Gaze Controlled Underwater Remotely Operated Vehicle (ROV) to Improve Accessibility in Maritime Robotics

Barth, Vanessa; Jones, Van; Athapaththu, Avishka Samuel; McCue, Leigh

doi:10.1109/oceanslimerick52467.2023.10244706

Cited by 1 publication

(4 citation statements)

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“…The power PCB receives 48 V from the tether and uses 2 Murata DC-DC converters (buck) to convert the 48 V to 12 V with an excellent nominal efficiency of 96% [31]. They were used due to their small size and low weight.…”

Section: Power Boardmentioning

confidence: 99%

“…After conversion, the 12 V bus was distributed into two buses; the first bus was converted to 5 V to DC-DC converter, and the second was distributed using terminals to provide the ESCs and the cameras with the required operating power. The power PCB receives 48 V from the tether and uses 2 Murata DC-DC converters (buck) to convert the 48 V to 12 V with an excellent nominal efficiency of 96% [31]. They were used due to their small size and low weight.…”

Section: Power Boardmentioning

confidence: 99%

Section: Control Boardmentioning

confidence: 99%

“…The shield contains 20 terminals (7 for the signal, 7 for the ground, and 6 for the small power). A Tether cable was mounted between the vehicle and the tether management system (TMS) for transmitting electrical power, optical signals and mechanical loads using a thin, flexible, and durable cable [31]. The power PCB receives 48 V from the tether and uses 2 Murata DC-DC converters (buck) to convert the 48 V to 12 V with an excellent nominal efficiency of 96% [31].…”

Section: Control Boardmentioning

confidence: 99%

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Design and Implementation of a Six-Degrees-of-Freedom Underwater Remotely Operated Vehicle

et al. 2023

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In recent decades, there has been considerable interest in developing underwater remotely operated vehicles (ROVs) due to their vital role in exploring ocean depths to perform missions in various applications, including offshore oil and gas, military and defense, scientific research, and aquaculture. To this end, researchers must consider multiple aspects to develop ROVs, such as general design, power and thrust system, navigation and control, and obstacle avoidance. Accordingly, this paper proposes an integrated framework for designing and implementing an ROV prototype, considering the mechanical, electrical, and software systems. Eventually, image processing was implemented using Python to examine the ROV’s capabilities in performing underwater missions. The proposed design employs six thrusters to provide controllability of the ROV in six-degrees-of-freedom (DOF). We coated the track width of the printed circuit board (PCB) with a composite mixture of tin, silver, and gold to resist corrosion and harsh environments, enhance the circuit performance and solderability, and increase its life span. The PCB was designed to sustain 30 A with 10 cm × 10 cm dimensions. The image processing results revealed that the proposed ROV could successfully identify the benthic species, follow the desired routes, detect cracks, and analyze obstacles.

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Section: Power Boardmentioning

confidence: 99%

Section: Power Boardmentioning

confidence: 99%

Section: Control Boardmentioning

confidence: 99%

Section: Control Boardmentioning

confidence: 99%

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