Studies of ROV concepts 2021
The documents are classified chronologically. Click on their descriptions to open and download them.
11 - Review on unmanned underwater robotics, structure designs, materials, sensors, actuators, and navigation control.
Date of publication: 2021 Authors: Javier Neira, Cristhel Sequeiros, Richard Huamani, Elfer Machaca, Paola Fonseca, and Wilder Nina Sim The present research is an effort to make a walkthrough of evolution in this area, showing a diversity of structure designs, used materials, sensors, instrumentation technologies, kinds and the number of actuators employed, navigation control techniques, and what is new in development trends. The paper gives a clear starting point for those who are initializing into this research area; also, it brings some helpful knowledge for those who already have experience.
12 - Safe & collaborative autonomous underwater docking.
Date of publication: 2021 Author: Auguste Bourgois This document is a doctorate thesis that describes the reasons and the approach for creating autonomous ROVs for the inspection and maintenance of wind farms.
16 - A method for supervisory control of manipulator of underwater vehicle
Date of publication: 2021 Authors: Alexander Konoplin, Vladimir Filaretov, Alexander Yurmanov. A novel method for supervisory control of multilink manipulators mounted on underwater vehicles is considered. This method is designed to significantly increase the level of automation of manipulative operations, by the building of motion trajectories for a manipulator working tool along the surfaces of work objects on the basis of target indications given by the operator.
18 - Investigation of the spatio-temporal behaviour of submarine groundwater discharge using a low-cost multi-sensor-platform.
Date of publication: 2021 Authors: Christoph Tholen, Iain Parnum, Robin Rofallski, Lars Nolle, & Oliver Zielinski Submarine groundwater discharge (SGD) is an essential pathway of nutrients into coastal areas. During the last decades, the interest of researchers in SGDs has grown continuously. However, methods applied for SGD research usually focus on the aquifer or the mixing processes on larger scales. The distribution of discharged water within the water column is not well investigated. Small remotely operated vehicles (ROV) equipped with environmental sensors can be used to investigate the spatial distribution of environmental parameters in the water column. Herein, a low-cost multi-sensor platform designed to investigate the spatial distribution of water quality properties is presented. The platform is based on an off-the-shelf underwater vehicle carrying various environmental sensors and a short-baseline localization system.
19 - Navigation of underwater drones and integration of acoustic sensing with onboard inertial navigation system.
Date of publication: 2021 Authors: Alexander Miller, Boris Miller, Gregory Miller This review presents common approaches to underwater navigation and one novel velocity measurement method. The latter is an analog of the well-known Optical Flow method but based on a sequence of sonar array measurements.
2 - Thrust force evaluation for a ROV (Remont Operating Vehicle) propeller
Date of publication: 2021 Author: A Sabau Depending on the area of use, ROV must satisfy numerous constructive and functional requirements, which are difficult to achieve in practice, and the simulation is a challenging alternative. The big challenge is the simulation of the thrust force generated by the propeller. The present work aims to present a simulation with the Ansys Fluid Dynamics software package.
3 - ROV navigation in a fish cage with laser-camera triangulation.
Date of publication: 2021 Authors: Magnus Bjerkeng, Trine Kirkhus, Walter Caharija, Jens T. Thielemann, Herman B. Amundsen, Sveinung Johan Ohrem, and Esten Ingar Grøtli. Purpose: Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles is a promising solution. This paper proposes laser-camera triangulation for pose estimation to enable autonomous net following for an autonomous vehicle.
4 - The Concept of the Unmanned Surface Vehicle for the Observation-class ROV.
Date of publication: 2021 Authors: A Yu Tolstonogov, A E Kozhushko, I A Chemezov, D A Skalskii, & A Yu Kolomeitsev. Purpose: The connectedness of an ROV and a carrier vessel imposes restrictions on the ROV and vessel’s joint motion. This article aims to present the concept design of an unmanned surface vehicle for an observation- class ROV. The surface vehicle allows breaking wired connections between the carrier vessel and the ROV by a wireless communication system based on Wi-Fi technology.
