An Overview of the Design and Development of a 6 DOF Remotely Operated Vehicle for Underwater Structural Inspection

Ray, Sourjyadip; Bhowal, Rahil; Patel, Purvik; Annapurani, K.

doi:10.1109/iccisc52257.2021.9484879

Cited by 4 publications

(2 citation statements)

References 21 publications

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“…The RexROV vehicle, integrated into the UUV Simulator, was used as a case study to compare the PID controller implemented within the platform with a sliding mode controller to evaluate its performance in the presence of disturbances [106]. On the opposite, authors in [107] used UUV Simulator to verify the behaviour of their newly designed mini ROV. Nowadays, neural networks have been applied to many different fields.…”

Section: B Uuv Simulatormentioning

confidence: 99%

Underwater Simulators Analysis for Digital Twinning

Ciuccoli,

Screpanti,

Scaradozzi

2024

IEEE Access

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The underwater environment is among Earth's most challenging domains, where failures incur elevated risks and costs for both technology and human endeavors. As a consequence, forecasting the behavior of mechatronic systems through simulation has become increasingly important. Underwater Robotic Simulators (URSs) allow researchers and engineers to safely develop and assess submarine systems. The selection of an appropriate URS from the list of available tools is not trivial. Moreover, the integration of this software with the Digital Twin (DT) concept presents numerous advantages, particularly the ability to link the simulated environment with actual underwater vehicles. This connection is facilitated by performing validation and simulation tests using Software In the Loop (SIL), Model In the Loop, and Hardware In the Loop (HIL) techniques. This paper extensively reviews URSs in the context of both robots and unmanned vehicles in light of the DT paradigm. The article critically examines distinctions among existing URSs, offering valuable insights to aid researchers in selecting the most fitting tool for their specific applications. Additionally, the review explores the practical applications of the identified simulators, categorizing their usage across different fields to illuminate the preferences within the scientific community and showcase prominent case studies.

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Section: B Uuv Simulatormentioning

confidence: 99%

Underwater Simulators Analysis for Digital Twinning

Ciuccoli,

Screpanti,

Scaradozzi

2024

IEEE Access

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“…As mentioned in the introduction section, UUVs are mainly divided into ROV and AUV. The ROV can be directly controlled through a control model for propagation, Robot Operating System (ROS) modules, a visual processing pipeline and a dashboard interface for the end-user, where the user gives commands remotely step by step [81]. This is known as the remote control and the ROV is controlled manually under the case, which is not the critical point of the section as the manual control strategy is direct and simple.…”

Section: Technologies Of Uuv Tracking Controlmentioning

confidence: 99%

Motion planning and tracking control of unmanned underwater vehicles: technologies, challenges and prospects

Zhu¹,

Yan²,

Yang³

2022

Intell Robot

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The motion planning and tracking control techniques of unmanned underwater vehicles (UUV) are fundamentally significant for efficient and robust UUV navigation, which is crucial for underwater rescue, facility maintenance, marine resource exploration, aquatic recreation, etc. Studies on UUV motion planning and tracking control have been growing rapidly worldwide, which are usually sorted into the following topics: task assignment of the multi-UUV system, UUV path planning, and UUV trajectory tracking. This paper provides a comprehensive review of conventional and intelligent technologies for motion planning and tracking control of UUVs. Analysis of the benefits and drawbacks of these various methodologies in literature is presented. In addition, the challenges and prospects of UUV motion planning and tracking control are provided as possible developments for future research.

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