Design Of Remotely Operated Vehicle Research Articles

DEVELOPMENT OF UNDERWATER ROV (REMOTELY OPERATED VEHICLE) SYSTEMS AND MECHANISM

Remotely Operated Vehicle or abbreviated as ROV is an underwater explorer robot where the robot is controlled remotely by an operator using a remote control system. Water ecosystems certainly have various kinds of hazards that cause harm to divers, such as wild animals, waters contaminated with toxic waste, limited oxygen, and many other risks. Based on these problems, research was carried out, namely the Design and Development of Underwater ROV (Remotely Operated Vehicle) Mechanisms and Systems where the tool built is an underwater robot that uses 8 DC motors to be able to perform 12 types of movements under water. The final result obtained by the ROV is that it is able to perform all of these movements except for the right somersault and left somersault. The speed and direction of rotation of the motor is controlled by a device, namely the BTS7960 motor driver. This robot aims to measure pressure and temperature and capture images underwater to a depth of 4m. Pressure and temperature measurements were made using a BMP180 pressure sensor and a DS18B20 temperature sensor where the measurement results will be displayed on a 16x2 LCD. Based on the test results, the pressure sensor has an error rate of 3.6% and a temperature sensor of 0.34%. Images and videos are captured by a device, namely a CCTV camera where the device is connected to a laptop device as a monitor. The test produced results in the form of images and videos that were quite clear.

The preliminary of Design and Movement of Remotely Operated Vehicle (ROV)

The purpose of this study is to design a mini Remote Operated Vehicles (ROV) which based on remote control underwater robot, and test its movements, the longitudinal and vertical movements in calm water. This research is still a preliminary research to find the best design for the ROV and its movement. The Mini ROV design is integrated into several design processes, making designs by using software, planning the selection of each component used in the mini ROV, designing mechanical construction, designing electronic construction, and the final stage is the integration of the entire design process. The results of this research decided that the best design of mini ROV is named “AF-150114. The ROV robot is made with a total dimension of 65 cm in length, 50 cm in width, and 25 cm in height. In the ROV body is made using fiberglass base material that every gap is coated with a seal so that the ROV impermeability can be maintained properly. In movement system, ROV uses two leaves of propeller to move forward and backward while using a ballast pump system to submerge and lift the ROV.

Hydrodynamic analysis of Remotely Operated Vehicle (ROV) Observation Class using CFD

Remotely Operated Vehicle (ROV) is a small marine craft used for underwater observation. Hence, the analysis of hydrodynamic characteristics is important. Hydrodynamic characteristics can be obtained by fluid dynamic visualization and simulation of Computational Fluid Dynamic (CFD). In this paper, ROV Hydrodynamic characteristics begin by forming a three-dimensional (3D) ROV model, forming link elements (mesh) from the 3D ROV model, and forming the computational domain used for CFD simulations. CFD simulations were conducted by analyzing the fluid flow angle variations that represent motion of the ROV, namely translational motion and rotational motion towards the vertical axis (yaw). The simulation results obtained were compared with the previous ROV design that had been developed, so as to obtain an evaluation of the results of the design optimization. The results showed an increase in the hydrodynamic characteristics of the optimal ROV design indicated by the value of drag, pressure distribution, and fluid flow contour.

A low-cost remotely operated vehicle (ROV) with an optical positioning system for under-ice measurements and sampling

Here we describe the design, performance and field tests of a lightweight (13.1 kg), low-cost (15.000 USD), and portable remotely operated vehicle (ROV) of dimensions 55 × 43 × 34 cm (L × H × W), with a new optical based positioning system. The ROV is designed for deployments and measurements of the irradiance field at a short distance below sea ice bottom in landfast level sea ice at calm under ice conditions. It is equipped with two cameras (front and rear) for optical positioning based on reference poles with LED lights below the ice. A third upward camera is for guiding during deployment and positioning. The ROV is equipped with spacer poles to maintain a constant distance between ROV with onboard optical sensors and bottom of the ice. All pre-tests of housing, thrusters, optical positioning, and ROV maneuverability were carried out in freshwater basins prior to field trials and tests. These were conducted at Kangerlussuaq, West Greenland on landfast first-year 79–80 cm thick ice with a variable (1–12 cm) snow cover in March 2016. The ROV was easily deployed through a hole (75 × 50 cm) in the ice and easy to maneuver below the ice. Test of positioning system showed an average deviation of 28 ± 5 cm between optically based position and actual position with an average offset from center line of 16 ± 5 cm. The ROV was applied for measuring the under-ice irradiance field and results demonstrated a solid negative correlation between snow depth and PAR transmittance. We derived a Normalized Differences Index (NDI) for snow depths: NDIsnow depth = [E(610 nm) – E(490 nm)]/[E(610 nm) + E(490 nm)] with minimum attenuation at 490 nm and maximum at 610 nm. It is discussed that the correlations for both PAR transmittance and the NDI with snow depths are due to a combination of a constant distance between optical sensor and ice bottom, and accurate positioning. A test showed that the wakes of thrusters removed parts of the ice algae biomass, but the study demonstrates the applicability of this ROV design for measurements of the under-ice irradiance field below landfast sea ice with a new optical based positioning system.