8 - Design, Performance Evaluation and Field Test of a Water Jet Tool for ROV Trencher
Date of publication: 2021 Authors: Ji-Hong Li, Mun-Jik Lee, Hyungjoo Kang, Min-Gyu Kim, & Gun Rae Cho. Purpose: An ROV trencher buries the subsea cables and pipelines using a specifically designed tool. According to the soil conditions, this trenching method can have two different types, one is mechanical cutting, and the other one is water jetting. This paper presents a water jet tool design method for a 2500 m depth-rated ROV trencher. A series of CFD simulations and laboratory tests with one nozzle and a ground test using a 1:6 scale jetting arm models were carried out to derive and demonstrate the jetting tool design parameters.
9 - ROV launch and recovery from an unmanned autonomous surface vessel – Hydrodynamic modelling and system integration.
Date of publication: 2021 Authors: Chenyu Zhao, Philipp Thies, Johanning Lars, James Cowles. Purpose: This paper focuses on the hydrodynamic performance of an unmanned vehicle system, consisting of a remotely operated underwater vehicle (ROV) that has to be launched and recovered autonomously from an Autonomous Surface Vehicles (ASV), that is described in detail. The paper also assesses the overall performance of the ASV/ROV system, including the stability of the ASV, the ROV tidal current capacity, and the required power of the launch and recovery winch system.
13 - Development of a Navigation and Position Tracking System for a Remotely Operated Vehicle (ROV) – ORCA.
Date of publication: 2021 Authors: P Tejaswini, I Sai Deepika, & Sakthivel Murugan Santhanam Remotely Operated Vehicles (ROVs) are manually operated underwater vehicles designed for specific applications in maritime environments. Vigilant precautions must be ensured in creating their navigation modules because of the inconsistent nature of underwater channels. This paper aims to focus on this point by developing an apt navigation system for the Remotely Operated Vehicle, ORCA, which has been equipped with sensors such as temperature, pressure, and leak detector, for monitoring the ambient conditions during deployment and an Inertial Measurement Unit for tracking and positioning of an ROV.
14 - Design and Development of SelamDrone Underwater ROV Manoeuvring Control
Date of publication: 2021 Authors: O.W. Zulkarnain, A.A. M. Redhwan, N. Bahiyah Baba, M.N. Fadhil, & S. Rosni The present study explores the underwater remotely operated vehicle (ROV) control named SelamDrone. The maneuvering, which includes forward-reverse and rise-sink control, is designed and developed. Beforehand, various factors in designing and fabricating the prototype of underwater ROV, namely functionality, stability, and motor efficiency, need to be considered.
20 - Dynamic characteristics of deep-sea ROV umbilical cables under complex sea conditions
Date of publication: 2021 Authors: Peng Chen, Yuwang Liu, Shangkui Yang, Jibiao Chen, Qifeng Zhang, & Yuangui Tang Ensuring the safety of umbilical cables is a core challenge in deep-sea robotics. The umbilical cable usually amplifies the motion amplitude of the mother ship owing to its elastic material. Under the joint action of the mother ship motion and ocean current, the strong internal force waves generated in the umbilical cable tend to cause serious accidents such as umbilical cable breakage. A dynamic model of an umbilical cable under complex sea conditions is established based on the Kirchhoff rod theory. The differential quadrature and New-mark methods are used to discretize the equation in the space and time domains. The characteristics of the umbilical cable under different conditions are analyzed.
21 - Investigating the winch performance in an ASV/ROV autonomous inspection system.
Date of publication: 2021 Authors: Chenyu Zhao, Philipp R. Thies, Lars Johanning. This paper presents the design and performance of the winch system, which couples the ASV and ROV and deploys/recovers the ROV. The hydrodynamic models and control algorithms are developed and solved with analytical and numerical approaches. The winch performance needs to meet a range of operational profiles, including i) ASV following/ not following the ROV ii) winch operating in speed control iii) winch operating in tension control iv) varying ROV distance and depths targets. The work determines the required umbilical length for different ROV targets and suitable winch speeds.
22 - From market-ready ROVs to low-cost AUVs
Date of publication: 2021 Authors: Jonatan Scharff Willners, Ignacio Carlucho, Tomasz Łuczy´nski, Sean Katagiri, Chandler Lemoine, Joshua Roe, Dylan Stephens, Shida Xu, Yaniel Carreno, `Eric Pairet, Corina Barbalata, Yvan Petillot, Sen Wang Autonomous Underwater Vehicles (AUVs) are becoming increasingly crucial for different types of industrial applications. The generally high cost of AUVs restricts access to them and therefore advances in research and technological development. However, recent advances have led to lower-cost commercially available Remotely Operated Vehicles (ROVs), which present a platform that can be enhanced to enable a high degree of autonomy, similar to that of a high-end AUV. This article presents how a low-cost commercial- off-the-shelf ROV can be used as a foundation for developing versatile and affordable AUVs.
