Studies of ROV concepts 2020
5 - Development and application of a temperature gradient detector for manned underwater robot.
Date of publication: 2020 Authors: Dewei Li, Ye Li, Zhongjun Ding, Xiangxin Wang, & Baohua Liu Abstract: An underwater robot is an important platform to carry various sensors and working tools to finish the in situ measurement and sampling in the deep sea. These devices should have a small volume and weight due to the limited loading capacity of the vehicle and should be designed to reach the operational depth. This study describes a detector system that can obtain data in situ, including a titanium alloy electronic cabin and a temperature probe.
6 - Rendering ROV Rolling Motion on a Handheld Haptic Device.
Date of publication: 2020 Authors: Syed Mohamad Shazali Bin Syed Abdul Hamid, Muhamad Addeen Bin Zailee. Abstract: While most ROVs are controlled by varying their motion, it is beneficial to be able to control the orientation directly through a handheld device. That offers the opportunity to provide haptic feedback on such handheld devices. The motivation of this work is to give the sensation of the rolling object to a user when an ROV, controlled through the handheld device, rolls on the x-axis.
11 - Motion control of a two-degree-of-freedom linear resonant actuator without a mechanical spring
Date of publication: 2020 Authors: Gyunam Kim & Katsuhiro Hirata This study aims to present a new two-degree-of- freedom (DOF) linear resonant actuator (LRA) and its motion control method without a position sensor.
18 - Analysis of the Impact of different angles of thrusters in underwater vehicles on thrust force in CAD environment
Date of publication: 2020 Authors: Talha Gülgün, Göksel Alankaya, Muhammet Emin Duran, Mertcan Erdogdu, Ismail Yalçınkaya, Akif Durdu, Hakan Terzioglu. In this study, it is defined how the thrusters positioning should be for the underwater vehicle designed to meet the requirements of a user to be the mos efficient and suitable vehicle for the desired environment of mobility.
22 - Localisation of Unmanned Underwater Vehicles (UUVs) in complex and confined environments: A review,
Date of publication: 2020 Authors: Simon Watson, Daniel A. Duecker, Keir Groves. The inspection of aquatic environments is a challenging activity, which is made more difficult if the environment is complex or confined, such as those found in nuclear storage facilities and accident sites, marinas, and boatyards, liquid storage tanks, or flooded tunnels and sewers. This article presents a review of the state-of-the-art in localisation technologies for these environments and identifies areas of future research to overcome the challenges posed.
3 - SAUV—A Bio-Inspired Soft-Robotic Autonomous Underwater. Vehicle
Date of publication: 2020 Authors: Fabian Plum, Susanna Labisch, Jan-Henning Dirks. Abstract: Autonomous and remotely operated underwater vehicles allow us to reach previously inaccessible places and perform complex repair, exploration, and analysis tasks. As their navigation is not infallible, they may cause severe damage to themselves and their often fragile surroundings, such as flooded caves, coral reefs, or even divers in case of a collision.
4 - Underwater Robotics Competitions: The European Robotics League Emergency Robots Experience With FeelHippo AUV.
Date of publication: 2020 Authors: Matteo Franchi, Francesco Fanelli, Mattei Bianchi, Alessandro Ridolfi & Benedetto Allotta. Underwater robots are nowadays employed for many different applications; during the last decades, a wide variety of robotic vehicles have been developed by both companies and research institutes, different in shape, size, navigation system, and payload. While the market needs to constitute the real benchmark for commercial vehicles, novel approaches developed during research projects represent the standard for academia and research bodies. An interesting opportunity for the performance comparison of autonomous vehicles lies in robotics competitions, which serve as a useful testbed for state-of-the-art underwater technologies and a chance for the constructive evaluation of strengths and weaknesses of the participating platforms.
7 - Enhancing the Scientific Value of Industry Remotely Operated Vehicles (ROVs) in Our Oceans.
Date of publication: 2020 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. Remotely operated vehicles (ROVs) are used extensively by the offshore oil and gas and renewables industries for inspection, maintenance, and repair of their infrastructure. With thousands of subsea structures monitored across the world’s oceans from the shallows to depths greater than 1,000 m, there is a great and underutilized opportunity for their scientific use. Through slight modifications of ROV operations, and by augmenting industry work-class ROVs with a range of scientific equipment, the industry can fuel scientific discoveries, contribute to an understanding of the impact of artificial structures in our oceans.
8 - Investigating PID Control for Station Keeping ROVs
Date of publication: 2020 Authors: Kyle L. Walker, Adam A. Stokes, Aristides Kiprakis, & Francesco Giorgio-Serchi. For controlling Unmanned Underwater Vehicles (UUVs) in deep water, Proportional-Integral-Derivative (PID) control has previously been proposed. Disturbances due to waves are minimal at high depths, so PID provides an acceptable level of control for performing tasks such as station-keeping. In shallow water, disturbances from waves are considerably larger, and thus, station-keeping performance naturally degrades. By means of simulation, this letter details the performance of PID control when station keeping in a typical shallow-wave operating environment, such as that encountered during inspection of marine renewable energy devices.