STUDY ON THE EFFECT OF SHIFTING 'ZERO' IN OUTPUT MEMBERSHIP FUNCTION ON FUZZY LOGIC CONTROLLER OF THE ROV USING MICRO-BOX INTERFACING

This paper investigates the study on the effect of shifting ‘zero’ membership function on Fuzzy Logic Controller (FLC) design of underwater Remotely Operated Vehicle (ROV) for depth control using Micro-box 2000/2000C interfacing based on thruster system. The issues occurred with a ROV design is where the thruster system can easily drain up current from the supply (e.g. battery source or power bank) and this will limit time to using the ROV. FLC do not have a rigid approach to tune it and may cause the process of tuning will be highly time costing. Therefore, a simple method by a study on the effect of shifting zero membership function will act as a one technique to tune the FLC for future references. The ROV Trainer will be developed to test the proposed control method using Micro-box 2000/2000C. The ROV Trainer consists of aluminum box, thrusters, drivers, interface connector, and etc and interfacing with Micro-box act as microcontroller. Fuzzy logic toolbox in MATLAB will be used to study the shifting zero membership function so that the effect of the adjustment can be investigated. The result of this project shows that, by shifting zero membership function of the fuzzy logic controller, the performance of the fuzzy logic controller is normally improved.

A fuzzy MCDM algorithm and practical decision aid tool to determine the best ROV design alternative

Purpose – Proposing a fuzzy multi-criteria decision making (MCDM) algorithm that is able to incorporate the heterogeneousness effect of DM group into the decision process, in order to determine the best remotely operated vehicle (ROV) design alternative to manufacture and developing a practical decision aid tool based on this algorithm. The paper aims to discuss these issues. Design/methodology/approach – An algorithm utilizes fuzzy AHP Buckley’s approach for modeling heterogeneousness of the DM group, fuzzy AHP Chang’s extent analysis to calculate the priority values of criteria and Chen’s fuzzy TOPSIS for ranking the alternatives and finally group working technique for initiation issues is developed. MATLAB is used to implement the algorithm and generate a decision aid tool. Real life application and sensitivity analysis is performed by the help of generated tool. Literature and background explanations are also provided. Findings – A MCDM algorithm that incorporates the heterogeneousness effect of the DM group into the decision process is introduced. Sensitivity analysis suggested the independence of the final result from DM group and criteria set. A practical decision aid tool is generated for ROV manufacturing companies. Practical implications – A computerized MCDM aid tool that incorporates heterogeneousness of the DM group into the decision process is generated. Tool let ROV manufacturing companies to evaluate ROV design alternatives with respect to qualitative and quantitative criteria and determine proper choice. Originality/value – Determination of the proper ROV design alternative to manufacture gap within the literature filled with an algorithm that provides more reliable results due to its incorporation the heterogeneousness of the DM group into the decision process characteristic. A practical decision aid tool is generated.

Problem Identification for Underwater Remotely Operated Vehicle (ROV): A Case Study

This paper investigates and describes problem identification of Unmanned Underwater Remotely Operated Vehicle (ROV). The following is the problem identification that found after research done on several literature reviews and study cases. In this paper, the major problem statements will be discussed in details such as control system, underactuated condition, pose recovery or station keeping, coupling issues and communication technique. ROV is one of the Unmanned Underwater Vehicle (UUV) tethered with umbilical cable and remotely operated by a vehicle operator's. Control system of ROV is a bit complex because of the unknown non-linear hydrodynamics effects, parameters uncertainties and the lack of a precise model of the ROV dynamics and parameters. Conventional controller cannot dynamically compensate for unmodeled vehicle hydrodynamic forces or unknown disturbances. Underactuated condition is defined as one having less control inputs than degree of freedom, so how the ROV want to maintain a certain point or depth following mission when one or more of thrusters malfunction also an issue to be highlighted. Pose recovery or station keeping will be one of the issues in ROV design. This station keeping approach is used to maintain a position in relation to another moving ROV as the ROV tries to remain stationary at the desired depth with present the environmental disturbances such as wind, waves, current and unexpected environmental disturbances. Coupling issue between the tether and cable with ROV body will be one problem in stabilizing the ROV itself as it double the vehicle load. The underwater vehicle size, weight and operating depth, as well as the underwater vehicle motors, subsystems, and payload, all combine to determine the ROV's cable design. In underwater, the inability of wireless communication system fails to work very well to transmit the video stream even in short distance is another issue to be covered. This statement proved by Underwater Technology Research Group student's project. The experiment sets upthree types of sensor using wireless communication system for higher frequency such as video stream, data transfer and GPS.

