ROVs and AUVs in support of marine renewable technologies

We introduce an octopus-inspired, underwater, soft-bodied robot capable of performing waterborne pulsed-jet propulsion and benthic legged-locomotion. This vehicle consists for as much as 80% of its volume of rubber-like materials so that structural flexibility is exploited as a key element during both modes of locomotion. The high bodily softness, the unconventional morphology and the non-stationary nature of its propulsion mechanisms require dynamic characterization of this robot to be dealt with by ad hoc techniques. We perform parameter identification by resorting to a hybrid optimization approach where the characterization of the dual ambulatory strategies of the robot is performed in a segregated fashion. A least squares-based method coupled with a genetic algorithm-based method is employed for the swimming and the crawling phases, respectively. The outcomes bring evidence that compartmentalized parameter identification represents a viable protocol for multi-modal vehicles characterization. However, the use of static thrust recordings as the input signal in the dynamic determination of shape-changing self-propelled vehicles is responsible for the critical underestimation of the quadratic drag coefficient.

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“…During locomotion analysis an inflatable buoyancy module was fitted to the dorsal part of the robot, see element (2) in Fig. 5.…”

Section: Experimental Methodsmentioning

confidence: 99%

“…Schematic representation of the PoseiDRONE swimming unit: (1) cable attachment points over the elastic shell, (2) axial location of the cross sections subject to cable traction, (3) the nozzle, (4) inflow valves, (5) the motor, (6) the crank, (7) the axial pulley which distributes the cable over the various cross sections, (8) the cables.…”

Section: Robot Designmentioning

confidence: 99%

Hybrid parameter identification of a multi-modal underwater soft robot

Giorgio-Serchi

Arienti²,

Corucci

et al. 2017

Bioinspir. Biomim.

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“…Multibeam can provide detailed 3D information on the seafloor, such as substrate type or sediment deposition and scouring around seafloor structures, and therefore assist in identifying potential fatigue points in structures or quantifying changes in habitat. Textural representations (2D images) of this type of data have been collected aboard ROVs in the past, using sector scanning or sidescan sonar (Orange et al, 2002;Elvander and Hawkes, 2012). Relatively new developments in multibeam echosounders have brought simple-to-use, forward-looking imaging sonars that can provide the same information in front of the ROV and expand that seafloor image as the ROV moves forward (Allotta et al, 2015; Figure 2G).…”

Section: Active Acousticsmentioning

confidence: 99%

Enhancing the Scientific Value of Industry Remotely Operated Vehicles (ROVs) in Our Oceans

et al. 2020

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“…Review of the literature also shows that research and development of ROV technologies is necessitated with the focus of oil and gas industries to deep waters and operations in extreme conditions [5]. This is because, though oil and gas exploration and production in shallow waters has been reached by professional divers, this is no longer an option when offshore production sites move further into deep waters.…”

Section: Introductionmentioning

confidence: 99%

Multibody Dynamics Simulation of ROV Manipulator Designed for Student Competition

Øygarden¹,

Bruset²,

Lemu³

2016

Proceedings of the 6th International Workshop of Advanced Manufacturing and Automation

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Abstract-Problem-based learning or competition driven learning is nowadays used by many universities and colleges as a key tool to motivate students in higher education. In the mechanical engineering discipline, for instance, Formula Student competition, annually organized by Institution of Mechanical Engineers (IMechE) in United Kingdom, challenges student teams from around the globe to design, build and compete with a singleseat racing car. Similarly, Marine Advanced Technology Education (MATE) Center in USA organizes annual competitions to inspire students for marine education such as science, technology, engineering and mathematics (referred to as STEM). University and High School students worldwide participate in this competition with a Remotely Operated Vehicle (ROV), or underwater robots, they designed and built. In this competition, MATE acts as a client and student teams simulate a company that delivers a product in accordance with the client's stated functional requirements. In addition to the functional requirements or stated missions, the competition involves innovation in design, technical documentation, presentation, safety and marketing. In this paper, the kinematic analysis and multibody simulation of the manipulator of the ROV designed and constructed for the 2015 MATE competition that took place at St. John's in Canada is presented. The designed manipulator's kinematics while conducting the missions are studied and the motions and related loads are simulated using the multibody dynamics simulation tool ADAMS.

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ROVs and AUVs in support of marine renewable technologies

Cited by 26 publications

References 4 publications

Hybrid parameter identification of a multi-modal underwater soft robot

Hybrid parameter identification of a multi-modal underwater soft robot

Enhancing the Scientific Value of Industry Remotely Operated Vehicles (ROVs) in Our Oceans

Multibody Dynamics Simulation of ROV Manipulator Designed for Student Competition

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