Design, control, and implementation of a new AUV platform with a mass shifter mechanism

Tran, Ngoc-Huy; Choi, Hyeung-Sik; Bae, Jaehyun; Oh, Ji-Youn; Cho, Jong-Rae

doi:10.1007/s12541-015-0210-2

Cited by 20 publications

(4 citation statements)

References 5 publications

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“…The relationship between φ · and r can be deduced. Assuming that the origin O of the O ( G ) − xyz coordinate system coincides with the centre of gravity G of ROVer (Tran et al (2015)). Ignore the effects of other uncertain small disturbances and currents in the equation.…”

Section: Establishment Of Rov Dynamics Modelmentioning

confidence: 99%

A practical robust yaw servo architecture of ROVs by multi-vector propulsion and nonlinear controller

Song

Wang

et al. 2020

Transactions of the Institute of Measurement and Control

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Multi-vector arrangement is a novel propulsion architecture for remotely operated vehicles (ROV) because of its high manoeuvrability and efficiency, but the influence on the ROV dynamics and attitude servo control has not yet been clearly evaluated. This study fully investigated the kinematic behaviours of a hexagonal multi-vector propulsion ROV with communication delay constraint and reduced the complex model for precision control system design. An enhanced model-based PI robust controller (EMPRC) based on the nominal model is proposed to solve the nonlinear hydrodynamics and communication problems with high performance yaw control, whose stability is also analysed. The conventional proportional-integral-derivative (PID) and integral separation PID are used in the experiments for comparison. The results indicate that the proposed EMPRC can effectively track the desired attitude and reject the external disturbances, while the conventional ones are limited by the nonlinear dynamics and communication delays. The improvement is 3x on average in terms of overshoot, settling time and anti-disturbance recovery time compared to conventional algorithms and proves this proposed novel EMPRC is a practical solution for multi-vector propulsion ROVs.

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Section: Establishment Of Rov Dynamics Modelmentioning

confidence: 99%

A practical robust yaw servo architecture of ROVs by multi-vector propulsion and nonlinear controller

Song

Wang

et al. 2020

Transactions of the Institute of Measurement and Control

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“…It has four thrusters (1 HT to 4 HT ), which can directly control the three horizontal plane degrees of freedom: surge, sway and yaw. According to the derivation results of the literature (Chin et al , 2018; Tran et al , 2015), the motion of the underwater robot is a six-DOF spatial motion, which can be represented by linear motion and rotational motion around three coordinate axes ( x , y , z ) in dynamic coordinates; the coordinate of the moving coordinate system of G is ( x G , y G , z G ). We directly give the expression of force and moment in the motion coordinate system under the horizontal plane after referring to Tran et al (2015) and the meanings of following parameters are listed in Table 1: It can be seen that the kinematic models of the underwater robot are indeed cross-coupled.…”

Section: Analysis Of Double-boundary Fault Tolerance Of Remote-operat...mentioning

confidence: 99%

“…According to the derivation results of the literature (Chin et al , 2018; Tran et al , 2015), the motion of the underwater robot is a six-DOF spatial motion, which can be represented by linear motion and rotational motion around three coordinate axes ( x , y , z ) in dynamic coordinates; the coordinate of the moving coordinate system of G is ( x G , y G , z G ). We directly give the expression of force and moment in the motion coordinate system under the horizontal plane after referring to Tran et al (2015) and the meanings of following parameters are listed in Table 1: It can be seen that the kinematic models of the underwater robot are indeed cross-coupled. The physical model parameters and hydrodynamic parameters of underwater vehicle can be obtained by using ANSYS and Solid works.…”

Section: Analysis Of Double-boundary Fault Tolerance Of Remote-operat...mentioning

confidence: 99%

Double-boundary interval fault-tolerant control for a multi-vector propulsion ROV with thruster failure

Zhou

Wang²,

et al. 2020

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Purpose A novel fault-tolerant control (FTC) method is proposed to assure the stability of the remote-operated vehicle (ROV) by considering the thruster failure-induced model perturbations. The stability of the ROV with failures is guaranteed and optimized with the determined model perturbation set. The effectiveness of the double-boundary interval fault-tolerant control (DBIFTC) is verified through the experiments and proves that the stability is well maintained, which demonstrates a decent performance. Design/methodology/approach This paper studies a control problem for a multi-vector propulsion ROV by using the DBIFTC method in the presence of thruster failure and external disturbances. The ROV kinematics and dynamical models with multi-vector-arranged thruster failure are investigated and formulated for control system design. Findings In this paper, the authors address the FTC problem of ROV with multi-vector thrusters and propose a DBIFTC scheme. The advantage is that as the kinematic system model of ROV is preanalyzed and identified, the DBIFTC becomes more effective. The mathematical stability of the system under the proposed control scheme can be guaranteed. Research limitations/implications The ROV model used in this paper is based on the system identification of experimental data. Although this model has real experimental value and physical significance, the accuracy can be further improved. Practical implications Cable-controlled underwater ROVs are widely used in military missions and scientific research because of their flexibility, sufficient load capacity and real-time information transmission characteristics. The DBIFTC method proposed in this paper can effectively reduce the problem of underwater vehicle under propeller failure or external disturbance and save unnecessary cost. Social implications The DBIFTC method proposed in this paper can ensure the attitude stability of ROV or other underwater equipment operating in the event of propeller failure or external disturbance. In this way, the robot can better perform undersea work and tasks. Originality/value The kinematics and failure mechanisms of the ROV with multi-vector propulsion system are investigated and established. An optimized DBIFTC scheme is investigated to stabilize ROV yaw attitude under the thruster failure condition. The feasibility and effectiveness of the DBIFTC is experimentally validated.

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“…With the increased interest in ocean exploitation activities, amphibious robots have become essential tools for applications such as ecological observations and military reconnaissance in littoral regions [ 1 , 2 ]. Compared with legged, finned, and snakelike amphibious robots, spherical amphibious robots generate less noise and water disturbance, providing better stealth ability and bio-affinity [ 3 , 4 ].…”

Section: Introductionmentioning

confidence: 99%

Visual Detection and Tracking System for a Spherical Amphibious Robot

Guo

Pan

Shi

et al. 2017

Sensors

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With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation.

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Design, control, and implementation of a new AUV platform with a mass shifter mechanism

Cited by 20 publications

References 5 publications

A practical robust yaw servo architecture of ROVs by multi-vector propulsion and nonlinear controller

A practical robust yaw servo architecture of ROVs by multi-vector propulsion and nonlinear controller

Double-boundary interval fault-tolerant control for a multi-vector propulsion ROV with thruster failure

Visual Detection and Tracking System for a Spherical Amphibious Robot

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