scholarly journals FIToplankton: Wireless Controlled Remotely-operated Underwater Vehicle (ROV) for Shallow Water Exploratio

2018 ◽  
Vol 8 (5) ◽  
pp. 3325 ◽  
Author(s):  
Muhammad Ikhsan Sani ◽  
Simon Siregar ◽  
Aris Pujud Kurniawan ◽  
M. Abid Irwan
Keyword(s):  
Control System ◽  
Shallow Water ◽  
Power Distribution ◽  
Inertial Measurement Unit ◽  
Measurement Unit ◽  
Maximum Deviation ◽  
Underwater Communication ◽  
Remotely Operated Vehicle ◽  
Umbilical Cable ◽  
Underwater Exploration

Remotely Operated Vehicle (ROV) for underwater exploration is typically controlled using umbilical cable connected to ground control station. Unfortunately, while it’s used for power distribution and data transmission, it also obstruct the movement of ROV especially for shallow water (<50 cm). This paper proposed an alternative method for controlling ROV using wireless remote control system. This work also aims to explore the possibility of using RF wireless technology between 420-450 MHz as underwater communication system. Furthermore, the control system was used to manage actuators i.e. DC motor and bilge pump for maneuvring and picking small size cargo. To help the ROV to hold on a desired, Inertial Measurement Unit (IMU) is installed on board ROV within maximum deviation 0.2 m/s2. The prototype of the system has been successfully implemented and evaluated to confirm the  functionality and the feasibility of the proposed approach.

Navigation of an Underwater Remotely Operated Vehicle Based on Extended Kalman Filter

2013 ◽  
Author(s):  
Blanca V. Martínez ◽  
Daniel A. Sierra ◽  
Rodolfo Villamizar
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Inertial Measurement Unit ◽  
Dynamic Models ◽  
Estimation Error ◽  
Covariance Matrices ◽  
Measurement Unit ◽  
Remotely Operated Vehicle ◽  
Filter Performance ◽  
Order Of Magnitude

An algorithm to estimate positions, orientations, linear velocities and angular rates of an Underwater Remotely Operated Vehicle (UROV), based on the Extended Kalman Filter (EKF), is presented. The complete UROV kinematic and dynamic models are combined to obtain the process equation, and measurements correspond to linear accelerations and angular rates provided by an Inertial Measurement Unit (IMU). The proposed algorithm is numerically validated and its results are compared with simulated UROV states. A discussion about the influence of the covariance matrices on the estimation error and overall filter performance is also included. As a conclusion, the proposed algorithm estimates properly the UROV linear velocities and angular rates from IMU measurements, and the noise in estimated states is reduced in about one order of magnitude.

scholarly journals HOLD HEADING POSITION SYSTEM OF UNDERWATER REMOTELY OPERATED VEHICLE BASED ON PID

2021 ◽  
Vol 2 (2) ◽  
pp. 1-6
Author(s):  
Parama Diptya Widayaka ◽  
Akbar Sujiwa
Keyword(s):  
Control System ◽  
Pid Controller ◽  
Search And Rescue ◽  
Feedback Controller ◽  
Central Processing Unit ◽  
Position System ◽  
Processing Unit ◽  
Remotely Operated Vehicle ◽  
Central Processing ◽  
Underwater Exploration

Underwater remotely operated vehicle mainly used to help human for underwater activities such as underwater exploration, underwater maintenance, and underwater search and rescue. Underwater remotely operated vehicle also used for education, entertainment, and competitions. In some case especially for an important or highly risk tasks, the ROV applied some functions to improve and optimize the use of the ROV for some missions. This paper presents a heading hold system which is applied in the ROV to maintain heading position or pose of the robot. Using a GY-271 compass sensor to read the data of ROV heading position, microcontroller Arduino mega 2560 as a central processing unit and PID controller as a feedback controller to maintain ROV on desired position by controlling thruster speed and direction. The experiments give a result of the control system using PID by 5% error for the ROV to maintain heading position in steady position.

scholarly journals Design of mobile holonomic robot with wireless inertial measurement control system

Mechanik ◽  
2017 ◽  
Vol 90 (7) ◽  
pp. 634-636
Author(s):  
Piotr Rychlik ◽  
Wojciech Kaczmarek
Keyword(s):  
Control System ◽  
Inertial Measurement Unit ◽  
Control Method ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Measurement Control ◽  
Holonomic Robot ◽  
Basic Parameters ◽  
The Way

The article presents the design of mobile holonomic robot, where special attention was given to the robot’s control method. It discusses the way of processing values from an inertial measurement unit to actuator signals. In order to determine the correct functioning of the robot, a number of tests were carried out covering its software, and followed by the determining of basic parameters characterizing robot’s mobility.

