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.

Mechanical/Naval Design of an Underwater Remotely Operated Vehicle (ROV) for Surveillance and Inspection of Port Facilities

2007 ◽  
Author(s):  
Juan A. Rami´rez ◽  
Rafael E. Va´squez ◽  
Luis B. Gutie´rrez ◽  
Diego A. Flo´rez
Keyword(s):  
Visual Information ◽  
Computer Aided Design ◽  
Degrees Of Freedom ◽  
Remotely Operated Vehicle ◽  
Port Facilities ◽  
Computer Aided ◽  
Computational Fluid Dynamics Cfd ◽  
High Level ◽  
Aided Design ◽  
And Control

This paper presents the mechanical/naval design process 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 design was divided into four main subsystems: mechanical/naval, hardware, software and guidance, navigation and control. 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, including Computer Aided Design CAD, Computer Aided Engineering CAE, Computational Fluid Dynamics CFD and a high level programming environment. The obtained design ensures that the reliable operation of the robot will be achieved by using a consistent construction process. The new ROV constitutes an innovative product in Colombia, and it will be used for surveillance and oceanographic research tasks.

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.

scholarly journals Conceptualization of a Sensory Feedback System in an Anthropomorphic Replacement Hand

Prosthesis ◽  
2021 ◽  
Vol 3 (4) ◽  
pp. 415-427
Author(s):  
Simon Hazubski ◽  
Derya Bamerni ◽  
Andreas Otte
Keyword(s):  
Computer Aided Design ◽  
Sensory Feedback ◽  
Three Dimensional ◽  
Feedback System ◽  
3D Scanner ◽  
Trade Off ◽  
Computer Aided ◽  
3D Printed ◽  
Aided Design ◽  
Printing Techniques

(1) Background: This paper presents a conceptual design for an anthropomorphic replacement hand made of silicone that integrates a sensory feedback system. In combination with a motorized orthosis, it allows performing movements and registering information on the flexion and the pressure of the fingers. (2) Methods: To create the replacement hand, a three-dimensional (3D) scanner was used to scan the hand of the test person. With computer-aided design (CAD), a mold was created from the hand, then 3D-printed. Bending and force sensors were attached to the mold before silicone casting to implement the sensory feedback system. To achieve a functional and anthropomorphic appearance of the replacement hand, a material analysis was carried out. In two different test series, the properties of the used silicones were analyzed regarding their mechanical properties and the manufacturing process. (3) Results: Individual fingers and an entire hand with integrated sensors were realized, which demonstrated in several tests that sensory feedback in such an anthropomorphic replacement hand can be realized. Nevertheless, the choice of silicone material remains an open challenge, as there is a trade-off between the hardness of the material and the maximum mechanical force of the orthosis. (4) Conclusion: Apart from manufacturing-related issues, it is possible to cost-effectively create a personalized, anthropomorphic replacement hand, including sensory feedback, by using 3D scanning and 3D printing techniques.

Simulation by Means Computational Fluids Dynamics of the Mixing Process Air-Natural Gas in a Turbocharger Diesel Engine

2010 ◽  
Author(s):  
Fabio A. Bermejo ◽  
Lesme A. Corredor
Keyword(s):  
Natural Gas ◽  
Public Transportation ◽  
Liquid Fuel ◽  
Intake Manifold ◽  
Mixing Process ◽  
Engine Operation ◽  
Operational Conditions ◽  
Computational Fluids Dynamics ◽  
Computational Fluids ◽  
Diesel Buses

Diesel buses of public transportation in the main cities of Colombia are formed by turbocharger engines, such machines could operate in dual Diesel-NG way using the gaseous fuel as main energy source and the liquid fuel to pilot ignition of the air-NG mixture previously formed. This research is centered on the studies about formation process of the mixture in the intake system in a turbocharger dual engine. In this study the transport equations are established, it is associated to the fluids which enter to the intake engine during a period of engine operation. This model is simulated by means of CFD tools, using an electronic injector to provide natural gas. Also it is considered the fluidynamic behavior of mixture. Finally an experimental design applied to the simulations is made with the goal of optimize operational conditions of the injector that allow to get the most homogeneous mixture on the inlet runner to one of the cylinders engine. This mixture was obtained injecting natural gas at a pressure of 10 bars and placing the injector as close to the intake manifold.

ROV Viking SPEAR

2009 ◽  
Vol 43 (3) ◽  
pp. 85-97
Author(s):  
Ian Jasper ◽  
Ricardo Casaine ◽  
Stuart Cook ◽  
Nathan Grefe ◽  
Baxter Hutchinson ◽  
...  
Keyword(s):  
Computer Aided Design ◽  
Advanced Technology ◽  
Remotely Operated Vehicle ◽  
Frame Design ◽  
City College ◽  
Emergency Assistance ◽  
Cad Cam ◽  
Timely Fashion ◽  
Maximum Water ◽  
Aided Design

AbstractLong Beach City College returns for our sixth year to enter the 2009 Marine Advanced Technology Education (MATE) remotely operated vehicle (ROV) competition with our latest ROV, the Viking SPEAR (Submarine Personnel Emergency Assistance ROV). The purpose of this ROV is to perform an underwater submarine rescue by inspecting it for damage, replenishing onboard air supplies, and delivering emergency materials to stranded crew members. This year’s ROV, designed in SolidWorks, is cut out of buoyant PVC, has a mass of 21 kg and is built to allow maximum water flow. The ROV is 38 cm high × 87 cm wide and 95 cm long. The major design focus was on redundancy and design functionality. The ROV has two, multi-functional pneumatic grippers, one at each end of the ROV, eight thrusters, and eight cameras covering all angles of viewing. A mating skirt is built into the existing frame design for easy docking on the submarine. These features allow the pilot to execute several tasks set forth by MATE in a timely fashion while providing the redundancy needed for a submarine rescue mission. In accomplishing the design and build of this ROV, the team created over 250 SolidWorks files, invested over 5,000 student hours, and corresponded daily utilizing the team’s online design forum. The entire project was heavily invested in computer aided design and manufacturing (CAD/CAM). The only system not designed by this team was the Fiber-Optic Video Link.

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