rigid bodies whose joint evolution is governed by stress-strain laws or control torques. Based on the Newton-Euler formulation of these systems, the authors propose a new algorithm to compute accelerations and the control torques supplied by the motors. For illustrative purposes, the proposed algorithm is applied to simulate the hovering flight of a soft flapping-wing insect-like robot.
34 - Hairy suckers: The surface microstructure and its possible functional significance in the Octopus vulgaris sucker
Date of publication: 2014 Authors: Francesca Tramacere, Esther Appel, Barbara Mazzolai, and Stanislav N. Gorb Octopus suckers are able to attach to any smooth surface and many rough surfaces. The authors discovered that the sucker surface, which has been hypothesized to be responsible for sealing the orifice during adhesion, is not smooth as previously assumed but is entirely covered by a dense network of hair-like micro-outgrowths. This finding is particularly important because it demonstrates the role of hair structures in a sealing mechanism in water, similar to that previously described for clingfish and abalones.
35 - Multibody system dynamics for bio-inspired locomotion: from geometric structures to computational aspects
Date of publication: 2014 Authors: Frédéric Boyer, and Mathieu Porez This article presents a set of generic tools for multibody system dynamics devoted to studying bio-inspired locomotion in robotics. Archetypal examples from the field of bio-inspired robot locomotion are presented to prepare the ground for further discussion. The general problem of locomotion is then stated. In considering this problem, the authors progressively draw a geometric picture of locomotion dynamics.
36 - Intervention AUVs: The Next Challenge
Date of publication: 2014 Authors: Pere Ridao, Marc Carreras, David Ribas, Pedro J. Sanz, Gabriel Oliver This paper reviews the evolution timeline in autonomous underwater intervention systems. Milestone projects in the state of the art are reviewed, highlighting their principal contributions to the field. To the best of the authors' knowledge, only three vehicles have demonstrated some autonomous intervention capabilities so far: ALIVE, SAUVIM, and GIRONA 500 I-AUV. Next, the GIRONA 500 I-AUV is presented, and its software architecture is discussed.
37 - Improved Lighthill fish swimming model for bio-inspired robots Modeling, computational aspects, & experimental comparisons.
Date of publication: 2014 Authors: Mathieu Porez, Frederic Boyer, Auke Ijspeert The best-known analytical model of swimming was originally developed by Lighthill and is known as large amplitude elongated body theory (LAEBT). Recently, this theory has been improved and adapted to robotics through a series of studies, ranging from hydrodynamic modeling to mobile multibody system dynamics. This article marks a further step towards the Lighthill theory. The LAEBT is applied to one of the best bio-inspired swimming robots yet built: the AmphiBot III, a modular anguilliform swimming robot.
Back to the menu
Click on the octopus to return to the top of the page
8 - Department of the navy science & technology: Sea Perch Construction Manual
Authors: Kathryn Shroyer, Chryssostomos Chryssostomidis, Rachel VanCott, Mike Soroka This document aims to inform and promote the MIT Sea Grant’s Sea Perch project, which introduces pre-college students to underwater robotics. It highlights the educational and collaborative aspects of the program, which is part of a broader initiative by the Office of Naval Research to recruit future naval architects, and suggests ways in which the project can be integrated into a multidisciplinary educational curriculum.