Study on Design and Combined Adaptive Control for a Remotely Operated Vehicle (VIAM-ROV900)

2020 ◽  
Vol 902 ◽  
pp. 13-22
Author(s):  
Ngoc Huy Tran ◽  
Thanh Nam Nguyen
Keyword(s):  
Degrees Of Freedom ◽  
Main Task ◽  
Remotely Operated Vehicle ◽  
Underwater Robots ◽  
Model Base ◽  
Model Control ◽  
Simulation Results ◽  
6 Degrees Of Freedom ◽  
And Control ◽  
Base Design

This paper presents the research of model-base design and control of Remotely Operated Vehicle (ROV) built in VietNam Automation & Mechatronics Laboratory (VIAMLAB). This is one of the most important types of underwater robots used in water environments for many purposes, especially for navy and marine industries. The design keeps our tethered ROV self-stabilized in the horizontal plane. It is also equipped with thrusters and sensor feedbacks, allowing 6 degrees-of-freedom motion. Moreover, cameras and grabber integrated into ROV support underwater survey tasks. In addition, the paper also simulates controllers with the main task of keeping depth for ROV. The controllers designed and surveyed here include: PID, optimal control (LQR), standard model control (MRAC) and combination controller between LQR and MRAC. The performance of the algorithm will be evaluated through simulation results using Matlab / Simulink.

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.

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.

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.

scholarly journals ALGORITHM FOR IMPROVING FEEDING RATES OF INDUSTRIAL WELDING ROBOT TA 1400 IN COMBINATION WITH A TURNTABLE FRAME

2020 ◽  
Vol 36 (3) ◽  
pp. 285-294
Author(s):  
Ngoc Anh Mai ◽  
Xuan Bien Duong
Keyword(s):  
Degrees Of Freedom ◽  
Industrial Robots ◽  
Kinematics And Dynamics ◽  
Simulation Environment ◽  
Welding Robot ◽  
Feeding Rates ◽  
Matlab Software ◽  
The Future ◽  
Simulation Results ◽  
6 Degrees Of Freedom

An algorithm for improving feeding rates of industrial welding robot TA 1400 of Panasonic with 6 degrees of freedom is presented. The kinematics and dynamics of the robot are calculated on MATLAB software. The proposed algorithm for improving feeding rates is mathematically analyzed and the performance of the system is evaluated in a simulation environment. The simulation results are used for proving the efficiency of the solution. Based on the achieved results, the algorithm can be applied for reducing time and improving the productivity of other industrial robots in the future

Design and control of a parallel mechanism haptic master for robot surgery using magneto-rheological clutches and brakes

2018 ◽  
Vol 29 (19) ◽  
pp. 3829-3844 ◽  
Author(s):  
Seung-Woo Cha ◽  
Seok-Rae Kang ◽  
Yong-Hoon Hwang ◽  
Seung-Bok Choi ◽  
Yang-Sup Lee ◽  
...  
Keyword(s):  
Tracking Control ◽  
Degrees Of Freedom ◽  
Repulsive Force ◽  
The Body ◽  
Tracking Accuracy ◽  
Magneto Rheological ◽  
Feed Forward Controller ◽  
Repulsive Forces ◽  
6 Degrees Of Freedom ◽  
And Control

This article presents tracking control performances of the repulsive force and torque of a haptic master with 6 degrees of freedom, which can be applied to robot-assisted minimally invasive surgeries. The proposed haptic master is activated by two types of actuators that use magneto-rheological fluid: magneto-rheological clutch and magneto-rheological brake. The body segment (or lower part) of the haptic master generates the repulsive forces for the three translational axes using the magneto-rheological clutch, while the wrist segment (or upper part) generates the repulsive torque for the three rotational axes through the use of the magneto-rheological brake. After analyzing the kinematic and dynamic equations, an appropriately sized haptic master is designed and manufactured. The field-dependent force and torque characteristics of the magneto-rheological actuators are experimentally investigated. Then, for successful tracking control performances, a fuzzy plus proportional–integral–derivative feedback controller is used for the repulsive force while a feed-forward controller associated with a hysteretic compensator for the repulsive torque. The effectiveness of the proposed 6-degree-of-freedom haptic master is experimentally validated by demonstrating high tracking accuracy of the force and torque.

