studies-rov-concepts_2018-2019

Studies of ROV concepts 2018 - 2019

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.

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.

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.

41 - 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.

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.

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.

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.

Date of publication: 2019 Authors: A Yu Konoplin, N Yu Konoplin, V F Filaretov 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.

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.

Date of publication: 2019 Authors: Ved Chirayath, Alan Li 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).

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.

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.

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

Authors: 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 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.

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.

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. 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.

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.

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.

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.

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.

Date of publication: 2018 Authors: Robert K. Katzschmann, Joseph DelPreto, Robert MacCurdy, Daniela Rus Closeup exploration of underwater life requires new forms of interaction, using biomimetic creatures that are capable of agile swimming maneuvers, equipped with cameras, and supported by remote human operation. Current robotic prototypes do not provide adequate platforms for studying marine life in its natural habitats. This work presents the design, fabrication, control, and oceanic testing of a soft robotic fish that can swim in three dimensions to continuously record the aquatic life it is following or engaging.

Authors: Satja Sivcev, Matija Rossi, Joseph Coleman, Gerard Dooly, Edin Omerdie, Daniel Toal ROVs with hydraulic manipulators are extensively used for subsea intervention. With camera feedback from the scene, manipulators are teleoperated and slaved to the pilot-held master arms. While standard for offshore oil and gas, for challenging applications in waves or currents a new approach is required. The authors present the development of robot arm visual servo control approaches used in manufacturing, as the transfer and adaptation of these approaches to underwater hydraulic manipulators.

Authors: Taavi Salumäe, Ahmed Chemori, Maarja Kruusmaa U-CAT is a highly maneuverable biomimetic 4-fin underwater robot for operating in confined spaces. Because of its novel mechanical design and specialized purpose, traditional autonomous underwater robot control methods are not directly applicable to U-CAT. This paper proposes a novel modular control architecture that can be adopted for various application scenarios.

Authors: Ali Dogrul, Yavuz Hakan Ozdemir, Savas Sezen, Baris Barlas In this study, the hydrodynamic performance of the Duisburg Test Case (DTC), a Post-Panamax container vessel, has been investigated using Computational Fluid Dynamics (CFD) tools. The total resistance analysis has been performed using an optimal grid number, which was determined through verification and validation processes based on the Grid Convergence Index (GCI).

13 - Experimental Investigation of Locomotion Efficiency and Path- Following for Underwater Snake Robots with and without a Caudal Fin

Authors: E. Kelasidi, A. M. Kohl, K. Y. Pettersen, B. H. Hoffmann, J. T. Gravdahl The robotics community has shown an increasing interest in developing bio-inspired swimming robots, driven by the need for more economical, efficient, autonomous, highly flexible, and maneuverable robotic systems for underwater operations. In this paper, the authors present a bio-inspired underwater snake robot (USR) equipped with a passive caudal (tail) fin. In particular, a highly flexible USR configuration is presented that is capable of locomotion both on the ground and underwater due to its robust mechanical and modular design, which allows additional effectors to be attached to different modules of the robot depending on the application's requirements.

Authors: Eleni Kelasidi, Gard Elgenes, Henrik Kilvaer The development of underwater snake robots (USRs) shows promising results toward extending the capabilities of conventional unmanned underwater vehicles (UUVs). The slender and multi-articulated body of USRs allows for operation in tight spaces where other traditional UUVs are incapable of operating. However, the mathematical model of USRs is more challenging compared to the models of ROVs and AUVs because of their multi- articulated bodies.

Authors: Roberta Ingrosso, Daniela De Palma, Giovanni Indiveri, and Giulio Avanzin A dynamic modeling approach is presented by the authors to compute the lumped parameter hydrodynamic coefficients of an underwater vehicle, conceived as a multi-body underwater system. The vehicle base is composed of heterogeneous robots and bodies rigidly connected, giving rise to a multi-body system called “cluster” in the paper. In order to model the nonlinear dynamics of the cluster, a modular approach has been proposed based on a proper composition of the dynamic models of the individual elements.

Authors: Satja Sivcev, Joseph Coleman, Edin Omerdic, Gerard Dooly, Daniel Toal This paper describes the state-of-the-art in the area of underwater robot manipulator systems. A brief introduction is given on the use of manipulators in various offshore industries for different subsea intervention applications. It provides a comprehensive summary of existing commercial and prototype underwater manipulators, covering relevant aspects such as design features, capabilities, and merits, and provides a detailed comparison.