9 - Underwater No-Reference Image Quality Assessment for Display Module of ROV
Date of publication: 2020 Authors: Di Wu, Fei Yuan, & En Cheng The optical images collected by remotely operated vehicles (ROV) contain a lot of information which plays an important role in ocean exploration. However, due to the absorption and scattering characteristics of the water medium, some of the images suffer from serious color distortion. These distorted color images usually need to be enhanced so that we can analyze them further. However, no image enhancement algorithm currently performs well in any scene. Therefore, to monitor image quality in the display module of ROV, a no-reference image quality predictor (NIPQ) is proposed in this paper.
10 - Experimental Force Data of a Restrained ROV under Waves and Current.
Date of publication: 2020 Authors: Roman Gabl, Thomas Davey, Yu Cao, Qian Li, Boyang Li, Kyle L. Walker, Francesco Giorgio-Serchi, Simona Aracri, Aristides Kiprakis, Adam A. Stokes, and David M. Ingram Hydrodynamic forces are an important input value for the design, navigation, and station keeping of underwater Remotely Operated Vehicles (ROVs). The experiment investigated the forces imparted by currents (with representative real-world turbulence) and waves on a commercially available ROV, namely the BlueROV2 (Blue Robotics, Torrance, USA).
12 - Fusing ROV-based photogrammetric underwater imagery with multibeam soundings for reconstructing wrecks in turbid waters.
Date of publication: 2020 Authors: Robin Rofallski, Patrick Westfield, Jean-Guy Nistad, Annette Buttner & Thomas Luhmann. Observation and monitoring of wrecks are an integral part of the duties of hydrographic offices such as BSH. A common practice consists of first surveying wrecks using vessel-based multibeam echo sounding systems and subsequently having divers inspect them. To provide an objective procedure and set a baseline for monitoring wrecks, unmanned underwater vehicles equipped with imaging systems can be used to inspect wrecks and other obstructions in more details. This paper presents a workflow for combining multibeam soundings and photogrammetric point clouds generated by an ROV-based camera system.
13 - Rendering ROV Rolling Motion on a Handheld Haptic Device
Date of publication: 2020 Authors: Syed Mohamad Shazali Bin Syed Abdul Hamid, Muhamad Addeen Bin Zailee. While most ROVs are controlled by varying their motion, it is very helpful to be able to control the orientation directly through a handheld device. This offers the opportunity to provide haptic feedback on such handheld devices. A haptic device provides force feedback as a cue signal to a user. The motivation of this work is to give the sensation of a rolling object to a user when an ROV, controlled through the handheld device, rolls on the x-axis.
14 - Proposed Mathematical Modeling of Small Remotely Operated Vehicle (ROV) Movement
Date of publication: 2020 Authors: Iis Hamsir Ayub Wahab, Rintania Elliyati Nuryaningsih, Achmad Pradjudin Sardju In designing of Remotely Operated Vehicle (ROV), the most important issue is how to formulate the movements of the vehicle. This paper proposes the mathematical model of ROV movement.
16 - A better ROV/AUV for behavioral ecology
Date of publication: 2020 Author: Rodney Rountree ICurrent ROV and AUV instruments are poorly designed for behavioral ecology studies. They are designed for continuous movement with the capability of hoovering for short periods, but only by using continuous propulsion. Operation without lights is also difficult for ROVs.
19 - Operating Cabled Underwater Observatories in Rough Shelf- Sea Environments: A Technological Challenge.
Date of publication: 2020 Authors: Philipp Fischer, Holger Brix , Burkard Baschek, Alexandra Kraberg, Markus Brand , Boris Cisewski, Rolf Riethmüller, Gisbert Breitbach, Klas Ove Möller, Jean- Pierre Gattuso, Samir Alliouane, Willem H. van de Poll, and Rob Witbaard. Purpose: Cabled coastal observatories are often seen as future- oriented marine technology that enables scientists to conduct observational and experimental studies underwater year-round, independent of physical accessibility to the target area.
20 - Remote Vessel Inspections with an ROV using Livestreaming
Date of publication: 2020 Authors: Michael Stein, Henri Parviainen Purpose: Affordable prices and operational technology have shifted ROV operation from offshore to the ports and allow for a whole new dimension of unmanned inspection as part of risk management. This paper argues that enhancing service quality while reducing costs can to a large part be achieved through innovative technology where ROV is seen as such a mean. The main areas of service are seen to be on the safety and the security side or maritime operations.
