Assisting the Teleoperation of an Unmanned Underwater Vehicle Using a Synthetic Subsea Scenario

1999 ◽  
Vol 8 (5) ◽  
pp. 520-530 ◽  
Author(s):  
Qingping Lin ◽  
Chengi Kuo
Keyword(s):  
Virtual World ◽  
Research Work ◽  
Underwater Vehicle ◽  
Geometrical Model ◽  
Remotely Operated Vehicle ◽  
Science And Engineering ◽  
Orientation Data ◽  
Underwater Positioning ◽  
Position And Orientation ◽  
Domain Concept

Virtual reality (VR) systems serve as a tool for users to become immersed in a virtual world, navigate through it, and interact with the synthetic objects in real time. Successful applications of VR can be found in many fields outside entertainment ranging from science and engineering to education. In this paper, we present our research work on using a synthetic subsea scenario to assist the navigation of a remotely operated vehicle (ROV) in and around an offshore installation. Our approach takes the ROVs position and orientation data from a sonar-based underwater positioning unit and generates a 3-D synthetic subsea navigation scenario that is based on a geometrical model of the offshore installation. It incorporates the “ROV safety domain” concept to ensure that the synthetic subsea scenario conveys sufficient accuracy for ROV navigation. Our research results have positively demonstrated the feasibility of assisting ROV navigation using a synthetic subsea scenario in combination with the ROV safety domain.

scholarly journals Motion Simulation for Triangular-Shaped Autonomous Underwater Vehicle (TAUV) with Controllable Rudder

2021 ◽  
Vol 2107 (1) ◽  
pp. 012046
Author(s):  
I Y Amran ◽  
K Isa
Keyword(s):  
Mathematical Model ◽  
Autonomous Underwater Vehicle ◽  
Research Work ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Vehicle Speed ◽  
Motion Simulation ◽  
Loop Control ◽  
Angular Velocities ◽  
The Mathematical Model

Abstract The dynamic model and motion simulation for a Triangular-Shaped Autonomous Underwater Vehicle (TAUV) with independently controlled rudders are described in this paper. The TAUV is designed for biofouling cleaning in aquaculture cage fishnet. It is buoyant underwater and moves by controlling two thrusters. Hence, in this research work, the authors designed a TAUV that is propelled by two thrusters and maneuvered by using an independently controllable rudder. This paper discussed the development of a mathematical model for the TAUV and its dynamic characteristics. The mathematical model was simulated by using Matlab and Simulink to analyze the TAUV’s motion based on open-loop control of different rudder angles. The position, linear and angular velocities, angle of attack, and underwater vehicle speed are all demonstrated in the findings.

scholarly journals An Infinite-Norm Algorithm for Joystick Kinematic Control of Two-Wheeled Vehicles

Electronics ◽  
2018 ◽  
Vol 7 (9) ◽  
pp. 164 ◽  
Author(s):  
Alejandro Said ◽  
Yasser Davizón ◽  
Rogelio Soto ◽  
Carlos Félix-Herrán ◽  
Carlos Hernández-Santos ◽  
...  
Keyword(s):  
Computer Simulations ◽  
Research Work ◽  
Geometrical Model ◽  
Radius Of Curvature ◽  
Kinematic Control ◽  
Infinity Norm ◽  
Real Robot ◽  
Infinite Norm ◽  
Wheeled Vehicles ◽  
Traction Power

In this paper, we propose an algorithm based on the mathematical p-norm which has been applied to improve both the traction power and the trajectory smoothness of joystick-controlled two-wheeled vehicles. This algorithm can theoretically supply 100% of available power to each of the actuators if the infinity-norm is used, i.e., when the p-norm tends to infinity. Furthermore, a geometrical model using the radius of curvature has been developed to track the effect of the proposed algorithm on the vehicle’s trajectory. Findings in this research work contribute to the kinematic control and path planning algorithms for vehicles actuated by two wheels, such as tanks and electric wheelchairs, both of vital importance for the security and heath industry. Computer simulations and experiments with a real robot are performed to verify the results.

scholarly journals On Applying Virtual Reality to Underwater Robot Tele-Operation and Pilot Training

2001 ◽  
Vol 5 (1) ◽  
pp. 71-91 ◽  
Author(s):  
Qingping Lin ◽  
Chengi Kuo
Keyword(s):  
Virtual Reality ◽  
Research Work ◽  
Human Perception ◽  
Current Status ◽  
Pilot Training ◽  
Underwater Robot ◽  
Science And Engineering ◽  
Operation System ◽  
Novel Concept ◽  
And Training

Virtual reality systems are being increasingly used for enhancing human perception of complex real-world or synthetic events. Serious applications outside entertainment range from education training to science and engineering. In this paper, we present our research work concerning the use of virtual reality in underwater robot tele-operation and training. We have proposed a novel concept of ROV safety domain to overcome the robot sensor error issue involved in virtual environment based underwater teleoperation approach. The detailed mathematical model of the ROV safety domain and its proof will be presented. In addition, we will examine how ROV safety domain can be used in underwater robot teleoperation, and present the architecture of our prototype virtual tele-operation system. Its current status and evaluation, as well as issues involved in its practical application will also be discussed.