18 - Shipboard design and fabrication of customized 3D-printed soft robotic manipulators for the investigation of delicate deep -sea organisms

Authors: Daniel M. Vogt, Kaitlyn P. Becker, Brennan T. Phillips, Moritz A. Graule, Randi D. Rotjan, Timothy M. Shank, Erik E. Cordes, Robert J. Wood, David F. Gruber Soft robotics is an emerging technology that has shown considerable promise in deep-sea marine biology applications. It is particularly useful in facilitating delicate interactions with fragile marine organisms. This study describes the shipboard design, 3D printing, and integration of custom soft robotic manipulators for investigating and interacting with deep-sea organisms.

Authors: Jiawang Chen, Yongqiang Ge, Chaoling Yao, and Binghuan Zheng The Wave Glider is a new concept marine robot that can make use of wave energy to obtain thrust. Differing from the traditional unmanned vehicles, the Wave Glider consists of a floating body, a connecting tether, and a submerged glider. It can be regarded as a particular catamaran structure. Therefore, the conventional kinetic models of unmanned vehicles are inapplicable to the Wave Glider. The authors propose a nonlinear kinetic model of a Wave Glider with six degrees of freedom based on three reference coordinate frames.

Authors: Claudio Abels, Antonio Qualtieri, Toni Lober, Alessandro Mariotti, Lily D. Chambers, Massimo De Vittorio, William M. Megill and Francesco Rizzi Flow stimuli in the natural world is varied and contains a wide variety of directional information. Nature has developed morphological polarity and bidirectional arrangements for flow sensing to filter the incoming stimuli. Inspired by the neuromasts found in the lateral line of fish, the authors present a novel flow sensor design based on two curved cantilevers with bending orientation antiparallel to each other.

Authors: Zheyuan Gong, Bohan Chen, Jiaqi Liu, Xi Fang, Zemin Liu, Tianmiao Wang, and Li Wen Collecting seafood animals cultivated in shallow water is a profitable and emerging field that requires robotics to replace human divers. Soft robotics have several promising features for performing such a task. In this paper, the authors implemented a soft manipulator with an opposite bending and extension structure. A simple and rapid inverse kinematics method is proposed to control the spatial location and trajectory of the underwater soft manipulator’s end effector.

Date of publication: 2019 Authors: Yue Wang, Victor Kang, Eduard Arzt, Walter Federle, and Rene Hense Advances in bio-inspired microfibrillar adhesives have resulted in technologies that allow reliable attachment to a variety of surfaces. Although various strategies have been proposed to achieve strong reversible underwater adhesion, strong adhesives that work both in air and underwater without additional surface treatments have yetto be developed. The authors report a novel cupped microstructures (CM) that generates strong controllable adhesion in both air and underwater.

Date of publication: 2019 Authors: Aude Billard, and Danica Kragic Humans have a fantastic ability to manipulate objects of various shapes, sizes, and materials and can control the objects’ position in confined spaces with the advanced dexterity capabilities of our hands. Building machines inspired by human hands, with the functionality to autonomously pick up and manipulate objects, has always been an essential component of robotics.

Authors: Petra Ditsche, and Adam Summers While artificial suction cups only attach well to smooth surfaces, the Northern clingfish can attach to surfaces ranging from nanoscale smoothness to rough stone. This ability is highly desirable for technical applications. The morphology of the fish’s suction disc and its ability to attach to rough and slimy surfaces have been described before. The authors aim to close gaps in the biomechanical understanding and transfer the biomechanical principles to technical suction cups. We demonstrate that the margin of the suction disk is the critical feature that enables attachment to rough surfaces.

Author: Ali Dogrul Submerged bodies are commonly used in many fields, such as scientific research, military operations, and commercial applications. Especially in military applications, submarines have a significant role as silent and deterrent vehicles. Contrary to popular belief, submerged bodies also operate in shallow depths where free-surface effects come into play. This causes the visual identification of submarines while protecting them from sonar detection. This study focuses on investigating free-surface effects on submarine hydrodynamics moving forward at different depths.

Author: Nina R. Sinatra, Clark B. Teeple, Daniel M. Vogt, Kevin, Kit Parker.David F. Gruber, Robert J. Wood This document presents ultragentle soft robotic actuators capable of grasping delicate specimens of gelatinous marine life. Through an exploration of design parameters and laboratory testing of individual actuators, the authors have confirmed that their nanofiber-reinforced soft actuators apply sufficiently low contact pressure to ensure minimal harm to typical jellyfish species.

