A review of different designs and control models of remotely operated underwater vehicle

He, Ying; Wang, Dao Bo; Ali, Zain Anwar

doi:10.1177/0020294020952483

Cited by 49 publications

(24 citation statements)

References 61 publications

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“…This type of underwater vehicle allows one to solve a wide range of tasks: bottom mapping, inspection work, rescue operations, extraction of objects from the bottom, work to ensure oil and gas complex objects (drilling support, inspection of gas pipeline routes, inspection of structures for breakdowns, performing operations with valves and valves), scientific applications, support for diving operations, work to maintain fish farms, archaeological surveys, inspection of urban communications, inspection of ships, etc. The tasks to be solved are constantly expanding, and the fleet of underwater robots is growing rapidly [1][2][3][4][5][6][7][8][9][10]. Working with the robots is much cheaper than expensive diving work, despite the fact that the initial investment is quite large, although working with the robots cannot replace the entire range of diving work.…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of an Experimental ROV with Six Degrees of Freedom

Kabanov

Kramar

Ermakov

2021

Drones

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With the development of underwater technology, it is important to develop a wide range of autonomous and remotely operated underwater vehicles for various tasks. Depending on the problem that needs to be solved, vehicles will have different designs and dimensions, while the issues surrounding reduced costs and increasing the functionality of vehicles are relevant. This article discusses the development of inspection class experimental remotely operated vehicles (ROVs) for performing coastal underwater inspection operations, with a smaller number of thrusters, but having the same functional capabilities in terms of controllability (as vehicles with traditionally-shaped layouts). The proposed design provides controllability of the vehicle in six degrees of freedom, using six thrusters. In classical design vehicles, such controllability is usually achieved using eight thrusters. The proposed design of the ROV is described; the mathematical model, the results of modeling, and experimental tests of the developed ROVs are shown.

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Section: Introductionmentioning

confidence: 99%

Design and Modeling of an Experimental ROV with Six Degrees of Freedom

Kabanov

Kramar

Ermakov

2021

Drones

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“…Another form of impact of the drag is investigated in [ 23 ] to design a non-linear dynamic controller for AUVs. The review in [ 24 ] describes the different considerations in designing an underwater vehicle. For example, in [ 25 ], a design of a glider designed to glide smoothly in the water is proposed, and a controller that changes the vehicle’s angle of attack to reduce the drag, for example, is proposed.…”

Section: Survey Of Instrumentation and Measurements Techniquesmentioning

confidence: 99%

A Simple Approach to Estimate the Drag Coefficients of a Submerged Floater

Hoffman

Nagar

Shachar

et al. 2023

Sensors

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The calculation of the drag force is a fundamental requirement in the design of any submerged system intended for marine exploration. The calculation can be performed by analytic analysis, numerical modeling, or by a direct calculation performed in a designated testing facility. However, for complex structures and especially those with a non-rigid design, the analytic and numerical analyses are not sufficiently accurate, while the direct calculation is a costly operation. In this paper, we propose a simple approach for how to calculate the drag coefficient in-situ. Aimed specifically at the complex case of elastic objects whose modeling via Computer-Aided Design (CAD) is challenging, our approach evaluates the relation between the object’s speed at steady-state and its mass to extract the drag coefficient in any desired direction, the hydro-static force, and, when relevant, also the thruster’s force. We demonstrate our approach for the special case of a highly complex elastic-shaped floater that profiles the water column. The analysis of two such floaters in two different sea environments shows accurate evaluation results and supports our claim for robustness. In particular, the simplicity of the approach makes it appealing for any arbitrary shaped object.

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“…Additional equipment is commonly added to expand the vehicle's capabilities. These may include sonars, magnetometers, a still camera, a manipulator or cutting arm, water samplers, and instruments that measure the water clarity, water temperature, water density, sound velocity, light penetration, and temperature [57].…”

Section: Umv In Air Water Surfacementioning

confidence: 99%

Management and Sustainable Exploitation of Marine Environments through Smart Monitoring and Automation

Glaviano

Esposito

Cosmo

et al. 2022

JMSE

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Monitoring of aquatic ecosystems has been historically accomplished by intensive campaigns of direct measurements (by probes and other boat instruments) and indirect extensive methods such as aero-photogrammetry and satellite detection. These measurements characterized the research in the last century, with significant but limited improvements within those technological boundaries. The newest advances in the field of smart devices and increased networking capabilities provided by emerging tools, such as the Internet of Things (IoT), offer increasing opportunities to provide accurate and precise measurements over larger areas. These perspectives also correspond to an increasing need to promptly respond to frequent catastrophic impacts produced by drilling stations and intense transportation activities of dangerous materials over ocean routes. The shape of coastal ecosystems continuously varies due to increasing anthropic activities and climatic changes, aside from touristic activities, industrial impacts, and conservation practices. Smart buoy networks (SBNs), autonomous underwater vehicles (AUVs), and multi-sensor microsystems (MSMs) such as smart cable water (SCW) are able to learn specific patterns of ecological conditions, along with electronic “noses”, permitting them to set innovative low-cost monitoring stations reacting in real time to the signals of marine environments by autonomously adapting their monitoring programs and eventually sending alarm messages to prompt human intervention. These opportunities, according to multimodal scenarios, are dramatically changing both the coastal monitoring operations and the investigations over large oceanic areas by yielding huge amounts of information and partially computing them in order to provide intelligent responses. However, the major effects of these tools on the management of marine environments are still to be realized, and they are likely to become evident in the next decade. In this review, we examined from an ecological perspective the most striking innovations applied by various research groups around the world and analyzed their advantages and limits to depict scenarios of monitoring activities made possible for the next decade.

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A review of different designs and control models of remotely operated underwater vehicle

Cited by 49 publications

References 61 publications

Design and Modeling of an Experimental ROV with Six Degrees of Freedom

Design and Modeling of an Experimental ROV with Six Degrees of Freedom

A Simple Approach to Estimate the Drag Coefficients of a Submerged Floater

Management and Sustainable Exploitation of Marine Environments through Smart Monitoring and Automation

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