A deep ROV "DOLPHIN 3K": Design and performance analysis

Nomoto, Masao; Hattori, Mutsuo

doi:10.1109/joe.1986.1145188

Cited by 80 publications

(18 citation statements)

References 1 publication

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“…Specifically, one approach directly uses the Least Squared Method to fit the measured total forces and moments into Eqs. (11)(12)(13)(14). This method enables us to use the measured data directly.…”

Section: Parameter Identification Methodsmentioning

confidence: 99%

“…They only considered the main inertial coefficients (related to the inertial hydrodynamic forces generated by a motion in the same direction) without counting for the cross inertial coefficients (related to the inertial hydrodynamic forces generated by a motion in other directions). Nomoto et al [11] studied the inertial properties and motions of a ROV composed mainly of the pipes and buoyant blocks. They just assumed the cross inertial oefficients equal to each other when processing their data, and found they were negligible.…”

Section: Introductionmentioning

confidence: 99%

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Experimental study on inertial hydrodynamic behaviors of a complex remotely operated vehicle

Han

2017

European Journal of Mechanics - B/Fluids

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This paper will present an experimental study on inertial hydrodynamic behaviors of an openframe ROV (Remotely Operated Vehicle) that has a complex open-frame hull but has a large capacity holding more instruments on board than other ROVs. A 1:4 scaled model has been tested by a VPMM (vertical planar motion mechanism) in the circulating water channel of Harbin Engineering University. The inertial coefficients, which can be used for simulating the motions and so for predicting the maneuverability of the ROV, will be presented. Particular attention will be paid to discuss the properties of the cross inertial coefficients (these related to the inertial forces/moments induced by the motion in other directions).

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Section: Parameter Identification Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Experimental study on inertial hydrodynamic behaviors of a complex remotely operated vehicle

Han

2017

European Journal of Mechanics - B/Fluids

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“…Similarly, (23) shows that J J J p and J J J o are 2 × 2 and 1 × 2 matrices, respectively. However, in (22) they are expanded to be 3 × 2 matrices by adding one zero row at the bottom of J J J p and two zero rows at the top of J J J o .…”

Section: Manipulator 1 -Task 2 -Orientation Of Vehicle -1 Dofmentioning

confidence: 95%

“…However, the kinetics of such a vehicle is very complex, highly non-linear and contains several cross-terms because of the interaction between the vehicle body and the manipulator arm [3], [22]. In addition, the numeric values of the hydrodynamical parameters are difficult to identify precisely [23]- [25]. As such, model-based control of an UVMS is challenging.…”

Section: Vehicle Kinematicsmentioning

confidence: 99%

Null-space-based behavior guidance of planar dual-arm UVMS

Moe

Antonelli

Pettersen

2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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Abstract-Dual-arm Underwater Vehicle-Manipulator Systems are able perform a variety of interventions tasks, and there are still many challenges related to making such vehicles autonomous. This paper presents a guidance method for generating reference trajectories for such a system by considering the main manipulator and the vehicle base as a leader unit and the secondary manipulator as a follower unit. The desired behavior of the system is expressed as different tasks, and the reference trajectories are calculated using pseudo-inverse Jacobian task matrices and the null-space-based method. The proposed method has been implemented for a particular planar UVMS and simulated for a defined set of tasks. Simulation results confirm the correctness of the proposed method.

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“…The model described was integrated in the control suite M A T R I X x ' , and tailored for the thruster propelled DOLPHIN 3K vehicle described in [9], for which a complete set of hydrodynamic parameters is available (See fig.1 for a description of the geometry of the vehicle). The input-output structure of the model is depicted in fig.2, where we introduce some notation that will be used in the sequel:…”

Section: Nonlinear Model Implementationmentioning

confidence: 99%

Control of an underwater vehicle using H/sub infinity / synthesis

Kaminer

Pascoal²,

Silvestre³

et al.

[1991] Proceedings of the 30th IEEE Conference on Decision and Control

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Pmcoodlng. of the 30th C o d " Bdghton, England I)rermkr 1991 On klslon and ControlAbstract: This paper presents the results of a design exercise in which recent developments in ' H , synthesis theory were applied to the design of a controller for an Autonomous Underwater Vehicle (AUV). The problem statement requires the design of a position and attitude control system for the vehicle to achieve precise trajectory following. The major steps in the synthesis procedure were as follows. A detailed nonlinear dynamic model of the AUV was derived, and an operating point for nominal design was selected. After linearization around the nominal operating point, a multivariable controller was designed using standard techniques of ' H , theory. The performance of the controller was evaluated in simulations with a full nonlinear model of the vehicle.

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A deep ROV "DOLPHIN 3K": Design and performance analysis

Cited by 80 publications

References 1 publication

Experimental study on inertial hydrodynamic behaviors of a complex remotely operated vehicle

Experimental study on inertial hydrodynamic behaviors of a complex remotely operated vehicle

Null-space-based behavior guidance of planar dual-arm UVMS

Control of an underwater vehicle using H/sub infinity / synthesis

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