Design And Development Of Auto Depth Control Of Remotely Operated Vehicle Using Thrusters System

Remotely Operated Vehicles are underwater robots designed specifically for surveillance, monitoring and collecting data for underwater activities. In the underwater vehicle industries, the thruster is an important part in controlling the direction, depth and speed of the ROV. However, there are some ROVs that cannot be maintained at the specified depth for a long time because of disturbance. This paper proposes an auto depth control using a thruster system. A prototype of a thruster with an auto depth control is developed and attached to the previously fabricated UTeM ROV. This paper presents the operation of auto depth control as well as thrusters for submerging and emerging purposes and maintaining the specified depth. The thruster system utilizes a microcontroller as its brain, a piezoresistive strain gauge pressure sensor and a DC brushless motor to run the propeller. Performance analysis of the auto depth control system is conducted to identify the sensitivity of the pressure sensor, and the accuracy and stability of the system. The results show that the thruster system performs well in maintaining a specified depth as well as stabilizing itself when a disturbanceoccurs even with a simple proportional controller used to control the thruster, where the thruster is an important component of the ROV

Generalized Method Of Designing Unmanned Remotely Operated Complexes Based On The System Approach

Self-propelled underwater systems belong to the effective means of marine robotics. The advantages of their use include the ability to perform underwater work in real time with high quality and without risk to the life of a human operator. At present, the design of such complexes is not formalized and is carried out separately for each of the components – a remotely operated vehicle, a tether-cable and cable winch, a cargo device and a control and energy device. As a result, the time spent on design increases and its quality decreases. The system approach to the design of remotely operated complexes ensures that the features of the interaction of the components of the complex are taken into account when performing its main operating modes. In this paper, the system interaction between the components of the complex is proposed to take into account in the form of decomposition of “underwater tasks (mission) – underwater technology of its implementation – underwater work on the selected technology – task for the executive mechanism of the complex” operations. With this approach, an information base is formed for the formation of a list of mechanisms of the complex, the technical appearance of its components is being formed, which is important for the early design stages. Operative, creative and engineering phases of the design of the complex are proposed. For each phase, a set of works has been formulated that cover all the components of the complex and use the author's existence equations for these components as a tool for system analysis of technical solutions.The perspective of the scientific task of the creative phase to create accurate information models of the functioning of the components of the complex and models to support the adoption of design decisions based on a systematic approach is shown.The obtained results form the theoretical basis for finding effective technical solutions in the early stages of designing remotely operated complexes and for automating the design with the assistance of modern applied computer research and design packages

Review on auto-depth control system for an unmanned underwater remotely operated vehicle (ROV) using intelligent controller

This paper presents a review of auto-depth control system for an Unmanned Underwater Remotely operated Vehicle (ROV), focusing on the Artificial Intelligent Controller Techniques. Specifically, Fuzzy Logic Controller (FLC) is utilized in auto-depth control system for the ROV. This review covered recently published documents for auto-depth control of an Unmanned Underwater Vehicle (UUV). This paper also describes the control issues in UUV especially for the ROV, which has inspired the authors to develop a new technique for auto-depth control of the ROV, called the SIFLC. This technique was the outcome of an investigation and tuning of two parameters, namely the break point and slope for the piecewise linear or slope for the linear approximation. Hardware comparison of the same concepts of ROV design was also discussed. The ROV design is for smallscale, open frame and lower speed. The review on auto-depth control system for ROV, provides insights for readers to design new techniques and algorithms for auto-depth control

Integrated maneuver and control design for ROV operations

The integrated maneuver and control structures for a Remotely Operated Vehicle are presented in the context of the developments of "IES - Inspection of Underwater Structures" project. The project concerns the design and implementation of an advanced low cost system for the inspection of underwater structures based on a Remotely Operated Vehicle (ROV). First, the sub-systems of the IES system are described. Second, an example of a mission is outlined. Third, the control architecture is briefly sketched and formalized. Fourth, the design of the regulation and tracking controllers for this architecture are discussed. The design uses a non-linear Dynamic Surface Controller (DSC). This controller is coupled with a trajectory generation system for optimal performance. The ROV model is differentially flat under mild assumptions. The trajectory generation system uses this property to produce optimal trajectories. Finally, simulation runs of DSC and PID are compared in light of model parameters uncertainty. Extensions of the work are discussed as conclusions

