Studies of ROV concepts 2015 - 2019
The documents are classified chronologically. Click on their descriptions to open and download them.
Next page Next page BUTTON TEXT Previous page 6 - Design and Control of Underwater Robots with Rotating Thrusters.
Date of publication: 2016 Authors: Ali Jebelli, M. C.E. Yagoub, B. S. Dhillon. Abstract: Underwater robots design involves critical control issues due to complex non-linear forces. In this paper, a robust approach was proposed to efficiently control the behavior of an underwater robot through five degrees of freedom, also by designing a new type of thruster with the ability of 360 degrees rotation along with a mass shifter. That gives the possibility to easily change the machine depth, preserving its balance and saving energy.
19 - Wireless Controlled Remotely-operated Underwater Vehicle (ROV) for Shallow Water Exploration.
Date of publication: 2019 Authors: Muhammad Ikhsan Sani, Simon Siregar, Muhammad Muchlis Kurnia, Dzikri Hasbialloh. Abstract: Remotely Operated Vehicle ROV) for underwater exploration is typically controlled using an umbilical cable connected to a ground control station. Unfortunately, while it is used for power distribution and data transmission, it also obstructs the movement of ROV, especially for shallow water (<50 cm). This paper proposed an alternative method for controlling ROV using a wireless remote control system. This work also aims to explore the possibility of using RF wireless technology between 420-450 MHz as an underwater communication system.
22 - An electrical power control system for explorer-class remotely operated underwater vehicle (ROV)
Date of publication: 2019 Authors: Muhammad Ikhsan Sani, Simon Siregar, Muhammad Muchlis Kurnia, Dzikri Hasbialloh. Abstract: The importance of an optimal method for electric power transmission is crucial for ROV operation. Meanwhile, only a few studies have shown the effect of the electrical power system from power supply to ROV. This paper proposes a design and implementation of an electrical power system for ROV developed by the Tech_SAS team from Telkom University, Bandung, Indonesia.
26 - Front surface geometry modeling of remotely operated vehicle (ROV) body observation class
Date of publication: 2019 Authors: Dhimas Satria, Romi Wiryadinata, Dpal Esiswitoyo, Muhamad Haykal, Fasya, Imron Rosyadi, Sidik Susilo, & Rina Lusiani. Abstract: The suitable technology to find out information on the bottom of the Sunda Strait in Indonesia is ROV. However, the existing ROVs have limitations linked to their structure and hydrodynamic. For these reasons, researches on design concepts have been conducted to obtain the best front surface geometry modeling of the ROV body.
28 - The Application of ROV (Remotely Operated Vehicle) of the Microcontroller Submarine as a Tool to Take Sample of Water and Soil Contaminated by Waste.
Date of publication: 2019 Authors: Muhammad Syukron, Nuralif Mardiyah, Wahono, Ahmad Rosikhin, & Zamah Sari Abstract: This paper describes an ROV (Remotely Operated Vehicle) that can take samples of contaminated water and soil while the pilot operates it from the shore or a ship.
1 - Simulating underwater depth environment condition using lighting system design.
Date of publication: 2015 Authors: Mohd Shahrieel Mohd Aras, Fadilah Abdul Azis, Syed Mohamad Shazali Syed Abdul Hamid, Saiful Edwend Daswir, Fara Ashikin Ali. The major obstacle faced by the underwater environment system is the extreme loss of color and contrast when submerged to any significant depth whereby the image quality produced is low. The studies can be easily done by developing a prototype that may imitate the underwater environment.
7 - Development of Handheld Haptics Device for Driving System of Unmanned Underwater Vehicles.
Date of publication: 2017 Author: Syed Mohamad Shazali Abstract: This paper presents research to illustrate the hydrodynamic force impact on the orientation of a Remotely Operated Underwater Vehicle (ROV) operating underwater by providing kinaesthetic haptic feedback to its handheld steering device. A literature review was done on the haptic feedback available to ROV pilots and how it could be delivered through a handheld device to understand how this aim can be achieved.
13 - Analysis of integrated sensor for unmanned underwater vehicle application.
