Dynamics Modeling and Control of a Variable Length Remotely Operated Vehicle Tether

Prabhakar, S.; Buckham, Bradley J.

doi:10.1109/oceans.2005.1639927

Cited by 16 publications

(12 citation statements)

References 13 publications

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“…Most of the simulation in the mechanical domain were designed to meet specific purpose or requirement and to serve as a guide for cable system design. For the variable length case, Prabhakar [13] developed a dynamic simulation of variable length tether in a tethered underwater vehicle system. Position based methods are used widely in the computer graphics domain.…”

Section: Related Workmentioning

confidence: 99%

Visually Realistic Graphical Simulation of Underwater Cable

Ganoni¹,

Mukundan²,

Green³

2018

CSRN

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This paper presents different modeling considerations that are important in simulating visually realistic behavior of underwater cables attached to remotely operated vehicles. The proposed methodology has been tested on highly complex models of aquatic environments created using Unreal Engine 4. Current methods and implementations of cable simulations that are widely used in computer graphics are generally suited only to light density mediums such as air. In this paper, we present modifications to the above model required for simulating neutrally buoyant cables in underwater environments. The simulation results presented in this paper successfully demonstrate different behavioral aspects of flexible variable length underwater cables and their variations with respect to modeling parameters using our proposed method.

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Section: Related Workmentioning

confidence: 99%

Visually Realistic Graphical Simulation of Underwater Cable

Ganoni¹,

Mukundan²,

Green³

2018

CSRN

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“…Thus, tensile forces are usually the main concern in underwater systems since motion of the surface vehicle can produce large forces on the tethered remote operated vehicle ͑ROV͒ ͑Suzuki, Yoshida & Oka, 1994͒. As a result, control of underwater tethers focuses on regulating tether dispensing to minimize these effects ͑Banerjee & Do, 1994; Prabhakar & Buckham, 2005͒. To further minimize these forces, some systems implement a tether management system as an intermediary between the ship and the ROV ͑Abel, 1994͒.…”

Section: Related Workmentioning

confidence: 99%

Automated tether management system for extravehicular activities

Minor

Hirschi

2007

Journal of Field Robotics

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Safe extravehicular activity ͑EVA͒ requires astronauts to employ tethers to ensure proximity to their spacecraft. This research strives to improve EVA efficiency by allowing crew members to remotely release and retract their safety tether from extended distances using a tether management system consisting of a remotely releasable robotic gripper and a retractor that controls the length of tether. This circumvents the current need to travel back to the tether anchor and manually release the tether, which requires the crew member to travel three times further than necessary. The automated tether management system is essentially a multifunctional teleoperated robotic system that has the potential to improve EVA efficiency, reduce crew-member fatigue, and improve efficiency of existing robots such as Robonaut. Design and performance requirements are specified to comply with current safety standards. The multifunctional gripper is designed to provide fail-safe self-locking positive engagement on a variety of spacecraft anchors. The retractor employs motorized and passive retraction to minimize power consumption, allow the retractor to mimic existing retractable safety tethers functionality, and facilitate control over gripper flight. A nonconductive fiber-optic core structural tether is designed to transmit commands to the gripper while reducing the risk of developing electrical charges at orbital velocities. Experiments in a simulated microgravity environment evaluate behavior during gripper release and retraction and provide guidelines for improved system op-

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“…Although the continuum method is considered to be more accurate, the multibody theory represented by the lumped mass method, an emerging methodology in the research field of dynamic characteristics of flexible cable/net, is more compatible to be applied to complex multibody dynamics and computer programming. Many other scholars continued applying and developing lumped mass method in aerospace engineering [7][8][9][10][11][12][13][14] and ocean engineering fields [15][16][17][18][19][20][21][22].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling, Simulation, and Flight Test of a Rocket‐Towed Net System

Han

Zhou

Chen

2019

Mathematical Problems in Engineering

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Rocket-towed systems are commonly applied in specific aerospace engineering fields. In this work, we concentrate on the study of a rocket-towed net system (RTNS). Based on the lumped mass method, the multibody dynamic model of RTNS is established. The dynamic equations are derived by the Cartesian coordinate method and the condensational method is utilized to obtain the corresponding second order ordinary differential equations (ODEs). Considering the elastic hysteresis of woven fabrics, a tension model of mesh-belts is proposed. Through simulation in MATLAB, the numerical deploying process of RTNS is acquired. Furthermore, a prototype is designed and flight tests are conducted in a shooting range. Ballistic curves and four essential dynamic parameters are studied by using comparative analysis between simulation results and test data. The simulation acquires a good accuracy in describing average behaviors of the measured dynamic parameters with acceptable error rates in the main part of the flight and manages to catch the oscillations in the intense dynamic loading phase. Meanwhile, the model functions well as a theoretical guidance for experimental design and achieves in predicting essential engineering factors during the RTNS deploying process as an approximate engineering reference.

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Dynamics Modeling and Control of a Variable Length Remotely Operated Vehicle Tether

Cited by 16 publications

References 13 publications

Visually Realistic Graphical Simulation of Underwater Cable

Visually Realistic Graphical Simulation of Underwater Cable

Automated tether management system for extravehicular activities

Dynamic Modeling, Simulation, and Flight Test of a Rocket‐Towed Net System

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