Author: Hao Pan, Fei Li, Yao Liu, Qinghua Zhang, Meng Wang, Shun Lan, Yunpeng Zheng, Jing Ma, Lin Gu, Yang Shen, Pu Yu, Shujun Zhang, Long- Qing Chen , Yuan-Hua Lin, Ce-Wen Nan Dielectric capacitors with ultra-high power densities are fundamental energy storage components in electrical and electronic systems. However, a long- standing challenge is to improve their energy densities. The authors report on dielectrics with ultra-high energy densities designed using polymorphic nanodomains.

Authors: J. Zhu, C. White , D. K. Wainwright , V. Di Santo , G. V. Lauder , H. Bart-Smith Tuna and related scombrid fishes are high-performance swimmers that often operate at high frequencies, especially during behaviors such as escaping from predators or catching prey. This contrasts with most fish- like robotic systems that typically operate at low frequencies (< 2 Hz). The authors designed and tested a new platform based on yellowfin tuna (Thunnus albacares) and Atlantic mackerel (Scomber scombrus) to explore the high-frequency fish swimming performance space.

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Date of publication: 2018 Authors: Thomas George Thuruthel, Yasmin Ansari, Egidio Falotico, and Cecilia Lasch This review paper aims to provide insight into the various controllers developed for continuum/soft robots as a guide for future applications in soft robotics. A comprehensive evaluation of different control strategies provides insight into future research areas in this field.

Date of publication: 2018 Authors: Kun Xie, Wei Pan and Suxia Xu This paper proposes using “the dark channel prior”, a technique used to remove haze from outdoor images, to improve image clarity in underwater environments. By combining this model with the underwater diffusion model, the approach works well in various scenes. Experimental results confirm the effectiveness of this method in underwater environments.

Authors: Simone Marini, Emanuela Fanelli, Valerio Sbragaglia, Ernesto Azzurro, Joaquin Del Rio Fernandez, & Jacopo Aguzzi Marine cabled video observatories are great for observing sea life, without causing harm. However, they have not been widely used for monitoring ecosystems due to the lack of automated video processing methods. This study presents a new method that uses genetic programming to analyze images and track the number of fish present. Additionally, this approach can be applied to other video observatories.

Authors: Chengshi Wang, John Wagner, Chase G. Frazelle, and Ian D. Walker Continuum robots are ideal for working in unstructured environments because of their flexibility and ability to adapt their shape to perform different tasks. However, designing controllers for them is challenging due to their complex dynamics. This paper presents a new control strategy using a model based on a virtual robot with discrete joints.This model simplifies the control process, and simulations show that the method tracks trajectories accurately.

Authors: Thomas George Thuruthel This thesis explores machine learning techniques for controlling soft robots, detailing both simulation and experimental studies. It examines kinematic and dynamic controllers developed using learning methods and validated in open-loop and closed-loop control. It also investigates the effect of morphology on control strategies in a simulated octopus model and a soft manipulator. Additionally, embedded sensing is briefly explored with a view to developing self-sufficient embodied systems.

Authors: Thomas George Thuruthel, Egidio Falotico, Federico Renda, Cecilia Laschi The dynamic control of soft robotic manipulators remains largely unexplored. Current applications mainly use static or quasi-dynamic controllers that do not fully exploit the system's dynamics. This paper presents a model-based policy learning algorithm for predictive control that uses a recurrent neural network and trajectory optimization. The approach was initially tested on a simulated model and experimentally validated on a soft pneumatic manipulator, demonstrating its effectiveness in handling variable frequencies and external loads.

Authors: MD Moniruzzaman, Syed Mohammed Shamsul Islam, Paul Lavery, and Mohammed Bennamoun Deep learning has changed the game for spotting objects, and "Faster Regions with CNN Features” (an object detection model that uses high-capacity Convolutional Neural Networks to localize and segment objects) is leading the pack. The authors have created a dataset of 2,699 underwater photos of Halophila ovalis, which had not been done until now due to the lack of good datasets available and the difficulty of distinguishing between similar-looking plants in underwater photos.

Authors: Naga Sasi Devarakonda This thesis uses Morison's equation to investigate the hydrodynamic performance of anguilliform swimming and validates this method by comparing it with existing slender body theory and experimental results. It also seeks to understand the relationship between self-propulsion speed, oscillating tail amplitude, and forward ratio in the context of anguilliform swimming.