Kinematics Model of the 6-DOF Underwater Manipulator and Control System Design Based on PLC Technology

2014 ◽  
Vol 620 ◽  
pp. 343-346
Author(s):  
Tao Yao ◽  
Zong Yu Chang
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Kinematics Analysis ◽  
Kinematics Model ◽  
Kinematics Modeling ◽  
Adams Software ◽  
Underwater Manipulator ◽  
Control Requirement ◽  
6 Degrees Of Freedom ◽  
And Control

The paper introduces kinematics analysis for a kind of 6 degrees of freedom underwater manipulator. Firstly, kinematics model was established based on D-H principle; The solving process of kinematics direct solution and inverse solution of manipulator was presented. Secondly, Numerical simulation is performed based on ADAMS software, every joint speed and acceleration curve is obtained. The working principals and control requirement of underwater manipulator are illustrated; Based on kinematics modeling, the control system of manipulator was designed based on PLC and carried out the control the function of the manipulator.

On the Behavior of an Underwater Remotely Operated Vehicle in a Uniform Current

2008 ◽  
Vol 45 (04) ◽  
pp. 241-249
Author(s):  
Ming-Chung Fang ◽  
Jeng-Horng Chen ◽  
Jhih-Hong Luo ◽  
Chang-Shang Hou
Keyword(s):  
Degrees Of Freedom ◽  
Shooting Method ◽  
Remotely Operated Vehicle ◽  
Order Ordinary Differential Equation ◽  
Test Technique ◽  
Planar Motion Mechanism ◽  
Uniform Current ◽  
Umbilical Cable ◽  
6 Degrees Of Freedom ◽  
Ordinary Differential Equation Systems

This paper presents a series of analyses on the behavior of an underwater remotely operated vehicle (ROV) with the umbilical cable in uniform current. The hydrodynamic mathematical model including the coupled effect of the current and the umbilical cable is proposed here to deal with 6 degrees of freedom motions of the ROV. Because of the umbilical cable on the ROV, the present problem is the two-point boundary value problem with respect to a set of first-order ordinary differential equation systems, which are solved by applying the multistep shooting method. The corresponding hydrodynamic coefficients of the underwater vehicle used in the hydrodynamic model are obtained by the planar motion mechanism (PMM) test technique. Three different current speeds are considered to investigate the current effect on the ROV's operations including forward motion, ascending motion, and descending motion. The present results reveal that the current indeed significantly affects the operations of the ROV, and the mathematical numerical model developed here can serve as a useful tool to offer some valuable information for the anticurrent ROV design.

Control Architecture and Control Laws Design for Multiple UAVs Formation Flight

2012 ◽  
Vol 246-247 ◽  
pp. 853-857
Author(s):  
Guang Lei Meng
Keyword(s):  
Degrees Of Freedom ◽  
Formation Flight ◽  
Control Architecture ◽  
Mathematical Representation ◽  
Control Laws ◽  
Multiple Uavs ◽  
Finite State ◽  
Aerial Vehicle ◽  
6 Degrees Of Freedom ◽  
And Control

An autonomous formation-flight method for multiple UAVs (Unmanned Aerial Vehicle) was designed. First the mathematical representation of formation shape was analyzed. Then the control architecture was devised for multiple UAVs formation flight based on finite state machine. The flight states of the wing UAV were built through the formation flight and the transformation relationships of these flight states were defined. So the automated transformation among these flight states could be achieved and the intelligence of the pilots could be mimicked by this way. Aiming at the typical flight state which is capable of maintaining the formation shape, the control laws were contrived for the wing UAVs. Finally, two nonlinear fighter models which have 6 degrees of freedom were selected to carry out autonomous formation-flight experiments. And the results show the control laws designed for maintaining the formation shape are valid.

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