Design of Small Monitoring ROV for Aquaculture

Miao, Yongwu; Sheng, Zhibin; Che, Yanhe; Hu, Jintong; Hu, Ke; Du, Yixiang

doi:10.1109/oceanse.2019.8867487

Cited by 6 publications

(3 citation statements)

References 15 publications

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“…In 2019, a design was proposed for aquaculture applications; the shape and thrusters were located to avoid lurching effect, which means that a buoyancy object loses its stability due to a strong water stream. Figure 27 shows assembled robots and in Figure 28 it is possible to see locations of their four thrusters, which gave them 5 degrees of freedom [33].…”

Section: Ruster Distributionmentioning

confidence: 99%

See 1 more Smart Citation

Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control

Neira¹,

Sequeiros²,

Huamani³

et al. 2021

Journal of Robotics

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Since its beginning, around the 50s decade, until present days, the area of unmanned underwater vehicles (UUV) has considerably grown through time; those have been used for many tasks and applications, from bomb searching and recovery to sea exploration. Initially, these robots were used mainly for military and scientific purposes. However, nowadays, they are very much extended into civils, and it is not hard to find them being used for recreation. In this context, the present research is an effort to make a walkthrough of evolution in this area, showing a diversity of structure designs, used materials, sensor and instrumentation technologies, kinds and the number of actuators employed, navigation control techniques, and what is new in development trends. The paper gives a clear starting point for those who are initializing into this research area; also, it brings some helpful knowledge for those who already have experience.

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Section: Ruster Distributionmentioning

confidence: 99%

“…Another prototype designed for aquaculture was introduced in [33]; the design had a hermetic chamber made of acrylic with a width of 5 cm. e hermetical chamber's material beside the features mentioned above should have good corrosion resistance as mentioned in the design of [21].…”

Section: Materials and Hermeticitymentioning

confidence: 99%

Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control

Neira¹,

Sequeiros²,

Huamani³

et al. 2021

Journal of Robotics

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show abstract

“…However, ROV operations in aquaculture face unique challenges, such as operating in the wave-zone, the avoidance of cable entanglement and minimizing the stressing of fish. The challenges in aquaculture robotics operations therefore also highlight a need for specialized designs of underwater vehicles, which have been addressed in several articles [5], [6], [7], [8].…”

Section: Introductionmentioning

confidence: 99%

Autonomous ROV Inspections of Aquaculture Net Pens Using DVL

Amundsen¹,

Caharija²,

Pettersen³

2021

IEEE J. Oceanic Eng.

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This paper presents a method for guiding a remotely operated vehicle (ROV) to autonomously traverse an aquaculture net pen. The method is based on measurements from a Doppler velocity log (DVL) and uses the measured length of the DVL beam vectors to approximate the geometry of a local region of the net pen in front of the ROV. The ROV position and orientation relative to this net pen approximation are used as inputs to a nonlinear guidance law. The guidance law is based upon the line-of-sight (LOS) guidance law. By utilizing that an ROV is fully-actuated in the horizontal plane, the crosstrack error is minimized independently of the ROV heading. A Lyapunov analysis of the closed-loop system with this guidance law shows that the ROV is able to follow a continuous path in the presence of a constant irrotational ocean current. Finally, results from simulations and experiments demonstrating the performance of the net pen approximation and control system are presented.

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