scholarly journals Robot submarino: estado del arte y diseño

2022 ◽  
Vol 10 (19) ◽  
pp. 10-16
Author(s):  
Mitzi Alcaraz-Carrazco ◽  
Jorge Gudiño-Lau ◽  
Óscar Issac-Zamora ◽  
Saida M. Charre-Ibarra ◽  
Janeth A. Alcalá-Rodríguez ◽  
...  
Keyword(s):  
Underwater Vehicle ◽  
Remotely Operated Vehicle

En los últimos años las investigaciones del área de mecatrónica están enfocados a la exploración marina, por lo que muchos centros de investigaciones y escuelas han encaminado sus trabajos al desarrollo de robots submarinos no tripulados y operados remotamente, también conocidos como ROUV por su acrónimo en inglés Remotely Operated Underwater Vehicle (Vehículo submarino operado remotamente). Este artículo muestra la historia de los vehículos operados remotamente ROV (Remotely Operated Vehicle), así como la clasificación, una breve descripción y aplicación de los robots submarinos no tripulados que han trascendido en el área de la mecatrónica. Por último, se describe el diseño de un robot submarino no tripulado en 3D para la exploración marina.

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.

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.

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.

CONTROL OF REMOTELY OPERATED UNDERWATER VEHICLE USING MODEL PREDICTIVE CONTROL

2021 ◽  
Vol 161 (A2) ◽  
Author(s):  
M P R Prasad ◽  
A Swarup
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.

Visual Servoing for Underwater Vehicle Using Dual-Eyes Evolutionary Real-Time Pose Tracking

2016 ◽  
Vol 28 (4) ◽  
pp. 543-558 ◽  
Author(s):  
Myo Myint ◽  
◽  
Kenta Yonemori ◽  
Akira Yanou ◽  
Khin Nwe Lwin ◽  
...  
Keyword(s):  
Real Time ◽  
Visual Servoing ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Target Object ◽  
Test Bed ◽  
Remotely Operated Vehicle ◽  
Pose Tracking ◽  
Partially Occluded ◽  
Recursive Evaluation

[abstFig src='/00280004/12.jpg' width='300' text='ROV with dual-eyes cameras and 3D marker' ] Recently, a number of researches related to underwater vehicle has been conducted worldwide with the huge demand in different applications. In this paper, we propose visual servoing for underwater vehicle using dual-eyes cameras. A new method of pose estimation scheme that is based on 3D model-based recognition is proposed for real-time pose tracking to be applied in Autonomous Underwater Vehicle (AUV). In this method, we use 3D marker as a passive target that is simple but enough rich of information. 1-step Genetic Algorithm (GA) is utilized in searching process of pose in term of optimization, because of its effectiveness, simplicity and promising performance of recursive evaluation, for real-time pose tracking performance. The proposed system is implemented as software implementation and Remotely Operated Vehicle (ROV) is used as a test-bed. In simulated experiment, the ROV recognizes the target, estimates the relative pose of vehicle with respect to the target and controls the vehicle to be regulated in desired pose. PID control concept is adapted for proper regulation function. Finally, the robustness of the proposed system is verified in the case when there is physical disturbance and in the case when the target object is partially occluded. Experiments are conducted in indoor pool. Experimental results show recognition accuracy and regulating performance with errors kept in centimeter level.

Exploring the Deepest Depths: Preliminary Design of a Novel Light-Tethered Hybrid ROV for Global Science in Extreme Environments

2004 ◽  
Vol 38 (2) ◽  
pp. 92-101 ◽  
Author(s):  
Andrew D. Bowen ◽  
Dana R. Yoerger ◽  
Louis L. Whitcomb ◽  
Daniel J. Fornari
Keyword(s):  
Fiber Optic ◽  
Autonomous Underwater Vehicle ◽  
Extreme Environments ◽  
Underwater Vehicle ◽  
Remotely Operated Vehicle ◽  
Global Science ◽  
Area Survey ◽  
High Bandwidth ◽  
Manipulator Arm ◽  
Scientific Survey

This paper describes a new project to build an operational underwater vehicle that can perform scientific survey and sampling to the full depth of the ocean (11,000 meters). The vehicle, called a hybrid remotely operated vehicle (HROV), will operate in two different modes. For broad area survey, the vehicle will operate untethered as a autonomous underwater vehicle (AUV) capable of exploring and mapping the seafloor with sonars and cameras. After targets of interest have been found, the vehicle will be converted at-sea to become a remotely operated vehicle (ROV) that will enable close up imaging and sampling. The ROV configuration will incorporate a lightweight fiber optic tether to the surface for high bandwidth real-time video and data telemetry to the surface to enable high-quality teleoperation, additional cameras and lights, a manipulator arm, and sampling gear. This paper outlines the scientific motivation for the project as well as the feasibility of our design concept. Analysis of the fiber optic cable shows our approach to be practical even with fairly extreme current profiles. An overall approach to the vehicle design is also presented, including options for pressure housings and buoyancy materials.

scholarly journals FINDEV (FISH FINDER AND VISUAL IMAGING REMOTE UNDERWATER VEHICLE) INOVASI ROBOT BAWAH AIR UNTUK MELAKUKAN PENCITRAAN VISUAL DAN PENJEJAK IKAN