23 - Double-Loop Sliding Mode Controller with an Ocean Current Observer for the Trajectory Tracking of ROV.
Date of publication: 2021 Authors: Weilei Mu, Yuxue Wang, Hailiang Sun, and Guijie Liu. This paper proposes a double-loop sliding mode controller with an ocean current observer to solve the trajectory tracking problem of insufficient response and the significant tracking error of remotely operated vehicles (ROVs) under the interference of large ocean currents.
24 - Four propellers submarine drone modelling in a real environment.
Date of publication: 2021 Authors: Mohamed Moustanir, Karim Benkirane, Adil Sayouti, Hicham Medromi In previous publications, the authors proposed the architectural solution of an ROV with only four thrusters without rudders or diving bars to reduce the hydrodynamic dampers and mechanical elements and justified the choice of this arrangement. Also, they started kinematic and dynamic studies of the marine robot and demonstrated that this remotely operated vehicle (ROV) could move in a perfect environment without gravity or hydrodynamic dampers using the mathematical model under MATLAB. In this article, they study the behavior of this marine vehicle in a real environment.
25 - Catching jellies in immersive virtual reality: A comparative teleoperation study of ROVs in underwater capture tasks.
Date of publication: 2021 Authors: Aviv Elor, Tiff any Thang, Benjamin P. Hughes, Alison Crosby, Amy Phung, Everardo Gonzalez, Kakani Katija, Steven H. D. Haddock, Benjamin E. Erwin, Eric J. Martin, Leila Takayama. Remotely Operated Vehicles (ROVs) are essential to human-operated underwater expeditions in the deep sea. However, piloting an ROV to safely interact with live ecosystems is an expensive and cognitively demanding task, requiring extensive maneuvering and situational awareness. Immersive Virtual Reality (VR) Head-Mounted Displays (HMDs) could address some of these challenges. This paper investigates how VR HMDs influence operator performance through a novel telepresence system for piloting ROVs in real- time.
26 - Cost-effective Remote Operated Vehicle
Date of publication: 2021 Authors: Zachari Smolder, Jingang Yi. This paper explores using remotely operated vehicles as a cheap and affordable water exploration platform. ROV’s high cost is a prohibitive barrier, preventing widespread adoption of ROV for personal, research, and conservation uses. This paper explores a cost- effective ROV with video capturing and directional control capabilities to address this problem. Using state-of-the-art robotic technologies, a cost-effective competitive ROV was designed and constructed. It was tested to a depth of 7 m and could reach 30 m.
27 - Multiple Bio-Inspired Father–Son Underwater Robot for Underwater Target Object Acquisition and Identification.
Date of publication: 2021 Authors: Ruochen An, Shuxiang Guo, Yuanhua Yu, Chunying Li, & Tendeng Awa. Conventional manipulators are too heavy for small target objects and unsuitable for shallow sea working. In this paper, a bio-inspired Father-Son Underwater Robot System (FURS) is designed for underwater target object image acquisition and identification.
32 - Trajectory tracking control of ROVs considering external disturbances and measurement noises using ESKF-based MPC.
Date of publication: 2021 Authors: Chengqi Long, Xiaohui Qin, Yougang Bian, Manjiang Hu. This paper proposes a tracking method aiming at trajectory tracking for a remotely operated underwater vehicle (ROV) under external disturbances and measurement noises.
34 - Operational failure assessment of Remotely Operated Vehicle (ROV) in harsh offshore environments.
Date of publication: 2021 Authors: Samson Nitonye, Sidum Adumene, Charles Ugochukwu Orji, Anietie Effiong Udo. This paper proposes a structured probabilistic methodology for the operational failure assessment (OFA) characteristics of ROV, for an effective integrity assessment of marine robotic in offshore environments.
35 - Stereo Vision System for Vision-Based Control of Inspection- Class ROVs.
