Abstract
This paper presents a review of inspection-class Remotely Operated Vehicles (ROVs). The review divides the classification of inspection-class ROVs; categorising the vehicles in order of size and capability. A state of the art technology review is undertaken, discussing various common subsystems of the ROV. Standard and novel ROV shapes and designs are reviewed, with emphasis on buoyancy, frame materials and hydrodynamics. Several power considerations and designs are discussed, accounting for battery fed and mains fed systems. ROV telemetry is split into a discussion on the various transmission hardware systems and the communication protocols that are most widely used in industry and research today. A range of thruster technologies is then introduced with consideration taken of the various thruster architectures available. Finally, the navigation and positioning sensors employed for ROV navigation and control are reviewed. The author has also created a number of comparison tables throughout the review; tables include comparison of wired data transmission technology, comparison of common ROV communication protocols and comparisons of various inertial navigation systems. By the end of the review the reader will have clearer understanding on the fundamentals of inspection-class ROV technologies and can use this as an introduction to further paper investigation.
Highlights
The oceans cover 71% of the Earth’s surface [1]
To further reduce mass the pressure housings are largely maintained at one atmosphere, rather than oil filling the enclosure and the tether diameter is kept to a minimum to reduce the drag on the Remotely Operated Vehicles (ROVs) system; the cross sectional area (CSA) of the conductors will dictate the maximum umbilical length, depending on power requirements
The “Jake and Elwood” ROVs used during the filming of the Titanic movie “Ghosts of the Abyss” utilised this fibre optic approach, where they would spin a web of biodegradable fibre optic in their wake and, upon returning to their sister ROV, the fibre would be severed
Summary
The oceans cover 71% of the Earth’s surface [1] They dictate weather conditions, are used for transport, regulate temperature, provide habitat for large fraction of life on Earth and provide energy that can be harnessed by humans. Inspection-class ROVs are connected to the surface user via an umbilical. These vehicles can be used to replace divers in conditions that are too dangerous or too deep to operate in. UInldthbee1p9r6o0dsuthceed in aCcoabstlee-fCfeocnttirvoellmedanUnnedr.erwater Recovery Vehicle (CURV and CURV II) were realised These ROV syItstwemass twheerUe SdNevaevloypwedhofopr rreesssceude tahnedtercehcnovoelorygyoffoorrwdanradncteo. For the purpose of this review manned submersibles and AUVs are outside the scope of this paper, some AUV technology is discussed where there is a possible overlap into the ROV field.
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