2020 ◽  
Vol 12 (1) ◽  
pp. 48-54
Author(s):  
Good Rindo ◽  
Samuel Samuel ◽  
Saefulloh Misbahudin ◽  
Tomi Ahmad Maulana ◽  
Mohamad Nur Aulia
Keyword(s):  
Tensile Strength ◽  
Underwater Vehicle ◽  
Remotely Operated Vehicle ◽  
Visual Imaging

Indonesia memiliki sumberdaya alam terutama sumberdaya perikanan yang melimpah, namun pada kenyataannya sumberdaya perikanan tersebut masih belum mampu untuk dipetakan sehingga para nelayan masih kesulitan untuk menemukan daerah penangkapan ikan. Penulis membuat prototipe Findev (Fish Finder and Visual Imaging Remote Underwater Vehicle) yaitu sebuah wahana bawah air yang mampu melakukan pencitraan visual dan penjejakan ikan. Findev menerapkan teknologi ROV atau Remotely Operated Vehicle dan prinsip hidrostatis equilibrium. Findev memiliki dimensi panjang total 535,5 mm, lebar total 304,2, dan tinggi 248 mm. Findev menggunakan kerangka yang terbuat dari material nylon yang memiliki tensile strength sebesar 700 – 850 kgf/cm2. Findev memiliki displacement sebesar 12,1 dengan densitas sebesar 1,599 g/cm3. Mampu beroperasi dikedalaman 20 m dengan tekanan hidrostatis sebesar 200,1 Mpa dan gaya tekan kebawah sebesar 118,58 N. Dengan motor bilge pump berkekuatan 1100 GPH dan daya rata – rata sebesar 56,72 Watt, Findev dapat bertahan selama 1 jam beroperasi di air. Sistem sonarnya didukung oleh sonar ventrior VT-FF001 yang memiliki jarak jangkau 325 kaki

Journey to the Challenger Deep: 50 Years Later With the Nereus Hybrid Remotely Operated Vehicle

2009 ◽  
Vol 43 (5) ◽  
pp. 65-76 ◽  
Author(s):  
Barbara Fletcher ◽  
Andrew Bowen ◽  
Dana R. Yoerger ◽  
Louis L. Whitcomb
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Woods Hole Oceanographic Institution ◽  
Broad Area ◽  
Remotely Operated Vehicle ◽  
Johns Hopkins University ◽  
Area Survey ◽  
High Bandwidth ◽  
Manipulator Arm ◽  
Challenger Deep

AbstractThe hybrid remotely operated vehicle Nereus, developed by the Woods Hole Oceanographic Institution in collaboration with the Space and Naval Warfare Systems Center Pacific and Johns Hopkins University, is designed to provide a new level of access to a maximum depth of 11,000 m. Nereus operates in two different modes. The vehicle can operate untethered as an autonomous underwater vehicle for broad area survey, capable of exploring and mapping the seafloor with sonars, cameras, and other onboard sensors. Nereus can be converted at sea to become a remotely operated vehicle (ROV) to enable close-up imaging and sampling. The ROV configuration incorporates a lightweight fiber-optic tether to the surface for high-bandwidth real-time video and data telemetry to the surface to enable high-quality teleoperation, additional cameras and lights, manipulator arm, and sampling gear. Nereus underwent sea trials in May and June of 2009 during which it completed eight dives, including two dives to more than 10,900 m in the Challenger Deep of the Mariana Trench with a total bottom time in excess of 12 h.

scholarly journals CFD and FEM Model of an Underwater Vehicle Propeller

2014 ◽  
Vol 21 (3) ◽  
pp. 40-45 ◽  
Author(s):  
Tadeusz Chruściel ◽  
Ewelina Ciba ◽  
Julita Dopke
Keyword(s):  
Theoretical Basis ◽  
Selective Laser Sintering ◽  
Underwater Vehicle ◽  
Cfd Model ◽  
Remotely Operated Vehicle ◽  
Fem Model ◽  
Design And Optimization ◽  
Propeller Design ◽  
Sintering Method ◽  
Qualitative Analyses

Abstract Within the framework of the project for design and optimization of the Remotely Operated Vehicle (ROV), research on its propulsion has been carried out. Te entire project was supported by CFD and FEM calculations taking into account the characteristics of the underwater vehicle. One of the tasks was to optimize the semi-open duct for horizontal propellers, which provided propulsion and controllability in horizontal plane. In order to create a measurable model of this task it was necessary to analyze numerical methodology of propeller design, along with the structure of a propellers with nozzles and contra-rotating propellers. It was confronted with theoretical solutions which included running of the analyzed propeller near an underwater vehicle. Also preliminary qualitative analyses of a simplified system with contra-rotating propellers and a semi-open duct were carried out. Te obtained results enabled to make a decision about the ROVs duct form. Te rapid prototyping SLS (Selective Laser Sintering) method was used to fabricate a physical model of the propeller. As a consequence of this, it was necessary to verify the FEM model of the propeller, which based on the load obtained from the CFD model. Te article contains characteristics of the examined ROV, a theoretical basis of propeller design for the analyzed cases, and the results of CFD and FEM simulations.

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