SYSTEMATIC MODELING AND MODEL-BASED SIMULATION OF A REMOTELY OPERATED VEHICLE USING MATLAB AND SIMULINK

Dynamic modeling and simulation of underwater robotic vehicles is essential for control. In this paper, systematic dynamic modeling and simulation of a remotely operated vehicle (ROV) is developed and named as ROV Design and Analyses (RDA). For the initial design, hydrodynamic coefficients used in the ROV dynamic model were estimated using computational fluid dynamic software and experiments. The proposed RDA toolbox written in MATLAB™ and Simulink™ platform provides a means to simulate the mathematical models of ROV and the control system design before final hardware implementation. The control simulation using a proportional–integral–derivative controller is able to model the positions and velocities output of the ROV that is highly uncertain and nonlinear.

Voyage to the bottom of the sea

On 31 May 2009 a unique and versatile hybrid vehicle dived 10,902m below the surface of the Pacific Ocean to the bottom of the 'Challenger Deep' in the Mariana Trench. The Nereus is only the third vehicle ever to have descended this far - to the deepest part of the world's oceans. The revolutionary unmanned craft was designed by engineers at Woods Hole Oceanographic Institute (WHOI) in Massachusetts on a budget of only $6m. Nereus is set to open up the exploration of the extreme depths to science, and its design concept will have extensive repercussions on 'conventional' ROV design in the oil and gas and military sectors. Project manager and principal developer Andy Bowen talked to E&T about what makes it special. Its hybrid nature means that Nereus can be operated as a pre-programmed, free-flying autonomous underwater vehicle (AUV) to survey broad areas. Conversion into its tethered, piloted ROV (remotely-operated vehicle) mode only takes six hours and allows it to inspect specific areas of interest identified in the flyby. This makes it especially flexible and versatile. Freed of the constraints of heavy steel cables, with a robot like Nereus we can now explore virtually anywhere in the ocean.

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

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.

Software for modelling and simulation of a Remotely-Operated Vehicle (ROV)

This paper considers the dynamic modelling and simulation of an underactuated Remotely Operated Vehicle (ROV) designed by Robotic Research Centre (RRC), in Nanyang Technological University (NTU) using a ROV Design and Analysis (RDA) toolbox written in MATLAB/SIMULINK™. The proposed RDA provides a means to simulate the mathematical models of ROV and the control system design before planning for final hardware implementation. This is especially useful, as the ROV model is highly uncertain due to the hydrodynamic forces that are nonlinear and coupled. However, there is no commercial software for ROV control system design and analysis. (Received in May 2006, accepted in August 2006. This paper was with the authors 1 month for 1 revision.)

Absolute determination of the OHM

This paper investigates and describes problem identification of Unmanned Underwater Remotely Operated Vehicle (ROV). The following is the problem identification that found after research done on several literature reviews and study cases. In this paper, the major problem statements will be discussed in details such as control system, underactuated condition, pose recovery or station keeping, coupling issues and communication technique. ROV is one of the Unmanned Underwater Vehicle (UUV) tethered with umbilical cable and remotely operated by a vehicle operator's. Control system of ROV is a bit complex because of the unknown non-linear hydrodynamics effects, parameters uncertainties and the lack of a precise model of the ROV dynamics and parameters. Conventional controller cannot dynamically compensate for unmodeled vehicle hydrodynamic forces or unknown disturbances. Underactuated condition is defined as one having less control inputs than degree of freedom, so how the ROV want to maintain a certain point or depth following mission when one or more of thrusters malfunction also an issue to be highlighted. Pose recovery or station keeping will be one of the issues in ROV design. This station keeping approach is used to maintain a position in relation to another moving ROV as the ROV tries to remain stationary at the desired depth with present the environmental disturbances such as wind, waves, current and unexpected environmental disturbances. Coupling issue between the tether and cable with ROV body will be one problem in stabilizing the ROV itself as it double the vehicle load. The underwater vehicle size, weight and operating depth, as well as the underwater vehicle motors, subsystems, and payload, all combine to determine the ROV's cable design. In underwater, the inability of wireless communication system fails to work very well to transmit the video stream even in short distance is another issue to be covered. This statement proved by Underwater Technology Research Group student's project. The experiment sets upthree types of sensor using wireless communication system for higher frequency such as video stream, data transfer and GPS.