Date of publication: 2017 Authors: Mohd Shahrieel Mohd Aras, Muhammad Nizam Kamarudin, Iktisyam Zainal, Mohd Khairi Mohd Zambri & Marizan Sulaiman. Abstract: This paper presents an integrated sensor system to be applied in underwater vehicles based on 5-DOF Inertial Measurement Unit (IMU) sensor, MPX pressure sensor, and temperature sensor.
3 - DNV-GL: Part 5 Types of UWT systems Chapter 7 Remotely operated vehicles
Date of publication: 2015 Authors: DNV Scope: These rules are valid for the construction of remotely operated vehicles (ROV) which shall be classified by the Society, including their operating and monitoring systems. Unmanned underwater vehicles (UUV) may be (ROV) or autonomous underwater vehicles (AUV).
8 - P2-ROV a Portable/Polar ROV
Date of publication: 2017 Authors: Angelo Odetti, Giorgio Bruzzone, Massimo Caccia, Edoardo Spirandelli, & Gabriele Bruzzone Abstract: P2-ROV is a portable polar ROV. Designed to be transported via-helicopter and easily handled by a small team of scientists it is specially addressed to work under the shelf ice of Antarctica by exploiting the holes drilled in the ice by means of a special 350 mm auger; the shape of the vehicle reminds that of a torpedo contained in a 340 mm diameter.
10 - The ROV communication and control
Date of publication: 2017 Authors: Alin Ghilezan, Mihaela Hnatiuc. Abstract: The opportunity for the future engineers for direct hands-on work in projects and the liberty of trying their solutions and to apply personal ideas with a large variety of electronic components, it will lead to a progress in everyday life for the future generations. In this paper we present a remote controlled ROV (Remotely Operated Vehicle) based on Arduino Mega 2560 microcontroller which acquired the sensors data and controls the direction and acceleration.
14 - Simplified Modelling and Identification of an Inspection ROV
Date of publication: 2018 Authors: Thomas Thuesen Enevoldsen, Emil M´ar Einarsson, Simon Pedersen, Zhenyu Yang. Abstract: The expansion of subsea applications demands extended use of autonomous capabilities within Remotely Operated Vehicles (ROVs), which can reduce the overall operation time and cost. Obtaining a simple but also reasonably precise model is important for an autonomized control strategy. This study outlines a low-dimensional model structure for a commercial underwater inspection ROV, based on simplifying physical assumptions.
15 - Collision Detection for Underwater ROV Manipulator Systems
Date of publication: 2018 Authors: Satja Sivˇcev, Matija Rossi, Joseph Coleman, Edin Omerdi´, Gerard Dooly,& Daniel Toal Abstract: Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real time collision detection algorithm for marine robotic manipulation.
18 - Modular controls and instrumentation software for icefin ROV
Date of publication: 2018 Authors: Charles Ramey, Matthew Meister, Anthony Spears. Josh Lutz, Daniel Dichek, Ben Hurwitz, Justin Lawrence, Jade Lawrence, Margaret Philleo, & Britney E. Schmidt Abstract: Icefin is a hybrid ROV/AUV, designed to function as a robotic oceanographer in the Antarctic under-ice waters. Autonomous command, control, and navigation of such robotic 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.
21 - Development of intellectual support system for ROV operators
Date of publication: 2019 Authors: A Yu Konoplin, N Yu Konoplin, V F Filaretov Abstract: This article describes the system of intellectual support for remotely operated vehicle (ROV) operators, which provides the precise movements control of the ROV and its depressor-weight along the specified trajectories, even in the case when the supporting vessel has no a dynamic positioning system. Proposed system provides operators with visual recommendations and warnings, which are formed in real time on the basis of expert evaluation of the information obtained from various sensors and navigation systems.
23 - Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots
Date of publication: 2019 Authors: Eleni Kelasidi, Signe Moe, Kristin Y. Pettersen, Anna m. Kohl, Pål Liljebäck, & Jan Tommy Gravdahl. Abstract: 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 vehicles.