scholarly journals Measurement and Simulation of Flow in a Section of a Mine Gallery

Energies ◽  
2021 ◽  
Vol 14 (16) ◽  
pp. 4894
Author(s):  
Jakub Janus ◽  
Jerzy Krawczyk
Keyword(s):  
Cross Sections ◽  
Laser Scanning ◽  
Model Building ◽  
Research Work ◽  
Geometrical Model ◽  
Building Process ◽  
Model Geometry ◽  
Simulation Results ◽  
Model Building Process

Research work on the air flow in mine workings frequently utilises computer techniques in the form of numeric simulations. However, it is very often necessary to apply simplifications when building a geometrical model. The assumption of constant model geometry on its entire length is one of the most frequent simplifications. This results in a substantial shortening of the geometrical model building process, and a concomitant shortening of the time of numerical computations; however, it is not known to what extent such simplifications worsen the accuracy of simulation results. The paper presents a new methodology that enables precise reproduction of the studied mine gallery and the obtaining of a satisfactory match between simulation results and in-situ measurements. It utilises the processing of data from laser scanning of a mine gallery, simultaneous multi-point measurements of the velocity field at selected gallery cross-sections, unique for mine conditions, and the SAS turbulence model, recently introduced to engineering analyses of flow issues.

The Visual Information Derived From the Stereo Camera System Mounted on the Underwater Vehicle

2010 ◽  
Author(s):  
Shojiro Ishibashi ◽  
Hiroshi Yoshida ◽  
Tadahiro Hyakudome
Keyword(s):  
Optical Sensors ◽  
Visual Information ◽  
Autonomous Underwater Vehicle ◽  
Vision System ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Remotely Operated Vehicle ◽  
Camera System ◽  
Stereo Camera ◽  
Camera Systems

The visual information is very important for the operation of an underwater vehicle such as a manned vehicle and a remotely operated vehicle (ROV). And it will be also essential for functions which should be applied to an autonomous underwater vehicle (AUV) for the next generation. Generally, it is got by optical sensors, and most underwater vehicles are equipped with various types of them. Above all, camera systems are applied as multiple units to the underwater vehicles. And they can construct a stereo camera system. In this paper, some new functions, which provide some type of visual information derived by the stereo vision system, are described. And methods to apply the visual information to the underwater vehicle and their utility are confirmed.

An Articulated Body Algorithm for Modelling and Simulation of an Underwater Vehicle Equipped With Manipulator Arm

2003 ◽  
Author(s):  
A. Meghdari ◽  
G. R. Vossoughi ◽  
M. Amir Hosseini
Keyword(s):  
Degrees Of Freedom ◽  
Underwater Vehicle ◽  
Viscous Drag ◽  
Simulation Algorithm ◽  
Underwater Environment ◽  
Manipulator Arm ◽  
Position And Orientation ◽  
Resultant Forces ◽  
Efficient Dynamic Simulation ◽  
Mobile Base

In this paper, an efficient dynamic simulation algorithm is developed for an Unmanned Underwater Vehicle (UUV) with a N degrees of freedom manipulator. In addition to the effects of mobile base, the various hydrodynamic forces exerted on these systems in an underwater environment are also incorporated into the simulation. The effects modeled in this work are added mass, viscous drag, fluid acceleration, and buoyancy forces. Also the dynamics of thrusters are developed, and an appropriate mapping matrix dependent on the position and orientation of the thrusters on the vehicle, is used to calculate resultant forces and moments of the thrusters on the center of gravity of the vehicle. It should be noted that hull-propeller and propeller-propeller interactions are considered in the modeling too. Finally the results of the simulations are presented.

Research on Float Adjustment Simulation System of FROV

2013 ◽  
Vol 427-429 ◽  
pp. 358-363
Author(s):  
Hai Feng Jiu ◽  
Shuo Pang ◽  
Bing Han
Keyword(s):  
Research Work ◽  
Scientific Research ◽  
Simulation System ◽  
Important Influence ◽  
Remotely Operated Vehicle ◽  
The World

At present, with the increasing development of ocean exploitation, ROV has been used in many aspects such as scientific research, military affairs and assistance, as a result many countries around the world get more value from the research work on ROV. The FROVs (Fiber Remotely Operated Vehicle) float station usually has an important influence on its performance. The purpose of this paper is to do some research on the adjustment of the FROVs float station, and to design a float station adjustment simulate system based on FROV.

Control of Remotely Operated Underwater Vehicle Using Model Predictive Control

2019 ◽  
Vol 161 (A2) ◽  
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Attitude Control ◽  
Variable Structure ◽  
Underwater Vehicle ◽  
Remotely Operated Vehicle ◽  
Structure Control ◽  
Environment Model ◽  
Point Trajectories

This paper focuses on application of model predictive control on attitude control of remotely operated underwater vehicle. These vehicles are used in scientific, defence and oceanography applications. Remotely Operated Vehicle (ROV) considered in this paper is nonlinear model and complex. MPC is applied on ROV model to track in desired set point trajectories in the presence of uncertainties. Simulation has been carried out in MATLAB environment. Model Predictive Control has given significantly good results compared to PID, Adaptive and Variable structure control.

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