Studies of ROV concepts 2015 - 2019
The documents are classified chronologically.
Click on their descriptions to open and download them.
Date of publication: 2018
Charles Ramey, Matthew Meister, Anthony Spears.
Josh Lutz, Daniel Dichek, Ben Hurwitz, Justin
Lawrence, Jade Lawrence, Margaret Philleo, & Britney
Icefin is a hybrid ROV/AUV, designed to function as a
robotic oceanographer in the Antarctic under-ice
Autonomous command, control, and navigation of
platforms in remote sub-ice environments is extremely
challenging, but also niche enough of an application
to not benefit from the foundation of a wide
community of open-source research.
Date of publication: 2019
Eleni Kelasidi, Signe Moe, Kristin Y. Pettersen, Anna m.
Kohl, Pål Liljebäck, & Jan Tommy Gravdahl.
Attractive unmanned underwater vehicles are bio-
inspired robots such as underwater snake robots
(USRs). Due to their flexible and slender body, these
versatile robots are highly maneuverable and have
better access capabilities than more conventional
remotely operated vehicles (ROVs). Moreover, the long
and slender body allows for energy-efficient transit
over long distances, similar to torpedo-shaped
autonomous underwater vehicles (AUVs). In addition,
USRs can perform light intervention tasks, thereby
providing intervention capabilities that exceed those of
AUVs and inspection class ROVs. USRs may also propel
themselves using energy-efficient motion patterns
inspired by their biological counterparts. They can
thereby increase the propulsion efficiency during
transit and maneuvering, which is among the
significant challenges for autonomous underwater
Date of publication: 2019
Petar Trslic, Matija Rossi, Luke Robinson, Cathal W.
O’Donnel, Anthony Weir, Joseph Coleman, James
Riordan, Edin Omerdic, Gerard Dooly, & Daniel Toal.
This paper presents autonomous docking of an
industry-standard work-class ROV to static and
dynamic docking stations (Tether Management System
— TMS) using visual-based pose estimation techniques.
This is the first time autonomous docking to a dynamic
docking station has been presented. Furthermore, the
system does not require a specially designed docking
station but uses a conventional cage-type TMS. The
paper presents and discusses real-world environmental
tests successfully completed during January 2019 in
the North Atlantic Ocean.
Authors: Wei Peng Lin, Cheng Siong Chin, Leonard
Chin Wai Looi, Jun Jie Lim, and Elvin Min Ee
Control systems prototyping is usually constrained by
model complexity, embedded system configurations,
and interface testing. The proposed control system
prototyping of a remotely-operated vehicle (ROV)
with a docking hoop (DH) to recover an autonomous
underwater vehicle (AUV) named AUVDH using a
combination of software tools allows the prototyping
process to be unified. This process provides systematic
design from mechanical, hydrodynamics, dynamics
modeling, control system design, and simulation to
testing in water.
Authors: Dianne L. McLean, Miles J. G. Parsons,
Andrew R. Gates, Mark C. Benfield, Todd
Bond, David J. Booth, Michael Bunce, Ashley
M. Fowler , Euan S. Harvey, Peter I. Macreadie
, Charitha B. Pattiaratchi, Sally Rouse, Julian C.
Partridge, Paul G. Thomson, Victoria L. G.
Todd, and Daniel O. B. Jones.
Through slight modifications of ROV operations, and
by augmenting industry workclass ROVs with a range
of scientific equipment, industry can fuel scientific
discoveries, contribute to an understanding of the
impact of artificial structures in our oceans, and collect
biotic and abiotic data to support our understanding
of how oceans and marine life are changing