24 - Next-Generation Optical Sensing Technologies for Exploring Ocean Worlds-NASA FluidCam, MiDAR, and NeMO-Net
Date of publication: 2019 Authors: Ved Chirayath, Alan Li Abstract: The authors highlight three emerging NASA optical technologies that enhance the ability to remotely sense, analyze, and explore ocean worlds–FluidCam and fluid lensing, MiDAR, and NeMO-Net. Fluid lensing is the first remote sensing technology capable of imaging through ocean waves without distortions in 3D at sub-cm resolutions. Fluid lensing and the purpose-built FluidCam CubeSat instruments have been used to provide refraction- corrected 3D multispectral imagery of shallow marine systems from unmanned aerial vehicles (UAVs).
27 - Robust Formation Control for Multiple Underwater Vehicles
Date of publication: 2019 Authors: Charalampos P. Bechlioulis, Fotis Giagkas, Georges C. Karras, Kostas j. Kyriakopoulos. Abstract: This paper addresses the distance-based formation control problem for multiple Autonomous Underwater Vehicles (AUVs) in a leader-follower architecture. The leading AUV is assigned a task to track the desired trajectory, and the following AUVs try to set up a predefined formation structure by attaining specific distances among their neighboring AUVs, while avoiding collisions and enabling at the same time relative localization.
29 - Design and Construction of an ROV for Underwater Exploration
Date of publication: 2019 Authors: Oscar Adrian Aguirre-Castro, Everardo Inzunza- González, Enrique Efrén García-Guerrero, Esteban Tlelo-Cuautle, Oscar Roberto López-Bonilla, Jesús Everardo Olguín-Tiznado, and José Ricardo Cárdenas- Valdez Abstract: The design of a remotely operated vehicle (ROV) with a size of 18.41 cm × 29.50 cm × 33.50 cm and a weight of 15.64 kg is introduced herein. The main goal is to capture underwater video by remote control communication in real-time via Ethernet protocol.
30 - ROV Thruster Testing Document - Individual
Date of publication: 2019 Published by Arobot AROBOT is a design consultancy & Solutions provider for Industry Automation, training, research & development company based in Chennai, India
33 - Vision based autonomous docking for work class ROVs
Date of publication: 2019 Authors: Petar Trslic, Matija Rossi, Luke Robinson, Cathal W. O’Donnel, Anthony Weir, Joseph Coleman, James Riordan, Edin Omerdic, Gerard Dooly, & Daniel Toal. Abstract: 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.
16 - Model comparison of a VideoRay Pro 4 Underwater ROV
Date of publication: 2018 Authors: Simon Pedersen, Thomas Thuesen Enevoldsen, & Emil M´ar Einarsson. This study outlines a grey-box control-oriented model comparison of a VideoRay Pro 4 Underwater Inspection ROV with autonomous features. The respective models are developed and identified in previous studies and are based on three different model principles. The models are evaluated based on open-loop experimental tests with and without multiple thruster actuation. The tests show significant dynamic coupling between several motions, which none of the models estimate with sufficient accuracy without model extensions.
2 - Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems.
Authors: Houssam Albitar, Kinan Dandan, Anani Ananiev, and Ivan Kalaykov. Underwater robots are being developed for various applications ranging from inspection to maintenance and cleaning of submerged surfaces and constructions. These platforms should be able to travel on these surfaces. Furthermore, these platforms should adapt and reconfigure for underwater environment conditions and be autonomous. Regarding the adhesion to the surface, they should produce a proper attaching force using lightweight technics.
9 - A new redundancy resolution for underwater vehicle– manipulator system considering payload
Authors: Yaoyao Wang, Surong Jiang, Fei Yan, Linyi Gu, and Bai Chen A new redundancy resolution method is proposed and investigated for motion coordination problems between the underwater vehicle and the manipulator of the underwater vehicle–manipulator system. The proposed method mainly has two parts: a fuzzy logic part and a multitasks weighted gradient projection method part.
12 - A novel localization approach for underwater welding vehicles in spent fuel pools via attitude heading reference system and altimeters.
Authors: Yang Luo, Jianguo Tao, Hao Sun, Zhuang Hao, Hao Li, Qiang Na, Haibo Gao, Liang Ding, and Zongquan Deng. This article explains a novel localization approach incorporating attitude and heading reference systems and underwater altimeters that accurately localize the underwater welding vehicles in spent fuel pools of the nuclear power stations. Different from the conventional underwater localization technologies, the presented localization approach is more suitable in cases of confined structured water areas.
