Design of a Remotely Operated Vehicle (ROV) for Biofoul Cleaning and Inspection of Variety of Underwater Structures

2021 ◽  
Author(s):  
Nandha Kizor V ◽  
Burhanuddin Shirose ◽  
Mainak Adak ◽  
Mitesh Kumar ◽  
Sudarsana Jayandan J ◽  
...  
Keyword(s):  
Remotely Operated Vehicle ◽  
Underwater Structures

Development of an Underwater Remotely Operated Vehicle (ROV) for Surveillance and Inspection of Port Facilities

2010 ◽  
Author(s):  
Luis B. Gutierrez ◽  
Carlos A. Zuluaga ◽  
Juan A. Ramirez ◽  
Rafael E. Vasquez ◽  
Diego A. Florez ◽  
...  
Keyword(s):  
Visual Information ◽  
Degrees Of Freedom ◽  
Pid Controllers ◽  
Remotely Operated Vehicle ◽  
Design Constraints ◽  
Computational Tools ◽  
Port Facilities ◽  
Oceanographic Research ◽  
And Control ◽  
Underwater Structures

This work addresses the development of an underwater remotely operated vehicle (ROV), required to obtain reliable visual information, used for surveillance and maintenance of ship shells and underwater structures of Colombian port facilities and oceanographic research. The most relevant design constraints were evaluated considering environmental conditions, dimensional restrictions, hydrostatics, hydrodynamics, degrees of freedom and the availability of instrumentation and control hardware. The mechanical/naval design was performed through an iterative process by using computational tools CAD/CAE/CFD. The hardware architecture was divided in three layers: instrumentation, communications and control. The software was developed using ANSI C with Embedded Linux operating system. The guidance and navigation system used the Kalman filter to estimate the state of the vehicle. The vehicle can operate in manual and semi-automatic modes. In the semi-automatic, the position of a joystick is converted into the velocity set-points that are integrated to get the yaw and depth commands for the PID controllers. The rigorous design and a consistent construction processes allowed the development of a robust and reliable robotic system that constitutes an innovative product in Colombia.

Modeling and Simulation of an Underwater Remotely Operated Vehicle (ROV) for Surveillance and Inspection of Port Facilities Using CFD Tools

2008 ◽  
Author(s):  
Rau´l A. Valencia ◽  
Juan A. Rami´rez ◽  
Luis B. Gutie´rrez ◽  
Manuel J. Garci´a
Keyword(s):  
Visual Information ◽  
Computer Aided Design ◽  
3D Scanner ◽  
Remotely Operated Vehicle ◽  
Operational Conditions ◽  
Computational Fluids Dynamics ◽  
Port Facilities ◽  
Computational Fluids ◽  
Aided Design ◽  
Underwater Structures

This article presents theoretical and computational studies with Computational Fluids Dynamics (CFD) tools of an Underwater Remotely Operated Vehicle (ROV), required to obtain reliable visual information, used for surveillance and maintenance of ship shells and underwater structures of Colombian port facilities. The thrust force is analyzed at the operational conditions by using CFD tools (FLUENT™, CFX™, COSMOSFLOW™) and the information about forces, torques and power of the vehicle’s thrusters is obtained. The commercial propellers were modeled by using a reverse engineering process with a 3D scanner and Computer Aided Design (CAD) software (RAPIDFORM™). The results obtained with the CFD package allowed to evaluate several operating scenarios of the vehicle that are used for feedback purposes in the design process of the ROV before it be manufactured.

scholarly journals EVALUATION OF VISION-BASED LOCALIZATION AND MAPPING TECHNIQUES IN A SUBSEA METROLOGY SCENARIO

2019 ◽  
Vol XLII-2/W10 ◽  
pp. 127-134
Author(s):  
F. Menna ◽  
A. Torresani ◽  
E. Nocerino ◽  
M. M. Nawaf ◽  
J. Seinturier ◽  
...  
Keyword(s):  
Measured Data ◽  
Remotely Operated Vehicle ◽  
The Core ◽  
Localization And Mapping ◽  
Offshore Industry ◽  
Mapping Techniques ◽  
Vision Based Localization ◽  
And Control ◽  
State Of Art ◽  
Underwater Structures