23 - The Use of a UVC Lamp Incorporated With an ROV to Prevent Biofouling: A Proof-of-Concept Study
Date of publication: 2020 Authors: Cierra Braga, Kelli Hunsucker, Caglar Erdogan, Harrison Gardner, & Geoffrey Swain. A proof-of-concept study was designed to investigate using an Ultraviolet C (UVC) lamp mounted on a hull- crawling remotely operated vehicle (ROV) to prevent biofouling on a ship hull. A wheeled cart with a UVC lamp was built to expose two large test panels to UVC. The test panels were coated with an ablative copper antifouling and a silicone fouling release coating, and these were immersed in seawater at Port Canaveral, Florida.
24 - The preliminary of Design and Movement of Remotely Operated Vehicle (ROV)
Date of publication: 2020 Authors: S Manullang, A Pusaka, A Setiawan. The purpose of this study is to design a mini Remote Operated Vehicles (ROV) which based on remote control underwater robot, and test its movements, the longitudinal and vertical movements in calm water.
17 - Eye Gaze Map as an Effificient State Encoder for Underwater Task Automation
Date of publication: 2020 Author: Wenjun Xu, Jianfeng Wei, Renyou Yang, Aidong Zhang ROVs are the primary tool used in marine environments to conduct dexterous manipulation tasks and teleoperation, requiring experienced operators. In an attempt to ease the operators' fatigue and potentially improve task efficiency, the authors propose an image-based framework to automate underwater routine tasks via imitation learning.
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2 - Target tracking control of underactuated autonomous underwater vehicle based on adaptive nonsingular terminal sliding mode control
Authors: Jian Cao, Yushan Sun, Guocheng Zhang, Wenlong Jiao, Xiangbin Wang, and Zhaohang Liu. This article addresses the adaptive target tracking control design for an underactuated autonomous underwater vehicle subject to uncertain dynamics and external disturbances induced by the ocean currents. The moving target tracking guidance strategy is designed based on the line-of-sight method, and the target tracking reference speed and angular velocity are given.
Next page Next page BUTTON TEXT Previous page 1 - Geometric Insight into the Control Allocation Problem for Open-Frame ROVs and Visualisation of Solution.
Authors: Edin Omerdic, Petar Trslic, Admir Kaknjo, Anthony Weir, Muzaffar Rao , Gerard Dooly and Daniel Toal Typically, open-frame underwater vehicles have p actuators (thrusters) for the motion in the horizontal plane. In this case, the control allocation problem is very complex and hard to visualize because the normalized constrained control subset is a p- dimensional unit cube. This paper aims to give a clear picture and a geometric interpretation of the problem and to introduce a hybrid method based on the integration of a weighted pseudo-inverse and the fixed-point method.
15 - First-Order Dynamic Modeling and Control of Soft Robots
Authors: Thomas George Thuruthel, Federico Renda, and Fumiya Iida Modeling of soft robots is typically performed at the static level or a second-order fully dynamic level. Static controllers, based on the kinematic relations, tend to be the easiest to develop, but by sacrificing accuracy, efficiency, and the natural dynamics. Controllers developed using second-order dynamic models tend to be computationally expensive but allow optimal control. The authors propose that the dynamic model of a soft robot can be reduced to a first-order dynamical equation owing to their high damping and low inertial properties, as typically observed in nature, with minimal loss in accuracy.
21 - Preliminary Work on a Virtual Reality Interface for the Guidance of Underwater Robots.
Authors: Marcos de la Cruz, Gustavo Casañ, Pedro Sanz, and Raúl Marín There is still a long way to go before AUVs (Autonomous Underwater Vehicles) will be able to cope with really challenging missions. The solution adopted is mainly based on remote-operated vehicle (ROV) technology. These ROVs are controlled from support vessels by using complex human-robot interfaces. Therefore, it is necessary to reduce the complexity of these systems to make them easier to use and reduce the stress on the operator. In this paper, the authors present an HRI (Human-Robot Interface) module that includes virtual reality (VR) technology.
25 - Improved Deployable Defense against BGP Hijacking
Authors: Reynaldo Morillo, Justin Furuness, Cameron Morris, James Breslin The authors of this paper focused on two crucial hijack attacks of ROVs: “subprefix hijacks” and “non-routed prefix hijacks”. For both, they showed that ROVs provide disappointing security. In addition, they presented a new attack called “superprefix hijacks”, which completely circumvents ROV’s defense for non- routed prefix hijacks. They complete this paper with the presentation of “ROV++”, an extension that significantly improves ROV security.
15 - Applying a Low Cost, Mini Remotely Operated Vehicle (ROV) to Assess an Ecological Baseline of an Indigenous Seascape in Canada
Authors: Elena Buscher, Darcy L. Mathews, Cheryl Bryce, Kathleen Bryce, Darlene Joseph, and Natalie C. Ban Ecosystem assessments can be completed over varying scales through different methodologies or a combination of them. Despite these many technologies, most marine environments lack comprehensive habitat assessments. Remotely operated vehicles (ROVs) provide an opportunity to conduct small- to meso scale ecological surveying without some of the constraints of commonly used methodologies such as scuba.