HOLD HEADING POSITION SYSTEM OF UNDERWATER REMOTELY OPERATED VEHICLE BASED ON PID

2021 ◽  
Vol 2 (2) ◽  
pp. 1-6
Author(s):  
Paramaa Diptya Widayaka ◽  
Akbar Sujiwa
Keyword(s):  
Control System ◽  
Pid Controller ◽  
Search And Rescue ◽  
Feedback Controller ◽  
Central Processing Unit ◽  
Position System ◽  
Processing Unit ◽  
Remotely Operated Vehicle ◽  
Central Processing ◽  
Underwater Exploration

Underwater remotely operated vehicle mainly used to help human for underwater activities such as underwater exploration, underwater maintenance, and underwater search and rescue. Underwater remotely operated vehicle also used for education, entertainment, and competitions. In some case especially for an important or highly risk tasks, the ROV applied some functions to improve and optimize the use of the ROV for some missions. This paper presents a heading hold system which is applied in the ROV to maintain heading position or pose of the robot. Using a GY-271 compass sensor to read the data of ROV heading position, microcontroller Arduino mega 2560 as a central processing unit and PID controller as a feedback controller to maintain ROV on desired position by controlling thruster speed and direction. The experiments give a result of the control system using PID by 5% error for the ROV to maintain heading position in steady position.

scholarly journals Automatically evaluating balance using machine learning and data from a single inertial measurement unit

2021 ◽  
Vol 18 (1) ◽  
Author(s):  
Fahad Kamran ◽  
Kathryn Harrold ◽  
Jonathan Zwier ◽  
Wendy Carender ◽  
Tian Bao ◽  
...  
Keyword(s):  
Machine Learning ◽  
Inertial Measurement Unit ◽  
Physical Therapists ◽  
Physical Therapist ◽  
Model Performance ◽  
Machine Learning Techniques ◽  
Measurement Unit ◽  
Balance Performance ◽  
Inertial Measurement ◽  
Self Assessments

Abstract Background Recently, machine learning techniques have been applied to data collected from inertial measurement units to automatically assess balance, but rely on hand-engineered features. We explore the utility of machine learning to automatically extract important features from inertial measurement unit data for balance assessment. Findings Ten participants with balance concerns performed multiple balance exercises in a laboratory setting while wearing an inertial measurement unit on their lower back. Physical therapists watched video recordings of participants performing the exercises and rated balance on a 5-point scale. We trained machine learning models using different representations of the unprocessed inertial measurement unit data to estimate physical therapist ratings. On a held-out test set, we compared these learned models to one another, to participants’ self-assessments of balance, and to models trained using hand-engineered features. Utilizing the unprocessed kinematic data from the inertial measurement unit provided significant improvements over both self-assessments and models using hand-engineered features (AUROC of 0.806 vs. 0.768, 0.665). Conclusions Unprocessed data from an inertial measurement unit used as input to a machine learning model produced accurate estimates of balance performance. The ability to learn from unprocessed data presents a potentially generalizable approach for assessing balance without the need for labor-intensive feature engineering, while maintaining comparable model performance.

scholarly journals The Accelerations of a Wave Measurement Buoy Impacted by Breaking Waves in the Surf Zone

2021 ◽  
Vol 9 (2) ◽  
pp. 214
Author(s):  
Adam C. Brown ◽  
Robert K. Paasch
Keyword(s):  
Inertial Measurement Unit ◽  
Surf Zone ◽  
Spherical Wave ◽  
Breaking Waves ◽  
Measurement Unit ◽  
High Fidelity ◽  
Wave Measurement ◽  
Near Shore ◽  
Shoaling Waves ◽  
Multiple Deployments

A spherical wave measurement buoy capable of detecting breaking waves has been designed and built. The buoy is 16 inches in diameter and houses a 9 degree of freedom inertial measurement unit (IMU). The orientation and acceleration of the buoy is continuously logged at frequencies up to 200 Hz providing a high fidelity description of the motion of the buoy as it is impacted by breaking waves. The buoy was deployed several times throughout the winter of 2013–2014. Both moored and free-drifting data were acquired in near-shore shoaling waves off the coast of Newport, OR. Almost 200 breaking waves of varying type and intensity were measured over the course of multiple deployments. The characteristic signature of spilling and plunging breakers was identified in the IMU data.

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