<p><strong>Abstract.</strong> Metrology is fundamental in all the applications that require to qualify, verify and validate measured data according to standards or, in other words, to assess their compliance with predefined tolerances. At sea, metrology is commonly associated with the process of measuring underwater structures, mainly pipeline elements widely used in offshore industry. Subsea operations are very expensive; optimizing time and money resources are the core factors driving innovation in the subsea metrology industry. In this study, the authors investigate the use of state-of-art vision-based algorithms, i.e. ORB-SLAM2 and Visual Odometry, as a navigation tool to assist and control a Remotely Operated Vehicle (ROV) while performing subsea metrology operations. In particular, the manuscript will focus on methods for assessing the accuracy of both trajectory and tie points provided by the tested approaches and evaluating whether the preliminary real time reconstruction meets the tolerances defined in typical subsea metrology scenarios.</p>

scholarly journals Development of an Easy-to-Operate Underwater Raman System for Deep-Sea Cold Seep and Hydrothermal Vent In Situ Detection

Sensors ◽  
2021 ◽  
Vol 21 (15) ◽  
pp. 5090
Author(s):  
Qingsheng Liu ◽  
Jinjia Guo ◽  
Wangquan Ye ◽  
Kai Cheng ◽  
Fujun Qi ◽  
...  
Keyword(s):  
Deep Sea ◽  
Hydrothermal Vent ◽  
Methane Hydrate ◽  
Sulfur Cycle ◽  
Cold Seep ◽  
Remotely Operated Vehicle ◽  
Bacterial Mats ◽  
Optical Module ◽  
In Situ Detection

As a powerful in situ detection technique, Raman spectroscopy is becoming a popular underwater investigation method, especially in deep-sea research. In this paper, an easy-to-operate underwater Raman system with a compact design and competitive sensitivity is introduced. All the components, including the optical module and the electronic module, were packaged in an L362 × Φ172 mm titanium capsule with a weight of 20 kg in the air (about 12 kg in water). By optimising the laser coupling mode and focusing lens parameters, a competitive sensitivity was achieved with the detection limit of SO42− being 0.7 mmol/L. The first sea trial was carried out with the aid of a 3000 m grade remotely operated vehicle (ROV) “FCV3000” in October 2018. Over 20,000 spectra were captured from the targets interested, including methane hydrate, clamshell in the area of cold seep, and bacterial mats around a hydrothermal vent, with a maximum depth of 1038 m. A Raman peak at 2592 cm−1 was found in the methane hydrate spectra, which revealed the presence of hydrogen sulfide in the seeping gas. In addition, we also found sulfur in the bacterial mats, confirming the involvement of micro-organisms in the sulfur cycle in the hydrothermal field. It is expected that the system can be developed as a universal deep-sea survey and detection equipment in the near future.

Design, Construction and Control of a Remotely Operated Vehicle (ROV)

2011 ◽  
Author(s):  
Alireza Marzbanrad ◽  
Jalil Sharafi ◽  
Mohammad Eghtesad ◽  
Reza Kamali
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Remotely Operated Vehicle ◽  
Six Degrees Of Freedom ◽  
Depth Sensors ◽  
Control Schemes ◽  
On Line ◽  
Operation Unit ◽  
And Control ◽  
Design Construction

This is report of design, construction and control of “Ariana-I”, an Underwater Remotely Operated Vehicle (ROV), built in Shiraz University Robotic Lab. This ROV is equipped with roll, pitch, heading, and depth sensors which provide sufficient feedback signals to give the system six degrees-of-freedom actuation. Although its center of gravity and center of buoyancy are positioned in such a way that Ariana-I ROV is self-stabilized, but the combinations of sensors and speed controlled drivers provide more stability of the system without the operator involvement. Video vision is provided for the system with Ethernet link to the operation unit. Control commands and sensor feedbacks are transferred on RS485 bus; video signal, water leakage alarm, and battery charging wires are provided on the same multi-core cable. While simple PI controllers would improve the pitch and roll stability of the system, various control schemes can be applied for heading to track different paths. The net weight of ROV out of water is about 130kg with frame dimensions of 130×100×65cm. Ariana-I ROV is designed such that it is possible to be equipped with different tools such as mechanical arms, thanks to microprocessor based control system provided with two directional high speed communication cables for on line vision and operation unit.

Failure Analysis of Fasteners in a Remotely Operated Vehicle (ROV) System

2015 ◽  
Vol 15 (6) ◽  
pp. 915-923 ◽  
Author(s):  
T. Chowdhury ◽  
D. Sathianarayanan ◽  
G. Dharani ◽  
G. A. Ramadass
Keyword(s):  
Failure Analysis ◽  
Remotely Operated Vehicle
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