Date of publication: 2021 Authors: Stanisław Hozyn & Bogdan Zak. Remotely Operated Vehicles (ROVs) prime function is to replace humans during risky subaquatic operations. These vehicles gather videos from underwater scenes sent online to a human operator who provides control. Furthermore, these videos are used for analysis. This demands a camera operating at a close distance to the observed objects. Thus, the vehicle should move with a constant speed and a measured distance from the bottom to obtain a detailed depiction. As very few inspection-class ROVs possess navigation systems that facilitate these requirements, this study had the objective of designing a vision-based control method to compensate for this limitation.
6 - Experimental Validation of Wave Induced Disturbances for Predictive Station Keeping of a Remotely Operated Vehicle.
Date of publication: 2021 Authors: Kyle L. Walker, Roman Gabl, Simona Aracri, Yu Cao, Adam A. Stokes, Aristides Kiprakis, Francesco Giorgio- Serchi. Predictive control methods can substantially improve the performance of Unmanned Underwater Vehicles (UUVs), particularly in shallow water environments or near the free surface where wave-induced disturbances are of magnitude comparable to the vehicle's characteristic inertia. Fast estimation of the time evolution of hydrodynamic forces acting on a vehicle is required to facilitate the adoption of these methods. To this end, the authors perform experiments in a wave tank with an ROV to validate the use of Linear Wave Theory (LWT) to capture the time history of the surge, heave, and pitch wave-induced forces and moments.
15 - Application of Adaptive and Switching Control for Contact Maintenance of a Robotic Vehicle-Manipulator System for Underwater Asset Inspection
Date of publication: 2021 Authors: Kamil Cetin, Carlos Suarez Zapico, Harun Tugal, Yvan Petillot, Matthew Dunnigan, & Mustafa Suphi Erden. This study aims to design an adaptive controller for the hard contact interaction problem of underwater vehicle-manipulator systems (UVMS) to realize asset inspection through physical interaction. The proposed approach consists of a force and position controller in the operational space of the end effector of the robot manipulator mounted on an underwater vehicle. The force tracking algorithm keeps the end effector perpendicular to the unknown surface of the asset, and the position tracking algorithm makes it follow a desired trajectory on the surface. The challenging problem in such a system is to maintain the end effector of the manipulator in continuous and stable contact with the unknown surface in the presence of disturbances and reaction forces that constantly move the floating robot base unexpectedly.
28 - Development of the autonomous underwater noise recorder
Date of publication: 2021 Authors: Donatas Bagocius, Aleksas Naršcius Underwater noise is the most pervasive physical energy that spreads in the underwater marine environment. The concerns regarding man-made underwater noise effects on aquatic animals became prominent within scientific communities. This paper presents the steps for the development of the autonomous recorder, its features, capabilities, and calibration results of the underwater sound recording system.
31 - Simulation model for energy consumption and acoustic underwater communication of autonomous underwater vehicles
Date of publication: 2021 Authors: Peter Danielis, Helge Parzyjegla, Mostafa Assem Mohamed Ali, Frank Sill Torres. The modeling and simulation of the energy consumption and underwater acoustic communication play an essential role in studying and developing these systems. The authors provide a modular simulation model for the energy consumption and underwater acoustic communication of AUVs implemented in the network simulator OMNeT++ using the INET framework. More specifically, the authors extend several INET modules in such a way as to reflect the characteristics of AUVs and underwater communication. The authors also study and analyze the AUVs’ energy consumption and dependence of the message quality on different properties such as those mentioned above.
37 - Autonomous Underwater Vehicle in Internet of Underwater Things: A Survey
Date of publication: 2021 Authors: Chinonso Okereke, Nur Haliza Abdul Wahab, Mohd Murtadha Mohamad, & S H Zaleha. The introduction of the Internet of Underwater Things (IoUT) underwater has become a powerful technology necessary to the quest to develop a SMART Ocean. Autonomous Underwater Vehicles (AUVs) play a crucial role in this technology because of their mobility and more extended energy storage. For AUV technologies to be effective, the challenges of AUVs must be adequately solved. This paper provides an overview of the difficulties of IoUT, the contributions of AUVs in IoUT as well as the current challenges and opening in AUV.
29 - Mobile robot 3D trajectory estimation on a multilevel surface with multimodal fusion of 2D camera features and a 3D light detection and ranging point cloud
Authors: Vinicio Rosas-Cervantes, Quoc-Dong hoang, Sooho Woo, and Soon-Geul Lee. This article proposes a 3D robot trajectory estimation based on a multimodal fusion of 2D features extracted from color images and 3D elements from 3D point clouds.