IES an open system for underwater inspection

This paper describes the specification and design of a prototype of a low cost open system for the inspection of underwater structures based on a remotely operated underwater vehicle under the project IES, a 3 year long effort funded by the Portuguese R&D program Praxis XXI. Unlike commercial approaches, a modular open system characterised by the incorporation of an on-board computer allowing for advanced control capabilities is envisaged. The control console is based on a standard PC and the tether is used only for power delivery and to establish a simple communication channel. In this project, we use advanced hybrid control techniques for sophisticated semi-autonomous operation management and control. The control architecture reuses part of the one designed for the underwater vehicle Isurus operated by the Laboratory of Underwater Systems and Technologies of Porto University. The implementation is designed in order to allow for multiple sensor configurations specified as add-ins. This leads to a dynamic, scalable and flexible system that can be easily configured according to the user specifications

Neptune: Marine Robot ROV Control System

The mysteries of the aquatic world and the dangers human activity poses to its environmental health are important considerations. It is pivotal we find ecient methods to study and monitor the subsea environments in order to maintain and improve their health. This document provides insight into the planning, design, implementation, and testing in developing an enhanced control system for a marine remotely operated vehicle (ROV) to eectively control various mounted hardware components. Our goal for this design is to greatly assist scientists and environmentalists observe and collect subsea data to improve the subsea environment

NASA/RAE collaboration on nonlinear control using the F-8C digital fly-by-wire aircraft

Design procedures are reviewed for variable integral control to optimize response (VICTOR) algorithms and results of preliminary flight tests are presented. The F-8C aircraft is operated in the remotely augmented vehicle (RAV) mode, with the control laws implemented as FORTRAN programs on a ground-based computer. Pilot commands and sensor information are telemetered to the ground, where the data are processed to form surface commands which are then telemetered back to the aircraft. The RAV mode represents a singlestring (simplex) system and is therefore vulnerable to a hardover since comparison monitoring is not possible. Hence, extensive error checking is conducted on both the ground and airborne computers to prevent the development of potentially hazardous situations. Experience with the RAV monitoring and validation procedures is described

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

Design of A Ballast Tank For A Small Underwater Remotely Operated Vehicle (ROV)

Underwater Remote Operated Vehicle is tethered marine robots that are widely used in oil and gas industry. Underwater vehicles such as ROVs operate while tethered to a surface ship, and must be able to surface and submerge, thus requiring dynamic buoyancy control. ROVs also require dynamic buoyancy control for its own stability and depth control. The dynamic buoyancy can be applied by using Ballast Tank. This project works involves designing and analysis of Ballast Tank for small, lightweight, open frame and low cost underwater Remotely Operated Vehicle (ROV). This system should be 2 Degree of Freedom (DOF); Yaw and Heave. The analysis and calculation have be done to determine the required size of ballast tank, its’ system, durability and the strength. The materials for Chassis and Ballast tank have been selected by considering the requirement. The tank has been design with several considerations. The 3D-drawing, detail drawing, assembly drawing and analysis of the tank have been done by using CATIA software

Remotely-Operated Vehicle Animal Tracking Telemetry System

This paper’s design focus is a Remotely Operated Vehicle (ROV) payload receiver system. An ROV is a remote control vehicle operated from a nearby position. This project’s ROV is an aerial vehicle flown by a crew of at least four operators. The ROV receiver is needed to The receiver system receives a 165 MHz collar beacon signal, upconverts the signal to 3.4 GHz, then transmits the 3.4 GHz signal to the ROV operator. The collar beacon signal indicates the location of a tracking collar placed on an animal, fishers in this instance. The transmitted signal is received by the ROV operator and indicates the beacon signal’s direction. The ROV is directed by the operator toward the beacon signal’s location. This improves animal tracking efficiency, saving hours. The result of the project is a transceiver system capable of receiving a signal from approximately 3,500 meters maximum range, processing the signal, and transmitting the signal a maximum 915 meters (1000 yards) back to the ROV operator. The maximum distance between the operator and ROV is 1000 yards due to remote control limitations