17 - Prescribed performance adaptive fault-tolerant trajectory tracking control for an ocean bottom flying node.
Authors: Hongde Qin, Zheyuan Wu, Yanchao Sun, and Yushan Sun. The ocean bottom flying node is a novel autonomous underwater vehicle that explores deep water's oil and gas resources. Thousands of the ocean bottom flying nodes track different predefined trajectories arriving at target points in a small ocean area, respectively. A class of prescribed performance adaptive trajectory tracking control methods are investigated for the ocean bottom flying node trajectory tracking problem with current ocean disturbances, model uncertainties, and thruster faults. Based on a predefined performance function and an error transformation, the ocean bottom flying node trajectory tracking error is restricted to prespecified bounds to ensure a desired transient and steady response.
20 - Underwater navigation using visual markers in the context of intervention missions
Authors: Arturo Gomez Chavez, Christian A Mueller, Tobias Doernbach and Andreas Birk. Intervention missions in the context of oil-&-gas production require precise and robust navigation. In this article, the authors describe the use of an advanced vision system suited for deep-sea operations, which in combination with artificial markers on target structures like oil-&-gas production-Christmas-trees, significantly boosts navigation performance.
4 - Robust Design of Docking Hoop for Recovery of Autonomous Underwater Vehicle with Experimental Results.
Authors: Wei Peng Lin, Cheng Siong Chin, Leonard Chin Wai Looi, Jun Jie Lim, and Elvin Min Ee Teh. 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.
5 - Towards omnidirectional immersion for ROV teleoperation
Authors: Josep Bosch, Pere Ridao, Rafael Garcia and Nuno Gracias The use of omnidirectional cameras underwater is enabling many new and exciting applications in multiple fields. Among them, it will allow Remotely Operated Underwater Vehicles (ROVs) to be piloted directly by means of the images captured by omnidirectional cameras through virtual reality (VR) headsets. This immersive experience will extend the pilot’s spatial awareness and reduce the usual orientation problems during missions. This paper presents this concept and illustrates it with the first experiments for achieving this purpose.
31 - Enhancing the Scientific Value of Industry Remotely Operated Vehicles (ROVs) in Our Oceans.
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
32 - Jelly fish-Inspired soft robot driven by fluid electrode dielectric organic robotic actuators
Authors: Caleb Christianson, Christopher Bayag, Guorui Li, Saurabh Jadhav, Ayush Giri, Chibuike Agba, Tiefeng Li, and Michael T. Tolley. Robots for underwater exploration are typically comprised of rigid materials and driven by propellers or jet thrusters, which consume a significant amount of power. Bioinspired soft robots provide an approach for underwater exploration in which the robots are comprised of compliant materials that can better adapt to uncertain environments and take advantage of design elements that have been optimized in nature.
25 - A Systematic Review of Remotely Operated Vehicle Surveys for VisuallyAssessing Fish Assemblages
Authors: Darryn Sward, Jacquomo Monk, and Neville Barrett Anthropogenic activities and greater demands for marine natural resources have increased the spatial extent and duration of pressures on marine ecosystems. Remotely operated vehicles (ROVs) offer a robust survey tool for quantifying these pressures and tracking the success of management intervention while at a range of depths. This review aims to evaluate ROVs as a survey technique and to suggest optimal sampling strategies for use in typical ROV- based studies.
11 - A New Remotely Operated Sensor Platform for Interdisciplinary Observations under Sea Ice
Authors: Christian Katlein, Martin Schiller, Hans J. Belter, Veronica Coppolaro, David Wenslandt, and Marcel Nicolaus To increase the observational capabilities of sea ice scientists, the authors equipped a remotely operated vehicle (ROV) as sensor platform for interdisciplinary research at the ice water interface. This document presents the technical details and operation scheme of the new vehicle and provide data examples from a first campaign in the Arctic in autumn 2016 to demonstrate the vehicle’s capabilities.