30 - Parameter optimization of unmanned surface vessel propulsion motor based on BAS-PSO
Authors: Li Bian, Xiangqian Che, Liu Chengyang, Dai Jiageng, and He Hui. Despite advances in modern control theory and artificial intelligence technology, current methods for tuning Proportional-Integral-Derivative (PID) controller parameters based on the traditional Particle Swarm Optimization (PSO) algorithm do not meet the requirements for controlling an Unmanned Surface Vessel (USV) propulsion motor. To overcome the disadvantages of the PSO algorithm, such as low precision and easily falling into a local optimum, the Beetle Antennae Search (BAS) algorithm can be introduced into the PSO algorithm by replacing particles with beetles, effectively preventing the PSO algorithm from easily falling into the local optimum.
1 - Solar powered ROV electric propulsion and control
Authors: M. A. Malleswari, B. Venkata Rao, K. Narasimha Rao Solar-powered Remotely Operated Underwater Vehicle (ROV) used in surveillance applications is required to have longer endurance. To achieve this objective, renewable energy is integrated with the efficient electric propulsion of the ROV. Since the power generated is to be utilized effectively, it is imperative to prefer Maximum Power Point Tracking (MPPT) techniques. However, for designing optimized ROV propulsion, a combined simulation of ROV propulsion, control, and solar power interface is to be done.
33 - Prototyping and Stabilizing of Under-Actuated Remotely Operated Vehicle (ROV) using Fuzzy PID Control Algorithm.
Authors: Christos C. Constantinou, George P. Georgiades, and Savvas G. Loizou It has been a challenge for researchers to design automatic underwater machines that should be simple and contain diving capabilities with rapid turning and reversing features. In this paper, The authors presented the prototype model of under- actuated unmanned underwater remotely operated vehicle. The modeling and control design of the proposed model addresses the non-holonomic issue. This prototype will consist of three main thrusters for motion in the x and y-direction. A flap attaches to it by a servo motor to control yaw motion and to control the direction and turn.
36 - A Laser Vision System for Relative 3-D Posture Estimation of an Underwater Vehicle with Hemispherical Optics.
Authors: Josep Bosch, Pere Ridao, Rafael Garcia and Nuno Gracias This paper describes the development and experimental validation of algorithms for a novel laser vision system (LVS), suitable for measuring the relative posture from both solid and mesh-like targets in underwater environments. The system was developed in the framework of the AQUABOT project, a research project dedicated to developing an underwater robotic system for inspection of offshore aquaculture installations.
5 - Underwater docking approach and homing to enable persistent operation
Authors: Brian R. Page, Reeve Lambert, Jalil Chavez- Galaviz and Nina Mahmoudian This paper presents an integrated navigational algorithm to facilitate the docking of autonomous underwater vehicles. The algorithm dynamically re- plans paths to create an efficient trajectory from the current vehicle position through approach into the terminal homing. The course is followed using an integral line of sight control until handoff to the terminal homing method. A light tracking algorithm drives the vehicle from the handoff location into the dock.
10 - Unity Underwater ROV Simulator
Author: Kun Seng Vu The purpose of this paper is to describe an array of tools for simulating underwater vehicles in the virtual reality software platform Unity. The advantage of using Unity is that it provides a helpful interface to modify an object’s attributes and its scripts easily. This allows the user to change and adapt the simulator to different environmental situations.
17 - Offshore inspection mission modelling for an ASV/ROV system
Authors: Chenyu Zhao, Philipp R Thies, Lars Johanning Combined Autonomous Surface Vehicles (ASV) and remotely operated underwater vehicles (ROV) inspection and intervention systems can contribute to future asset management of offshore renewable energy. This paper presents the design and performance of the winch system which couples the ASV and ROV and deploys/recovers the ROV. The hydrodynamic models and control algorithms are developed and solved with analytical and numerical approaches
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Authors: Zhengliang Hu, Jinxing Huang, Pan Xu, Mingxing Nan, Kang Lou, and Guangming Li Purpose: Fiber-optic hydrophones have received extensive research interest due to their advantage in ocean underwater target detection. This study introduces a kernel extreme learning machine (K-ELM) to source localization in underwater ocean waveguides. As a data-driven machine learning method, K-ELM does not need a priori environment information compared to the conventional method of match field processing.